A digital twin-based interactive control platform for deep-sea mining

Abstract

This invention discloses a digital twin-based interactive control platform for deep-sea mining, comprising a host computer, a multi-degree-of-freedom mobile platform, and an operating cabin. The host computer includes a display module, an operating console, and operating modules. The display module shows a digital twin model of deep-sea mining and related data. The operating console includes three sets of control panels, which can be unfolded or retracted according to the needs of single or multiple operators. The operating modules are placed on the console and include a keyboard, mouse, touchscreen, gamepad, and voice recognition device for interactive control of deep-sea mining equipment. The multi-degree-of-freedom mobile platform adjusts the position and attitude of the operating cabin according to the hull's swaying and drifting to maintain its balance. The operating cabin accommodates the host computer and operators, and its interior also includes a mobile support frame, shock-absorbing seats, a monitoring display, lighting fixtures, a door, and a folding ladder. This invention provides a stable operating environment for operators and meets the needs of single or multiple operators.

Description

Technical Field

[0001] This invention relates to the field of deep-sea mining equipment interaction, and specifically to a deep-sea mining interactive control operation platform based on digital twins. Background Technology

[0002] The ocean is rich in oil and gas, minerals, wind energy, and biological resources, playing a vital role in social welfare and national strategy. Marine engineering, as an important discipline for the development, utilization, protection, and restoration of marine resources, provides crucial support for achieving a maritime power. However, marine engineering technology and equipment have long suffered from problems such as extreme operating environments, low levels of digitalization and intelligence, and inadequate monitoring and management, affecting operational efficiency and safety. Therefore, there is an urgent need to improve the digitalization level of marine engineering.

[0003] Marine engineering equipment is often subjected to wind, wave, and current loads, as well as collisions, vibrations, and high pressure during operation, affecting operational safety and efficiency. Therefore, operators need real-time access to equipment operating status data to guide operations. Traditional equipment monitoring solutions rely primarily on manual inspections, which are inefficient, costly, and lack real-time performance. Furthermore, they cannot quickly locate faults or determine their causes after equipment malfunctions. Consequently, they cannot meet the intelligent requirements of today's complex equipment for comprehensive status awareness, fault diagnosis, and preventative maintenance. Sensors, as crucial devices for physical space status awareness, can comprehensively monitor equipment temperature, noise, vibration, mechanical faults, and environmental loads during operation. Gateways enable communication between underlying sensor data and the central control system, storing, analyzing, and displaying the underlying data in real time. Setting data warning thresholds triggers alarms when data reaches these thresholds, improving equipment operational safety. Machine learning and neural network algorithms are used to analyze and mine data, predicting future equipment status changes and enabling preventative maintenance.

[0004] With the development of sensor and communication technologies, data acquisition equipment has significantly enhanced its ability to perceive conditions and transmit information in extreme environments. Data transmission systems have become more robust, the impact of external disturbances on data acquisition accuracy has decreased, and data transmission performance has stabilized with significantly reduced latency and packet loss rates. This has laid a solid research and application foundation for the application of digital twins in marine engineering equipment and production operations, fully meeting the requirements for the digitalization and intelligent development of marine engineering equipment and production activities. Therefore, in recent years, digital twins have been widely researched and applied in the field of marine engineering.

[0005] In deep-sea mining interactive control operations based on digital twins, traditional operating platforms have many problems. On the one hand, due to the deep-sea environment, the ship is affected by ocean currents and wind direction, causing swaying and drifting, which increases the difficulty of operation. In particular, the control process involves some remote sensing fine operations (such as the attitude adjustment of the tunneling robot, the rotation speed control of the mining head, and the pressure control of the mining pipeline). These operations require a high degree of precision and sensitivity. At the same time, the operation layout of traditional deep-sea mining operating platforms is generally relatively centralized. This is conducive to single-person operation in general mining operations, but in multi-task synchronous operation (including tunneling robots, mining heads, mining pipelines, elevators, shipboard equipment, etc.) or emergency handling, multiple people need to cooperate. The centralized layout is obviously not conducive to multi-person collaboration. Summary of the Invention

[0006] The purpose of this invention is to overcome the above-mentioned shortcomings in the prior art and to provide a deep-sea mining interactive control operation platform based on digital twins, which allows the control console to be extended and retracted for convenient use by one or more people in collaboration.

