A prefabrication method for a subsea test mine

Abstract

A method for prefabricating a seabed experimental mining area includes a hull, an ore feeder on the hull, and a feeding pipeline system. The feeding pipeline system includes a feeding pipe assembly, one end of which is located below the water surface for water intake, and the other end of which is connected to an underwater robot. A feeding bin is installed on the underwater robot, and the feeding bin is connected to the feeding pipe assembly. A feeder is installed at the bottom of the feeding bin. The prefabrication method includes setting mining area parameters; deploying the underwater robot; ore transportation: activating the hydrodynamic components of the feeding pipeline system and the ore feeder, filling the feeding pipe assembly with seawater and mixing it with ore from the ore feeder, and transporting the ore from the feeding pipe assembly to the feeding bin and accumulating it at the bottom of the feeding bin; creating the mining area: turning on the feeder to discharge the ore from the feeding bin at a constant flow rate, while the underwater robot moves along a predetermined path and at a predetermined speed, spreading the ore on the seabed to form an experimental mining area with a predetermined ore abundance, thereby achieving a high-quality simulation of a seabed experimental mining area.

Description

Technical Field

[0001] This invention relates to the field of deep-sea mining technology, and in particular to a prefabrication method for seabed test mining areas. Background Technology

[0002] The ocean, covering 71% of the Earth's surface, is rich in mineral resources. Since the legal issues surrounding deep-sea mining have been resolved, countries worldwide are adjusting their marine resource development strategies and accelerating the comprehensive development of marine resources. The commercialization of deep-sea mining is beginning to emerge internationally, and applications for exploration of international seabed mining areas are rapidly increasing. my country urgently needs to develop deep-sea mining technology to safeguard its rights and interests in the development of marine mineral resources.

[0003] The basic function of deep-sea mining systems is to collect mineral resources such as polymetallic nodules from the seabed and lift them to the surface and transport them to ports and coastlines. Currently, domestic and foreign researchers have conducted some studies on deep-sea mining system equipment. Extensive theoretical analysis and experimental research have been carried out on three major mineral types: manganese nodules, polymetallic sulfides, and cobalt-rich crusts. Multiple systems have been developed for different types of minerals. Polymetallic nodules in the deep sea have enormous resource potential and are rich in metals such as cobalt, nickel, copper, and manganese, which are urgently needed for new energy technologies. They are the primary target for deep-sea mineral resource development. Polymetallic nodules are generally spherical or ellipsoidal, with a particle size between 20 and 100 mm and a density of about 2100 kg / m3. They are semi-buried on the surface of seabed sediments and are found at depths of 4500 to 6000 m.

[0004] Before deep-sea mining equipment can achieve in-situ deep-sea mining, multiple stages of shallow-sea trials are required, gradually increasing the depth to verify the system's reliability. However, since there are no manganese nodules on the shallow seabed, the research team could only directly drop simulated nodules onto the ship in the test area based on ocean currents. This prefabrication method resulted in inaccurate ore landing points due to the manganese nodules being far from the seabed and being greatly affected by ocean currents during their descent. The prefabricated mining areas were intermittent, and the ore distribution was not uniform. Furthermore, an underwater robot was needed to dive down and confirm the location of the mining area after dropping the nodules. This made it impossible to form a high-quality simulated prefabricated mining area to efficiently verify the reliability of the deep-sea mining system, increasing the test time and uncertainty of the deep-sea mining system in shallow-sea trials. Summary of the Invention

[0005] To address the shortcomings of existing production technologies, the applicant provides a prefabrication method for seabed test mining areas, thereby achieving high-quality simulation of seabed test mining areas and ensuring the efficiency and accuracy of shallow-sea sea trials of deep-sea mining systems.

[0006] The technical solution adopted in this invention is as follows:

[0007] A prefabrication method for a seabed experimental mining area includes a hull located on the water surface of the experimental mining area, an ore feeder installed on the hull, and a feeding pipeline system connected to the ore feeder. The feeding pipeline system includes a feeding pipe assembly, one end of which is located below the water surface for water intake, and the other end of which is connected to an underwater robot. The underwater robot is equipped with a feeding bin, which is connected to the feeding pipe assembly. A feeder is installed at the bottom of the feeding bin, and a positioning device is installed on the underwater robot.