[0007] The technical solution adopted by the present invention to solve the above problems is: a deep-sea mining interactive control operation platform based on digital twin, including an operation cabin, an operation host, and a multi-degree-of-freedom mobile platform. The operation host is set inside the operation cabin, the top plate of the multi-degree-of-freedom mobile platform is fixed to the bottom of the operation cabin, and the bottom plate of the multi-degree-of-freedom mobile platform is fixed to the hull. The operation host includes a display module, an operation table, and an operation module. The operation module is set on the operation table, and the display module is set in front of the operation table. The operation module includes any or a combination of a keyboard, mouse, touch screen, gamepad, and voice recognition device.

[0008] Furthermore: the operating platform includes a rotating base and operating plates. The three sets of operating plates are initially arranged concentrically on the rotating base, and the rotating base drives the operating plates to rotate. The three sets of operating plates are adjacent to each other with a rotation point. The rotation point is equipped with a hinge lock to allow the adjacent operating plates to be hinged or de-hinged. The adjacent operating plates are fitted with a closing lock rod. The closing lock rod is equipped with a first lock and a second lock, so that the adjacent operating plates are all locked with the closing lock rod, or any one of them is locked, or none of them are locked. The closing lock rod is connected to a driving component, which is fixed on the rotating base. The rotation axis of the driving component is concentric with the rotation point. The hinge lock is set on the housing of the driving component.

[0009] Furthermore: the hinged locking component includes a sleeve seat, a return spring, a hinged shaft, and a guide wheel assembly. The rotating base is provided with a guide rail adapted to the guide wheel assembly. The guide rail has a concave section at the far end and a flat section at the near end, so that the guide wheel assembly runs to the concave section of the guide rail and is reset by the return spring, disengaging the hinge shaft of the hinged shaft from the rotation point.

[0010] Furthermore: the first and second locking components are magnetic telescopic locks, and the adjacent operating plates are provided with slots adapted to the closing rods. The slots are provided with first lock hole seats and second lock hole seats adapted to the engagement of the first and second locking components.

[0011] Furthermore, the rotating base has a first track and a second track on its edge guard plate and its rear end, and the operating plate has a first track groove and a second track groove that are adapted to the first track and the second track, so that the operating plate can be rotated to the front end and supported by the first track and the second track.

[0012] Furthermore: the display module is provided in three sets. The display module is fixed to the support plate on the front side of the operating panel by a mounting bracket. The mounting bracket is connected to the damping rotation of the adjustment component. The adjustment component is provided with a V-shaped bracket and a first contact roller. The two ends of the V-shaped bracket are provided with first contact rollers. The lower part of the operating panel is provided with a second contact roller. When the operating panel is deflected to both sides, the first contact roller contacts the first contact roller on the outer side of the adjustment component, causing the corresponding display to rotate, thereby making the three sets of displays level. When the operating panel is retracted inward, the first contact roller contacts the first contact roller on the inner side of the adjustment component, causing the corresponding display to rotate, so that the three sets of displays are level and arranged in a U-shaped concave pattern.

[0013] Furthermore: the top plate and bottom plate of the multi-degree-of-freedom mobile platform are connected by six legs with adjustable lengths. The length of the legs is adjusted by hydraulic jacks. One end of the legs is hinged to six mounting points on the top plate, and the other end of the legs is hinged to six mounting points on the bottom plate. The legs are hinged using a universal joint structure.

[0014] Furthermore, three sets of shock-absorbing seats are arranged side by side on the rear side of the control panel. The shock-absorbing seats are fixed to the control cabin and supported by an airbag structure.

[0015] Furthermore: a support arm is fixed to the inner wall of the operating cabin, and a monitoring display is fixed to the support arm. A connecting arm is fixed to the inner top of the operating cabin, with one end of the connecting arm fixed above the monitoring display and the other end fixed with a lighting assembly.

[0016] Furthermore: the bulkhead of the operating cabin is composed of hollow laminated glass and its profile structural components, and a door is provided on one side of the operating cabin, with a folding ladder fixed below the door.

[0017] Compared with the prior art, the present invention has the following advantages and effects:

[0018] (1) The present invention adopts a multi-degree-of-freedom mobile platform and an operating cabin fixed in the way that the entire operation process is carried out at sea during deep-sea mining operations. The ship is affected by ocean currents and wind direction, which will cause swaying and drifting. Operators need to use remote sensing for fine control. Therefore, a relatively stable operating environment is required. According to the angle and direction of the ship's swaying and the amplitude of the movement, the multi-degree-of-freedom mobile platform, combined with the attitude sensor of the operating cabin, obtains real-time attitude data. Then, the multi-degree-of-freedom mobile platform applies a movement stroke in the opposite direction to the swaying, so that the operating cabin remains balanced, meets the operator's comfortable operating space, and can avoid the risk of the operator's hand accidentally touching other control areas due to the shaking of the operating cabin.

[0019] (2) The operating table of the present invention is provided with three operating plates, each of which is provided with a driving component that drives it independently. The rotating shaft is slidably provided with a closing locking rod, and the closing locking rod is provided with a locking component to realize the engagement and disengagement between the closing locking rod and the operating plate. The operating host also includes a guide rail, which is adapted to the guide wheel at the end of the closing locking rod. The guide rail is provided with a lowest point. The base of the operating table is provided with a driving component. The rotating base drives the driving component to rotate. When any one of the driving components rotates to the lowest point of the track, the closing locking rod on the rotating shaft disengages from the slots of the left and right sets of operating plates. At this time, the locking components on the closing locking rods of the other two driving components extend and retract and engage with the locking holes on the sides of the slots of the left and right sets of operating plates. The two closing locking rods rotate under the drive of the driving component, causing the operating plates to unfold, realizing multi-person collaborative operation. It can effectively adapt to the different work needs of single and multi-person collaborative situations and improve the flexibility of the operating host. Attached Figure Description

[0020] Figure 1-2 This is a schematic diagram of the structure of an embodiment of the present invention.

[0021] Figure 3 This is a partial enlarged view of an embodiment of the present invention.

[0022] Figure 4 This is a schematic diagram of the structure of the multi-degree-of-freedom mobile platform according to an embodiment of the present invention.

[0023] Figure 5-6 This is a schematic diagram of the structure of the rotating base according to an embodiment of the present invention.

[0024] Figure 7 This is a schematic diagram of lighting according to an embodiment of the present invention.

[0025] Figure 8 This is a schematic diagram of the operation panel in an embodiment of the present invention.

[0026] Figure 9 This is a schematic diagram of the movement of the first contact wheel and the second contact wheel in an embodiment of the present invention.

[0027] Figure 10 This is a schematic diagram of the closing locking rod according to an embodiment of the present invention.

[0028] Figure 11 This is a schematic diagram illustrating the working principle of the locking component of the closing locking rod in an embodiment of the present invention.

[0029] Figure 12 This is a schematic diagram of the guide wheel of the closing locking rod in an embodiment of the present invention.

[0030] Figure 13 This is a schematic diagram of the closed state of the operating table according to an embodiment of the present invention.

[0031] Figure 14 This is a schematic diagram of the unfolded state of the operating console according to an embodiment of the present invention.

[0032] Figure Numbers: Operating Cabin 1, Support Platform 11, Mounting Bracket 111, Adjustment Component 112, V-Shaped Bracket 1121, First Contact Roller 1122, Support Arm 12, Monitoring Display 13, Connecting Arm 14, Lighting Assembly 15, Bulkhead 16, Insulating Laminated Glass 161, Profile Structural Component 162, Door 17, Folding Ladder 18, Operating Host 2, Display Module 21, Operating Table 22, Rotating Base 221, Guide Rail 2211, Edge Guard Plate 2212, First Track 2213, Second Track 2214, Operating Panel 222, Rotation Point 2221, Slot 2222, First Lock Hole Seat 2223, Second Lock Components include: 2224 (hole seat), 2225 (first rail groove), 2226 (second rail groove), 2227 (second contact roller), 223 (hinged lock), 2231 (sleeve seat), 2232 (reset spring), 2233 (hinged shaft), 2234 (guide wheel assembly), 224 (closing lock rod), 2241 (first lock), 2242 (second lock), 225 (drive component), 23 (operation module), 231 (keyboard), 232 (mouse), 233 (touchscreen), 234 (handle), 235 (voice recognition device), 24 (shock-absorbing seat), 241 (airbag), 33 (multi-degree-of-freedom moving platform), 31 (top plate), 32 (bottom plate), 33 (outriggers), 34 (universal joint), 35 (hydraulic jack), and 4 (hull compartment). Detailed Implementation

[0033] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. The following embodiments are explanations of the present invention, but the present invention is not limited to the following embodiments.