[0008] The prefabrication method includes the following steps:

[0009] Setting mining area parameters: Mining area parameters include the location, area, and ore abundance of the test mining area;

[0010] Deploying the underwater robot: The end of the feed pipe assembly extends downwards as the underwater robot descends until it reaches above the designated test mining area;

[0011] Ore conveying: Start the fluid power components of the feeding pipeline system and the ore feeder. After seawater is poured into the feeding pipe group, ore from the ore feeder is mixed in. The ore is conveyed from the feeding pipe group to the feeding bin and stored at the bottom of the feeding bin.

[0012] Creating a mining area: The feeder is turned on to discharge the ore from the feed bin at a constant flow rate. At the same time, the underwater robot moves along a predetermined path and at a predetermined speed, spreading the ore on the seabed to form a test mining area with a set ore abundance.

[0013] Its further technical solution lies in:

[0014] The feeding hopper is a conical shell with an open top, and the feeder is installed at the small end of the conical shell.

[0015] In the ore conveying process, the mixture of ore and seawater is conveyed to the feed silo by the feed pipe assembly. The ore accumulates at the bottom of the feed silo, and excess seawater is discharged from the top of the feed silo.

[0016] The feed hopper is equipped with an ore quantity detection device;

[0017] During the mining process, when the ore quantity detection component detects that the ore quantity in the feed hopper is between the maximum and minimum quantities, ore spreading can proceed; when the ore quantity detection component detects that the ore quantity in the feed hopper is less than the minimum quantity, ore spreading stops, and the positioning device feeds back the position of the underwater robot to the control system.

[0018] In the mining process: the underwater robot's path when spreading ore includes multiple parallel straight lines of equal length. The adjacent ends of two adjacent straight lines are aligned and connected by a turning line to form a winding path. While the underwater robot moves at a constant speed along the straight lines, the feeder works, and the spreading width of the feeder is the equivalent distance between two adjacent straight lines.

[0019] When the underwater robot moves along the turning route, it first decelerates and then accelerates, and the feeder does not work. During this process, the underwater robot is towed by the hull, and the towing direction is perpendicular to the straight line. The towing distance is the spreading width.

[0020] The turning path is a semi-circular arc, and the equivalent radius of the turning path is half of the spreading width (B). When the underwater robot walks along the turning path, the linear velocity of the underwater robot is the same as the speed when walking along the straight path. At this time, the feeder is working.

[0021] The underwater robot includes a first thruster, a second thruster, a third thruster, and a fourth thruster. The first thruster, the second thruster, the third thruster, and the fourth thruster are all distributed on a virtual circumference centered on the feeder, and their thrusting directions are all tangent to the virtual circumference.

[0022] When the underwater robot travels along a straight line, the first and third thrusters propel in the same direction, while the second and third thrusters do not operate.

[0023] When the underwater robot moves along the turning path, the propulsion direction and speed of the first and third thrusters remain unchanged, while the propulsion direction of the second and third thrusters is opposite to change the direction of movement of the underwater robot, so that the direction of movement of the underwater robot is tangent to the semi-circular arc.

[0024] During the winding path walking process, ore is spread to form unit mining areas. In the step of setting mining area parameters, the complete test mining area is divided into multiple unit mining areas according to the shape of the mining area. When making the mining area, each unit mining area is made in sequence.

[0025] The feed pipe assembly includes a first pipe section and a second pipe section;

[0026] The feeding pipeline system also includes a winch assembly installed on the hull. The winch assembly has the following structure: it includes a rotating shaft that is rotatably installed on the hull via a bearing seat. The rotating shaft has a cavity. A second rotary joint is installed at one end of the rotating shaft. The second rotary joint communicates with the cavity. The second rotary joint is connected to the end of a first pipe section. The other end of the first pipe section is located below the water surface for water intake.

[0027] A drum is mounted on the rotating shaft. The drum is used to wind the second pipe section. One end of the second pipe section is fixed to the rotating shaft and communicates with the cavity. The other end of the second pipe section is communicated with the feeding bin.

[0028] The ore feeder includes a funnel-shaped receiving trough, the upper end of which is open and connected to a conveyor belt. The lower end of the receiving trough is connected to a first pipe section through a pipeline. A fluid power component is installed on the first pipe section, and the fluid power component is located between the ore feeder and the second rotary joint.

[0029] The beneficial effects of this invention are as follows:

[0030] This invention features a compact and reasonable structure and is easy to operate. It uses a feeding pipe assembly to transport ore from the ore feeder with the assistance of water flow. After the ore is transported to the underwater feeding bin, a feeder discharges the buffered ore from the feeding bin at a constant flow rate. Combined with the walking control of the underwater robot, it ensures that the abundance of the spread ore meets the requirements, thereby realizing a high-quality simulation of the seabed test mining area and ensuring the efficiency and accuracy of the shallow sea trial of the deep-sea mining system.

[0031] Furthermore, the present invention also has the following advantages:

[0032] (1) The ore quantity detection component is used to detect whether there is enough ore in the feed bin. It can be a photoelectric sensor. When the ore quantity is insufficient, the ore spreading is stopped. However, at this time, the underwater robot needs to slow down and stop. The positioning device feeds back the position when the ore spreading is stopped and memorizes it. After the ore quantity is restored, the ore spreading continues from the position when the ore spreading was stopped, thus improving the continuity of the test mining area.

[0033] (2) By combining a constant flow feed bin, an underwater robot moves at a constant speed along multiple parallel straight lines to achieve uniform ore spreading within a set area and to carry out precise prefabrication of a mining area with a certain ore abundance.

[0034] (3) By combining four thrusters, the underwater robot can move at a constant speed and turn along a predetermined route under the drive of its own power mechanism with a simple structure, thereby reducing costs.

[0035] (4) By setting the size, number and arrangement of unit mining areas, the test mining area is divided into blocks for production, so as to realize the accurate prefabrication of large-area irregular test mining areas quickly and conveniently.

[0036] (5) By setting a cavity on the shaft of the winch assembly, the first pipe section in the feed pipe group is connected to the cavity through the second rotary joint, and the end of the second pipe section in the feed pipe group is fixedly connected to the cavity, so that the first pipe section is not affected by the rotation of the winch during the laying of the second pipe section, which facilitates the layout of pipelines and related components and simplifies the overall structure of the equipment. Attached Figure Description

[0037] Figure 1 This is a schematic diagram of the structure of the present invention.

[0038] Figure 2 This is a diagram showing the tortuous path in the first scenario of the present invention.

[0039] Figure 3 This is a diagram showing the tortuous path in the second scenario of the present invention.

[0040] Figure 4 This is a schematic diagram of a large-area irregular experimental mining area composed of multiple unit mining areas according to the present invention.

[0041] Figure 5 This is a schematic diagram of the winch assembly and related components of the present invention.

[0042] Figure 6 for Figure 5 A sectional view.

[0043] Figure 7 This is a schematic diagram of the underwater robot and related components of the present invention.

[0044] Figure 8 for Figure 7 The main view.

[0045] Figure 9 for Figure 8 A cross-sectional view of section AA (in the second case, when the underwater robot moves at a constant speed).

[0046] Figure 10 for Figure 8 A cross-sectional view of section AA (in the second case, when the underwater robot is turning at a constant speed).

[0047] in:

[0048] 1. Hull; 2. Ore feeder;

[0049] 3. Feeding pipeline system; 31. Feeding pipe assembly; 3101. Second pipe section; 32. Winch assembly; 321. Drum; 322. Shaft; 3220. Cavity; 323. Bearing housing; 324. Second rotary joint; 325. Motor; 33. Winch cable laying device;

[0050] 41. Cable winch; 42. Umbilical cable;

[0051] 5. Underwater robot; 51. First thruster; 52. Second thruster; 53. Third thruster; 54. Fourth thruster; 55. Distribution box; 56. Positioning device; 57. Depth sensor; 58. Electronics compartment;

[0052] 6. Feed bin; 7. Feeder; 8. Straight-line route; 80. Turning route; 9. Unit mining area;

[0053] B. Spreading width. Detailed Implementation

[0054] The specific embodiments of the present invention will now be described with reference to the accompanying drawings.