[0034] See Figure 1- Figure 14 This embodiment relates to a deep-sea mining interactive control operation platform based on digital twins, specifically used for remote sensing operation of deep-sea mining equipment. It includes an operation cabin 1, an operation host 2, and a multi-degree-of-freedom mobile platform 3. The operation host 2 is located inside the operation cabin 1. The top plate 31 of the multi-degree-of-freedom mobile platform 3 is fixed to the bottom of the operation cabin 1, and the bottom plate 32 of the multi-degree-of-freedom mobile platform 3 is fixed to the hull cabin 4. The operation host 2 includes a display module 21, an operating table 22, and an operation module 23. The operation module 23 is located on the operating table 22, and the display module 21 is located in front of the operating table 22. The operation module 23 includes any or a combination of a keyboard 231, a mouse 232, a touch screen 233, a gamepad 234, and a voice recognition device 235.

[0035] Specifically, in this embodiment, the operator is located in the operating cabin 1. The operating host 2 has a built-in deep-sea mining dynamic digital twin system. Based on the twin system, real-time dynamic simulation and monitoring of deep-sea mining equipment can be realized. During the mining process, the operating host 2 maps the mining process in real time, which facilitates intelligent management and scheduling of various equipment and personnel in the mining system. In this embodiment, the operating platform is used to control the twin system. The multi-degree-of-freedom mobile platform 3 is located below the operating cabin 1 and fixed to the hull cabin 4 through the base plate 32. During deep-sea mining operations, the entire operation process is carried out at sea. The hull is affected by ocean currents and wind direction, which will cause swaying and drifting. Furthermore, the operator needs to use remote sensing for fine control. Therefore, a relatively comfortable and stable operating environment is required. Since the hull's inherent swaying and rolling are difficult to suppress, the displacement of the operating cabin can only be corrected by a multi-degree-of-freedom moving platform 3 (the multi-degree-of-freedom moving platform 3 applies a movement stroke in the opposite direction to the hull's swaying and rolling, according to the angle, direction, and amplitude of the movement), so that the operating cabin 1 tends to be balanced. This avoids the risk of operator misoperation due to severe shaking of the operating cabin 1 and provides a good working environment for the operators. The operating console 22 is used to place the operating module 23, which is used to realize interactive control of the deep-sea mining equipment, improving the accuracy and sensitivity of operation. The operating module 23 includes any or a combination of a keyboard 231, a mouse 232, a touch screen 233, a gamepad 234, and a voice recognition device 235, and the operating module 23 is placed on the operating console 22. Operators can select appropriate operation modules 23 according to different operational needs, such as keyboard 231 and mouse 232 for inputting instructions and data, touch screen 233 for touching digital twin models, handle 234 for simulating the movements of deep-sea mining equipment, and voice recognition device 235 for voice control and communication. By flexibly using the above various operation modules 23, the task allocation of operation when multiple people are working together can be met, thereby improving the flexibility of the operation host 2 and realizing the diversification and convenience of operation.

[0036] The operating platform 22 includes a rotating base 221 and operating plates 222. Three sets of operating plates 222 are initially arranged concentrically on the rotating base 221. The rotating base 221 drives the operating plates 222 to rotate. The three sets of operating plates 222 are adjacent to each other with a rotation point 2221. The rotation point 2221 is provided with a hinge lock 223 to allow adjacent operating plates 222 to be hinged or unhinged. The adjacent operating plates 222 are fitted with a closing lock rod 224. The closing lock rod 224 is provided with a first lock 2241 and a second lock 2242 to achieve that adjacent operating plates 222 are all locked with the closing lock rod 224, or any one of them is locked, or none of them are locked. The closing lock rod 224 is connected to a driving component 225. The driving component 225 is fixed on the rotating base 221. The rotation axis of the driving component 225 is concentric with the rotation point 2221. The hinge lock 223 is provided on the housing of the driving component 225. The operating table 22 includes three sets of operating plates 222. The three sets of operating plates 222 have slots at the junction of any two sets of operating plates 222. A driving component 225 for driving the closing locking rod 224 to rotate is provided below the slot. The closing locking rod 224 is rotatably mounted on the rotating shaft. The closing locking rod 224 is located at the contact position of the operating plate 222. Two sets of operating plates 222 are locked on the left and right sides of the closing locking rod 224, respectively. When the operating panel 222 needs to be unfolded (for example, the first locking member 2241 of the closing locking rod 224 locks the operating panel 222 to be unfolded, and the second locking member 2242 of the closing locking rod 224 unlocks the set of operating panels 222 that are close to the operator and do not need to be unfolded), the driving component 225 under the corresponding two sets of closing locking rods 224 drives the closing locking rods 224 to rotate, causing the left and right sets of operating panels 222 to flip outwards until the edges of the two outward-flipped sets of operating panels 222 are in contact with the two side edges of the middle operating panel 222, and the outer edges of the three sets of operating panels 222 are in a straight line. At this time, the operating platform 22 is fully unfolded. When the operating platform 22 is unfolded, three operators can operate the main operating unit 2 simultaneously. With the help of multi-person collaborative operation, the progress of the operation can be greatly improved, which is suitable for deep-sea mining projects with tight schedules.