[0055] Example 1:

[0056] like Figures 1-4 As shown, the prefabrication method of the seabed test mining area in this embodiment includes a hull 1 located on the water surface of the test mining area, an ore feeder 2 installed on the hull 1, and a feeding pipeline system 3 connected to the ore feeder 2. The feeding pipeline system 3 includes a feeding pipe assembly 31. One end of the feeding pipe assembly 31 is located below the water surface for water intake, and the other end of the feeding pipe assembly 31 is connected to an underwater robot 5. A feeding bin 6 is installed on the underwater robot 5. The feeding bin 6 is connected to the feeding pipe assembly 31. A feeder 7 is installed at the bottom of the feeding bin 6. A positioning device 56 is installed on the underwater robot 5.

[0057] The prefabrication method includes the following steps:

[0058] Setting mining area parameters: Mining area parameters include the location, area, and ore abundance of the test mining area;

[0059] Deploying underwater robot 5: The end of the feed pipe assembly 31 extends downward as the underwater robot 5 dives until the underwater robot 5 reaches above the designated test mining area;

[0060] Ore conveying: Start the fluid power components of the feed pipeline system 3 and the ore feeder 2. After seawater is poured into the feed pipe assembly 31, ore from the ore feeder 2 is mixed in. The ore is conveyed by the feed pipe assembly 31 to the feed bin 6 and stored at the bottom of the feed bin 6.

[0061] Creating a mining area: The feeder 7 is turned on to discharge the ore in the feed bin 6 at a constant flow rate. At the same time, the underwater robot 5 moves along a predetermined path and at a predetermined speed, spreading the ore on the seabed to form a test mining area with a set ore abundance.

[0062] Specifically, the complete set of equipment for the prefabricated test mining area includes a control system, which is generally installed on the hull 1 and communicates with the underwater robot 5 and provides energy. The hull 1 serves as the activity area for the staff.

[0063] The underwater robot 5 is equipped with a power mechanism, specifically a thruster. The positioning device 56 can be an inertial navigation system for underwater positioning, or a depth sensor 57 for detecting the depth of the underwater robot 5. The underwater robot 5 is also equipped with a junction box 55 and an electronics compartment 58. The electronics compartment 58 is connected to the control system and power supply on the hull 1 via an umbilical cable 42. The hull 1 is also equipped with a cable winch 41 for retracting and extending the umbilical cable 42. The umbilical cable 42 is slack and unstretched, swinging with the underwater robot 5. The junction box 55 is used for distributing cables for different electrical devices of the underwater robot 5. The feed tube assembly 31 is a flexible, coilable tube. The extension length of the feed tube assembly 31 and the umbilical cable 42 is adapted to the operating depth of the underwater robot 5.

[0064] The fluid power component of the feed pipeline system 3 is generally a pump, which is used to provide power for conveying fluid. Near the inlet of the feed pipe group 31, ore of a certain particle size is mixed into water to form a mixture of ore and water, which facilitates ore transportation. The type of ore is related to the mining area to be tested. The ore can be manganese nodule ore.

[0065] The ore abundance is related to the conveying flow rate of feeder 7 and the moving speed of underwater robot 5. Feeder 7 is an impeller feeder, and the conveying flow rate is generally a constant value during operation. However, the conveying flow rate can also be changed by frequency converter control, thereby changing the ore abundance in the test mining area.

[0066] During the prefabrication of the mining area, the feed bin 6 and feeder 7 are lowered to the seabed. The feed bin 6 serves as a buffer to store ore, preventing fluctuations in the concentration of ore transported by the feed pipe group 31 from affecting the uniformity of spreading. The feeder 7 provides uniform feeding. When the concentration of ore transported by the feed pipe group 31 is high, the ore will be temporarily stored in the feed bin 6. When the concentration is low, the ore in the feed bin 6 can also be replenished to ensure the stable output of the feeder 7. The uniform feeding of the feeder 7, combined with the walking control of the underwater robot 5, ensures that the spread ore always has a constant flow rate and continuous position, so that the ore abundance of the formed test mining area meets the requirements.

[0067] Ore from the ore feeder 2 is transported by the feed pipe assembly 31 with the assistance of water flow. After the ore is transported to the underwater feed bin 6, the feeder 7 discharges the ore buffered in the feed bin 6 at a constant flow rate. Combined with the walking control of the underwater robot 5, the abundance of the spread ore is ensured to meet the requirements, thereby realizing a high-quality simulation of the seabed test mining area and ensuring the test efficiency and accuracy of the deep-sea mining system in shallow sea trials.

[0068] Furthermore, such as Figure 7 As shown, the feed hopper 6 is a conical shell with an open top, and the small end of the conical shell is open and a feeder 7 is installed there;

[0069] In the ore conveying process, the mixture of ore and seawater is conveyed to the feed bin 6 by the feed pipe assembly 31. The ore accumulates at the bottom of the feed bin 6, and the excess seawater is discharged from the top of the feed bin 6.

[0070] The upper part of the feed hopper 6 is a conical shell with an open top, which enables underwater transfer of ore with a simple structure and facilitates the balance between the inside and outside of the feed hopper 6.

[0071] When the ore feeder 2 cannot supply ore in time, or the feed pipe group 31 cannot transport ore smoothly, the prefabrication system can realize an automatic pause function. Furthermore, an ore quantity detection component is set in the feed bin 6. During the mining process, when the ore quantity detection component detects that the ore quantity in the feed bin 6 is between the maximum and minimum quantity, ore spreading can be carried out. When the ore quantity detection component detects that the ore quantity in the feed bin 6 is less than the minimum quantity, ore spreading is stopped, and the positioning device 56 feeds back the position of the underwater robot 5 to the control system.

[0072] Specifically, the ore quantity detection component is used to detect whether there is enough ore in the feed bin 6. It can be a photoelectric sensor. When the ore quantity is insufficient, the ore spreading is stopped. However, at this time, the underwater robot 5 needs to decelerate and stop. The positioning device 56 feeds back the position when the ore spreading was stopped and memorizes it. After the ore quantity is restored, the ore spreading continues from the position when the ore spreading was stopped, thus improving the continuity of the test mining area.

[0073] In addition, during the prefabrication process of the seabed test mining area, while ensuring that the ore abundance of the spread meets the requirements, it is necessary to plan and design the walking path and walking speed of the underwater robot 5 to achieve automatic prefabrication of the mining area with the required ore abundance within the required location and area of ​​the test mining area.

[0074] Furthermore, such as Figures 2-3 As shown, in the mining process: the underwater robot 5 travels along multiple parallel straight routes 8 of the same length when spreading ore. The adjacent ends of two adjacent straight routes 8 are flush and connected by a turning route 80 to form a winding path. While the underwater robot 5 moves at a constant speed along the straight route 8, the feeder 7 works, and the spreading width B of the feeder 7 is the equivalent distance between two adjacent straight routes 8.

[0075] Specifically, the equivalent distance is the distance between the centroid lines of the two ore strips formed after spreading ore along two adjacent straight routes 8; the spreading width B is the equivalent distance between two adjacent straight routes 8, even if the sides of the two ore strips formed after spreading ore along two adjacent straight routes 8 coincide; the mining area formed after spreading ore along the meandering path is the complete test mining area, or it can be a part of the test mining area, and its shape is rectangular or nearly rectangular.

[0076] Combined with a constant flow feed hopper 6, an underwater robot 5 moves at a constant speed along multiple parallel straight routes 8 to achieve uniform ore spreading within a set area, thus enabling precise prefabrication of a mining area with a certain ore abundance.

[0077] The underwater robot 5's specific walking methods along the zigzag path include the following two scenarios:

[0078] The first case, such as Figure 2 As shown, when the underwater robot 5 travels along the turning route 80, it first decelerates and then accelerates, and the feeder 7 does not work. During this process, the underwater robot 5 is towed by the hull 1, and the towing direction is perpendicular to the straight route 8. The towing distance is the spreading width B.