[0037] The hinged locking component 223 includes a sleeve seat 2231, a return spring 2232, a hinge shaft 2233, and a guide wheel assembly 2234. The rotating base 221 has a guide rail 2211 along its edge that is adapted to the guide wheel assembly 2234. The guide rail 2211 has a concave section at its distal end and a flat section at its proximal end, allowing the guide wheel assembly 2234 to move to the concave section of the guide rail 2211. After being reset by the return spring 2232, the hinge shaft of the hinge shaft 2233 disengages from the rotation point 2221. When the rotating part's built-in rotating motor drives the upper panel of the base to rotate, the three driving components 225 of the upper panel of the base are also driven accordingly. The rotating shaft slides and hinges with the closing locking rod 224, and the end of the closing locking rod 224 near the guide rail 2211 is hinged to the guide wheel assembly 2234. The guide wheel assemblies 2234 are arranged in pairs and roll with the guide rail 2211. When the rotating base 221 rotates, the driving component 225 rotates, and the rotating shaft drives the guide wheel to roll along the guide rail 2211 (the guide rail 2211 is a semi-enclosed structure that accommodates the guide wheel and prevents it from coming off during rolling). The side of the guide rail 2211 closest to the display module 21 is a concave section, which is the lowest position of the guide rail 2211. When any driving component 225 rotates to this position, under the action of the return spring 2232, the closing locking rod 224 on the driving component 225 slides down along the rotating shaft and disengages from the two adjacent sets of operating plates 222 above, so that the subsequent operating table 22 can be unfolded.

[0038] The first locking member 2241 and the second locking member 2242 are magnetic telescopic locks. The adjacent operating plates 222 are provided with a slot 2222 at the contact position to accommodate the closing rod. The slot 2222 is provided with a first lock hole seat 2223 and a second lock hole seat 2224 to accommodate the engagement of the first locking member 2241 and the second locking member 2242.

[0039] The rotating base 221 has a side guard plate 2212 and a rear end equipped with a first track 2213 and a second track 2214. The operating plate 222 has a first rail groove 2225 and a second rail groove 2226 adapted to the first track 2213 and the second track 2214, so that the operating plate 222 can be rotated to the front end and supported by the first track 2213 and the second track 2214. A column supporting the operating platform 22 is also provided at the center of the base. When the operating platform 22 is unfolded, the set of operating plates 222 closest to the operator slides into the first rail groove 2225 and the second rail groove 2226 of the operating plate 222 through the column, the first track 2213 and the second track 2214 respectively, supporting the operating plate 222. This ensures stable support for the set of operating plates 222 in the middle position after the operating platform 22 is unfolded, allowing the operating platform 22 to adapt to the turbulence and swaying of the ship's cabin 4 in the ocean.