[0079] The underwater robot 5 is driven by the hull 1 towing method to move along the length of the set area. Under the drive of its own power mechanism, the underwater robot 5 makes a pendulum-like reciprocating motion along the straight route 8. It does not spread ore during acceleration and deceleration, so as to achieve the same ore abundance at the boundary and inside of the spreading area.

[0080] In the second scenario, such as Figure 3 As shown, the turning route 80 is a semi-circular arc, and the equivalent radius of the turning route 80 is half of the spreading width B. When the underwater robot 5 walks along the turning route 80, the linear velocity of the underwater robot 5 is the same as the speed of walking along the straight route 8. At this time, the feeder 7 is working.

[0081] Specifically, the equivalent radius is the radius of the centroid line of the ore strip formed after the ore is spread along the turning route 80.

[0082] The underwater robot 5 uses its own power mechanism to move throughout the set area, ensuring that the linear velocity of the underwater robot 5 remains constant and changes direction only when it is at the turning point 80. This facilitates the speed control of the underwater robot 5 and the non-stop control of the feeder 7, thereby improving the speed of prefabrication in the mining area while ensuring a certain degree of ore abundance uniformity.

[0083] In the second case, such as Figures 7-10 As shown, the underwater robot 5 includes a first thruster 51, a second thruster 52, a third thruster 53 and a fourth thruster 54. The first thruster 51, the second thruster 52, the third thruster 53 and the fourth thruster 54 are evenly distributed on a virtual circumference centered on the feeder 7 and the thrusting direction is tangent to the virtual circumference.

[0084] When the underwater robot 5 moves along the straight path 8, the first thruster 51 and the third thruster 53 propel in the same direction, while the second thruster 52 and the fourth thruster 54 are not engaged. Figure 9 As shown;

[0085] When the underwater robot 5 travels along the turning path 80, the propulsion direction and speed of the first thruster 51 and the third thruster 53 remain unchanged, while the propulsion directions of the second thruster 52 and the third thruster 53 are opposite to change the motion direction of the underwater robot 5, so that the walking direction of the underwater robot 5 is tangent to the semi-circular arc, such as... Figure 10 As shown.

[0086] By combining four thrusters, the underwater robot 5 achieves uniform speed movement and turning along a predetermined route under its own power mechanism with a simple structure, thus reducing costs.

[0087] Furthermore, such as Figure 4 As shown, during the process of walking along the tortuous path, ore is spread to form unit mining areas 9. In the step of setting mining area parameters, the complete test mining area is divided into multiple unit mining areas 9 according to the shape of the mining area. When making the mining area, each unit mining area 9 is made in sequence.

[0088] Specifically, by setting the size, number, and arrangement of unit mining areas 9, the experimental mining area is divided into blocks for production, enabling precise prefabrication of large-area irregular experimental mining areas quickly and conveniently.

[0089] Furthermore, the underwater robot 5 is connected to the end of the feeding pipe assembly 31 via a first rotary joint, which connects the feeding pipe assembly 31 to the feeding bin 6.

[0090] The first rotary joint allows the underwater robot 5 to turn more smoothly without being constrained by the feed pipe assembly 31.

[0091] Example 2:

[0092] Based on Example 1, the relevant equipment of the pipeline system on the water surface is further optimized.

[0093] Furthermore, such as Figure 1 , Figures 5-6 As shown, the feed pipe assembly 31 includes a first pipe section and a second pipe section 3101;

[0094] The feeding pipeline system 3 also includes a winch assembly 32 installed on the hull 1. The winch assembly 32 has the following structure: it includes a rotating shaft 322 rotatably mounted on the hull 1 via a bearing seat 323. The rotating shaft 322 has a cavity 3220. A second rotary joint 324 is installed at one end of the rotating shaft 322. The second rotary joint 324 communicates with the cavity 3220 and is connected to the end of the first pipe section. The other end of the first pipe section is located below the water surface for water intake.

[0095] A drum 321 is installed on the rotating shaft 322. The drum 321 is used to wind the second pipe section 3101. One end of the second pipe section 3101 is fixed on the rotating shaft 322 and communicates with the cavity 3220. The other end of the second pipe section 3101 is communicated with the feed bin 6.

[0096] Specifically, the winch assembly 32's drum 321 winds around the second pipe section 3101 for winding and unwinding the feed pipe assembly 31. The winch assembly 32 also includes a motor 325 mounted on the hull 1 and a gear ring mounted on the drum 321. The gear ring is connected to the output end of the motor 325 via chain drive to realize the rotation of the drum 321, thereby realizing the winding and unwinding of the feed pipe assembly 31. The feed pipe system 3 also includes a winch cable guide 33, which plays a guiding role during the winding and unwinding of the second pipe section 3101.

[0097] By setting a cavity 3220 on the shaft 322 of the winch assembly 32, the first pipe section in the feed pipe group 31 is connected to the cavity 3220 through the second rotary joint 324, and the end of the second pipe section 3101 in the feed pipe group 31 is fixedly connected to the cavity 3220. This ensures that the first pipe section is not affected by the rotation of the winch during the laying of the second pipe section 3101, which facilitates the layout of pipelines and related components and simplifies the overall structure of the equipment.

[0098] Furthermore, such as Figure 1 As shown, the structure of the ore feeder 2 includes a funnel-shaped receiving trough, the upper end of which is open and connected to a conveyor belt. The lower end of the receiving trough is connected to a first pipe section through a pipeline. A fluid power component is installed on the first pipe section, and the fluid power component is located between the ore feeder 2 and the second rotary joint 324.

[0099] Ore is stored on the deck of hull 1. The ore is shoveled onto the conveyor belt by hand or by digging equipment. The conveyor belt is long enough to accommodate multiple people operating at the same time. The conveyor belt transports the ore to the receiving chute. The ore enters the feed pipe assembly 31 from the receiving chute. The amount of ore transported on the conveyor belt does not need to be constant, but the supply should be kept constant for a certain period of time. One end of the first pipe section extends below the water surface on the side of hull 1 to pump water. After the ore enters the first pipe section from the receiving chute, it will be carried by the water flow along the first pipe section into the cavity 3220, and then transported to the feed bin 6 by the second pipe section 3101.

[0100] The above description is an explanation of the present invention and not a limitation thereof. The scope of the present invention is defined by the claims. Within the scope of protection of the present invention, any form of modification may be made.

Claims

1. A prefabrication method for a seabed test mining area, characterized in that: The system includes a hull (1) located on the water surface of the test mining area, an ore feeder (2) installed on the hull (1), and a feeding pipeline system (3) connected to the ore feeder (2). The feeding pipeline system (3) includes a feeding pipe assembly (31), one end of which is located below the water surface for water intake, and the other end of which is connected to an underwater robot (5). The underwater robot (5) is equipped with a feeding bin (6), which is connected to the feeding pipe assembly (31). A feeder (7) is installed at the bottom of the feeding bin (6), and a positioning device (56) is installed on the underwater robot (5). The prefabrication method includes the following steps: Setting mining area parameters: Mining area parameters include the location, area, and ore abundance of the test mining area; Deploy underwater robot (5): The end of the feed pipe assembly (31) extends downward as the underwater robot (5) dives until the underwater robot (5) reaches above the designated test mining area; Ore conveying: Start the fluid power components of the feed pipeline system (3) and the ore feeder (2). After seawater is poured into the feed pipe assembly (31), the ore from the ore feeder (2) is mixed in. The ore is conveyed from the feed pipe assembly (31) to the feed bin (6) and stored at the bottom of the feed bin (6). Creating a mining area: The feeder (7) is turned on to discharge the ore in the feed bin (6) at a constant flow rate. At the same time, the underwater robot (5) moves along a predetermined path and at a predetermined speed to spread the ore on the seabed to form a test mining area with a set ore abundance. In the mining process: the underwater robot (5) travels along multiple parallel straight lines (8) of equal length. The adjacent ends of two adjacent straight lines (8) are aligned and connected by a turning line (80) to form a winding path. While the underwater robot (5) moves at a constant speed along the straight lines (8), the feeder (7) works, and the spreading width (B) of the feeder (7) is the equivalent distance between two adjacent straight lines (8). When the underwater robot (5) moves along the turning route (80), it first decelerates and then accelerates, and the feeder (7) does not work. During this process, the underwater robot (5) is towed by the hull (1), and the towing direction is perpendicular to the straight route (8). The towing distance is the spreading width (B).