[0040] The display module 21 is provided in three sets. The display module 21 is fixed to the support plate 11 on the front side of the operating table 22 by the mounting bracket 111. The mounting bracket 111 is connected to the adjustment component 112 with damping rotation. The adjustment component 112 is provided with a V-shaped bracket 1121 and a first contact roller 1122. The two ends of the V-shaped bracket 1121 are provided with the first contact roller 1122. The operating plate 222 is provided with a second contact roller 2227 below it. When the operating plate 222 is deflected to both sides, the first contact roller 1122 contacts the first contact roller 1122 on the outer side of the adjustment component 112, causing the corresponding display to rotate, thereby making the three sets of displays level. When the operating plate 222 is retracted inward, the first contact roller 1122 contacts the first contact roller 1122 on the inner side of the adjustment component 112, causing the corresponding display to rotate, so that the three sets of displays are level and arranged in a U-shaped concave pattern. The adjustment component 112 includes a damping shaft (which can be fixed at any rotation angle), a swing arm, and a second contact wheel. The damping shaft is rotatably mounted under the support platform, and two swing arms are fixed to its ends. The ends of the two swing arms are hinged to the second contact wheel. Two first contact wheels are symmetrically arranged below the operating plate 222 away from the rotation center of the rotating base 221. The first and second contact wheels are arranged at the same height, so that when the operating plate 222 is unfolded, the first contact wheel on it drives the second contact wheel of the outer swing arm. The first contact wheel pushes the second contact wheel, so that the swing arm connected to the pushed contact wheel deflects around the damping shaft at a certain angle, so that the front of the display module 21 faces the operators on both sides. At this time, the movable bracket moves towards the operators, so that the display module 21 is close to the faces of the three operators, making it convenient for the operators to face their respective display modules 21 for operation. Similarly, when the control panel 22 is closed, the movable bracket moves away from the operator and moves to the initial position, adjusting to a distance that allows for easy observation of the three display modules 21 by a single person. When the control panel 22 rotates, the first contact wheel below it touches the second contact wheel of the inner swing arm of the adjusting component 112, causing the front of the two outer display modules 21 to rotate and face the middle position for single-person operation. At this time, the three display modules 21 present an inward concave shape, which facilitates simultaneous observation of the three display modules 21 by a single person, conforming to ergonomics.

[0041] The top plate 31 and bottom plate 32 of the multi-degree-of-freedom mobile platform 3 are connected by six adjustable-length outriggers 33. The outriggers 33 are adjusted in length using hydraulic jacks 35. One end of each outrigger 33 is hinged to one of six mounting points on the top plate 31, and the other end is hinged to one of six mounting points on the bottom plate 32, using a universal joint 34 for hinge connection. The multi-degree-of-freedom mobile platform 3 is designed to perform translational motion in three directions and rotational motion in three modes, depending on the joint angles and leg lengths. To drive the outriggers 33 and move the platform to the desired coordinates, a power electronic platform and a microprocessor unit (i.e., a "controller") are required. The controller measures the (actual) position of the platform and calculates the leg length required to move the platform to its (new) desired coordinates. The controller is also responsible for sending motion commands to the legs. This is primarily handled by a digital PI or PID-based control algorithm running in the controller. The power electronic platform amplifies the low-power controller signal to "drive" the extension and retraction of the hydraulic jacks 35.

[0042] Three sets of shock-absorbing seats 24 are arranged side by side on the rear side of the control panel 22. The shock-absorbing seats 24 are fixed to the control cabin 1 and supported by an airbag 241 structure. The shock-absorbing seats 24 installed in the control cabin 1 can further reduce the swaying of the operator's body when the ship is rocking, which is conducive to the operator's precise remote sensing operations and improves the operator's comfort.

[0043] A support arm 12 is fixed to the inner wall of the operating cabin 1, and a monitoring display 13 is fixed to the support arm 12. A connecting arm 14 is fixed to the inner roof of the operating cabin 1, with one end of the connecting arm 14 fixed above the monitoring display 13 and the other end fixed to a lighting assembly 15. The monitoring display 13 displays real-time image information of the sea surface or deep sea, enabling operators to anticipate operational risks and reduce equipment losses during mining. In nighttime operations or under low light or even no light conditions, the lighting assembly 15 provides illumination, and the bright operating environment makes the operation process clearer for the operators, improving their comfort.

[0044] The bulkhead 16 of the operating cabin 1 is composed of hollow laminated glass 161 and its profile structural components 162. A door 17 is provided on one side of the operating cabin 1, and a folding ladder 18 is fixed below the door 17. When the operator enters the operating cabin 1, the folding ladder 18 is unfolded first, the operator climbs the folding ladder 18, and then the door 17 is opened to enter. After the operator enters the operating cabin 1, the folding ladder 18 is retracted and the door 17 is closed. When the operator needs to leave the operating cabin 1, the door 17 must be opened first, then the folding ladder 18 is unfolded, the operator descends along the folding ladder 18, the door 17 is closed, and the folding ladder 18 is retracted.

[0045] The above description is merely illustrative of the invention. Those skilled in the art can make various modifications or additions to the described specific embodiments or use similar methods to replace them, as long as they do not depart from the content of this specification or exceed the scope defined by the claims, all of which should fall within the protection scope of this invention.

Claims

1. A deep-sea mining interactive control operation platform based on digital twinning, characterized in that: The system includes an operating cabin, a main operating unit, and a multi-degree-of-freedom mobile platform. The main operating unit is located inside the operating cabin. The top plate of the multi-degree-of-freedom mobile platform is fixed to the bottom of the operating cabin, and the bottom plate of the multi-degree-of-freedom mobile platform is fixed to the hull. The main operating unit includes a display module, an operating console, and an operating module. The operating module is located on the operating console, and the display module is located in front of the operating console. The operating module includes any or a combination of a keyboard, mouse, touch screen, gamepad, and voice recognition device. The operating platform includes a rotating base and operating plates. Three sets of operating plates are initially arranged concentrically on the rotating base. The rotating base drives the operating plates to rotate. The three sets of operating plates are adjacent to each other with a rotation point. The rotation point is equipped with a hinge lock to allow adjacent operating plates to be hinged or unhinged. A closing lock rod is provided at the contact position of adjacent operating plates. The closing lock rod is equipped with a first lock and a second lock, so that adjacent operating plates are all locked with the closing lock rod, or any one of them is locked, or none of them are locked. The closing lock rod is connected to a driving component. The driving component is fixed on the rotating base. The rotation axis of the driving component is concentric with the rotation point. The hinge lock is provided on the housing of the driving component. The hinged locking component includes a sleeve seat, a return spring, a hinged shaft, and a guide wheel assembly. The rotating base is provided with a guide rail adapted to the guide wheel assembly. The guide rail has a concave section at the far end and a flat section at the near end, so that the guide wheel assembly can run to the concave section of the guide rail and be reset by the return spring, disengaging the hinge shaft of the hinged shaft from the rotation point.

2. The deep-sea mining interactive control operation platform based on digital twinning according to claim 1, characterized in that: The first and second locking components are magnetic telescopic locks. The adjacent operating plates are provided with slots for the closing rods. The slots are provided with first and second lock hole seats for the first and second locking components to engage.

3. The deep-sea mining interactive control operation platform based on digital twinning according to claim 1, characterized in that: The rotating base has a first track and a second track on its edge guard plate and its rear end. The operating plate has a first track groove and a second track groove that are adapted to the first track and the second track, so that the operating plate can be rotated to the front end and supported by the first track and the second track.

4. The deep-sea mining interactive control operation platform based on digital twin as described in claim 1, characterized in that: The display module is provided in three sets. The display module is fixed to the support plate on the front side of the operating panel by the mounting bracket. The mounting bracket is connected to the damping rotation of the adjustment component. The adjustment component is provided with a V-shaped bracket and a first contact roller. The two ends of the V-shaped bracket are provided with first contact rollers. The lower part of the operating panel is provided with a second contact roller. When the operating panel is deflected to both sides, the first contact roller contacts the first contact roller on the outer side of the adjustment component, causing the corresponding display to rotate, thereby making the three sets of displays level. When the operating panel is retracted inward, the first contact roller contacts the first contact roller on the inner side of the adjustment component, causing the corresponding display to rotate, so that the three sets of displays are level and arranged in a U-shaped concave pattern.

5. The deep-sea mining interactive control operation platform based on digital twin as described in claim 1, characterized in that: The top and bottom plates of the multi-degree-of-freedom mobile platform are connected by six legs of adjustable length. The length of the legs is adjusted by hydraulic jacks. One end of each leg is hinged to one of the six mounting points on the top plate, and the other end is hinged to one of the six mounting points on the bottom plate. The legs are hinged using a universal joint structure.

6. The deep-sea mining interactive control operation platform based on digital twin as described in claim 1, characterized in that: Three sets of shock-absorbing seats are arranged side by side on the rear side of the control panel. The shock-absorbing seats are fixed to the control cabin and supported by an airbag structure.

7. The deep-sea mining interactive control operation platform based on digital twin as described in claim 1, characterized in that: The inner wall of the operating cabin is fixed with a support arm, and a monitoring display is fixed to the support arm. The inner top of the operating cabin is fixed with a connecting arm, one end of which is fixed above the monitoring display, and the other end is fixed with a lighting assembly.

8. The deep-sea mining interactive control operation platform based on digital twin according to claim 1, characterized in that: The walls of the operating cabin are composed of hollow laminated glass and its profile structural components. A door is provided on one side of the operating cabin, and a folding ladder is fixed below the door.

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