2. The prefabrication method for a seabed test mining area as described in claim 1, characterized in that: The feeding bin (6) is a conical shell with an open top, and the small end of the conical shell is open and the feeder (7) is installed thereon. In the ore conveying step, the mixture of ore and seawater is conveyed to the feed bin (6) by the feed pipe group (31). The ore is stored at the bottom of the feed bin (6), and the excess seawater is discharged from the top of the feed bin (6).

3. The prefabrication method for a seabed test mining area as described in claim 2, characterized in that: An ore quantity detection component is installed inside the feed hopper (6); In the mining process, when the ore quantity detection component detects that the ore quantity in the feed bin (6) is between the maximum and minimum quantity, ore spreading can be carried out; when the ore quantity detection component detects that the ore quantity in the feed bin (6) is less than the minimum quantity, ore spreading is stopped, and the positioning device (56) feeds back the position of the underwater robot (5) to the control system.

4. The prefabrication method for a seabed test mining area as described in claim 1, characterized in that: The turning route (80) is a semi-circular arc. The equivalent radius of the turning route (80) is half of the spreading width (B). When the underwater robot (5) walks along the turning route (80), the linear velocity of the underwater robot (5) is the same as the speed of walking along the straight route (8). At this time, the feeder (7) is working.

5. The prefabrication method for a seabed test mining area as described in claim 4, characterized in that: The underwater robot (5) includes a first thruster (51), a second thruster (52), a third thruster (53) and a fourth thruster (54). The first thruster (51), the second thruster (52), the third thruster (53) and the fourth thruster (54) are evenly distributed on a virtual circumference centered on the feeder (7) and their thrusting directions are all tangent to the virtual circumference. When the underwater robot (5) moves along the straight line (8), the first thruster (51) and the third thruster (53) move in the same direction, while the second thruster (52) and the third thruster (53) do not work. When the underwater robot (5) moves along the turning path (80), the propulsion direction and speed of the first thruster (51) and the third thruster (53) remain unchanged, while the propulsion direction of the second thruster (52) and the third thruster (53) is opposite to change the movement direction of the underwater robot (5) so that the walking direction of the underwater robot (5) is tangent to the semi-circular arc.

6. The prefabrication method for a seabed test mining area as described in claim 1, characterized in that: During the winding path walking process, ore is spread to form unit mining areas (9). In the step of setting mining area parameters, the complete test mining area is divided into multiple unit mining areas (9) according to the shape of the mining area. When making the mining area, each unit mining area (9) is made in sequence.

7. The prefabrication method for a seabed test mining area as described in claim 1, characterized in that: The feed pipe assembly (31) includes a first pipe section and a second pipe section (3101); The feeding pipeline system (3) also includes a winch assembly (32) installed on the hull (1). The winch assembly (32) has the following structure: it includes a rotating shaft (322) rotatably installed on the hull (1) via a bearing seat (323). The rotating shaft (322) has a cavity (3220). A second rotary joint (324) is installed at one end of the rotating shaft (322). The second rotary joint (324) communicates with the cavity (3220). The second rotary joint (324) is connected to the end of a first pipe section. The other end of the first pipe section is located below the water surface for water intake. A drum (321) is installed on the rotating shaft (322). The drum (321) is used to wind the second pipe section (3101). One end of the second pipe section (3101) is fixed on the rotating shaft (322) and communicates with the cavity (3220). The other end of the second pipe section (3101) is communicated with the feed bin (6).

8. The prefabrication method for a seabed test mining area as described in claim 7, characterized in that: The structure of the ore feeder (2) includes a funnel-shaped receiving trough, the upper end of which is open and connected to a conveyor belt, and the lower end of which is connected to a first pipe section through a pipeline. A fluid power component is provided on the first pipe section, and the fluid power component is located between the ore feeder (2) and the second rotary joint (324).

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