Deep-sea mining system collaborative operation experiment platform

Abstract

The invention provides a deep-sea mining system collaborative operation experiment platform. The experiment platform comprises a hose, a base moving platform, a water surface moving platform, a water surface and underwater positioning base station and a test pool. The water surface mobile platform and the base mobile platform are placed in the test water tank, and the two mobile platforms are connected through the hose; and the water surface and underwater positioning base stations are installed at four vertex areas of the test pool and are used for receiving beacon data of the water surface mobile platform and underwater sound positioning signals sent by the base mobile platform so as to realize effective positioning of the mobile platform. According to the application, terminal control is matched with the mobile experiment platform through pipeline cooperation, and motion planning of the mining vehicle cluster in respective horizontal plane directions is realized.

Description

Technical Field

[0001] The present invention relates to a technical field combining marine engineering technology and automation technology, and in particular to a collaborative operation experimental platform for a deep-sea mining system. Background Art

[0002] Collaborative operation of mining systems refers to the collaborative work and cooperation between multiple mining-related subsystems in a deep-sea environment to achieve an efficient and safe mining process of mineral resources. This process is integrated by multiple systems, that is, it is necessary to effectively integrate multiple subsystems such as deep-sea ore collection systems, mineral transportation pipeline systems, mineral processing systems, and motion control systems to form a unified operating system. Key information such as slurry concentration, flow, pressure difference, movement speed, real-time position, power supply status, etc. need to be shared in real time between subsystems to ensure the smooth progress of the overall operation process. To ensure operational safety, collaborative operation of mining systems requires the formulation and implementation of comprehensive security strategies, real-time monitoring of system status, and rapid response measures when abnormalities occur.

[0003] With the advent of the era of rapid industrialization, land mineral resources are gradually decreasing, and the exploitation of marine mineral resources has received more and more attention. As an important undeveloped treasure and one of the high-tech fields, the deep sea has become an important target for the world's major economies. Worldwide, the distribution of currently known mineral resources (such as metal bonds) reserves is extremely rich in the ocean. Such a large amount of valuable undeveloped resources has attracted the interest of the international mining industry and many countries.

[0004] At present, the scale of deep-sea mining diving in my country has not yet reached the deep-sea level. There are many uncertain factors in the deep-sea road surface. Deep-sea mining vehicles are easily hindered by many factors when moving on horizontal roads, and the vehicle obstacle avoidance efficiency is not high. Most of the mineral resources in the deep sea are scattered in a vast environment in the form of nodules. In deep-sea mining tasks, mining vehicle clusters need to achieve complete coverage of a large area to collect mineral resources in seabed sediments. Therefore, the study of cluster coverage path planning technology can help mining vehicles achieve efficient path planning for full coverage of mining areas and improve the overall efficiency of deep-sea mining systems. The algorithm solves the problems of full coverage, high efficiency, and transmission pipeline entanglement. How to verify the actual coverage of the algorithm and the entanglement of the pipeline based on the physical pool model and mining vehicle model of the present invention has become an urgent problem to be solved. Summary of the invention

[0005] The purpose of the present invention is to study the motion planning problems of relay stations and mining vehicle clusters in their respective horizontal plane directions, and to provide a deep-sea mining system collaborative operation experimental platform, which can simulate the implementation process of relevant collaborative operation strategies of deep-sea mining vehicles. In order to reduce the design difficulty, the experimental platform developed by the present invention intends to use a surface mobile platform to replace the relay station and a bottom mobile platform cluster to replace the mining vehicle cluster to simulate the implementation process of relevant collaborative operation strategies.

[0006] To achieve the above technical problems, the technical solution of the present invention is implemented as follows: a deep-sea mining system collaborative operation experimental platform, the experimental platform includes a hose, a bottom mobile platform, a surface mobile platform, a surface and underwater positioning base station, and a test pool; The surface mobile platform and the bottom mobile platform are placed in the test water pool, and the two mobile platforms are connected by the hose; The surface and underwater positioning base stations are installed at the four vertex areas of the test pool to receive the beacon data of the surface mobile platform and the hydroacoustic positioning signal emitted by the bottom mobile platform to achieve effective positioning of the mobile platform.

[0007] Furthermore, the bottom mobile platform includes an underwater beacon A and a motion control module B.

[0008] Furthermore, the surface underwater positioning base station comprises a base station signal processor C, a WIFI module D, a UWB base station E, and an underwater short baseline signal receiver F solidified on the same circuit board; Wherein, a plurality of underwater short baseline signal receivers F are used to simultaneously receive the signal emitted by the beacon A, and the position of the target object is calculated using triangulation method.

[0009] Furthermore, the surface mobile platform includes a built-in Jetson NX control board, a motion control module 1, a WIFI module 1, a UWB beacon, a power management module 1 and thrusters T1, T2, T3 and T4; The built-in Jetson NX control board is connected to the WIFI module 1, the motion control module 1 and the power management module 1 through its own USB port, and is powered and communicated with the underwater beacon A and the motion control module B in the bottom mobile platform through the hose; The motion control module 1 is connected to the thrusters T1 , T2 , T3 , and T4 ; and the motion control module 1 , the power management module 1 , and the WIFI module 1 are solidified on a unified peripheral circuit.

[0010] Furthermore, the experimental platform also includes a control system, which includes a control console and a WIFI base station; The control console includes a control center and a visual control interface, wherein the control center uses an industrial computer as the data information processing core; The WIFI base station communicates with the control console and the WIFI module 1 equipped on the surface mobile platform to transmit coordinate data; The visual control interface is used to set parameters, load coverage strategies and display the running tracks of each mobile platform.

[0011] Furthermore, the Jetson NX control board is connected to the surface mobile platform, the bottom mobile platform and the water and electricity pipeline part through the transmission connection device of the hose; wherein the hose is the power supply and communication line of the bottom mobile platform; In addition, the motion planning data of the Jetson NX control board, the surface mobile platform, and the bottom mobile platform are transmitted via cables.

[0012] Furthermore, the WIFI base station communicates with the WIFI module D to transmit coordinate data.

[0013] Furthermore, the surface mobile platform and the surface underwater positioning base station are both equipped with wired power supplies and data communication links to ensure long-term operation of the experimental platform.

[0014] Furthermore, the experimental platform also includes a preset obstacle, which is placed at the bottom of the test pool. The preset obstacle is set in the control system, and the control system calculates the motion path of the bottom mobile platform based on the preset obstacle. The motion path is carried out by a path planning algorithm, which is based on a cluster coverage path planning strategy of a deep Q network, decomposes the target area into multiple sub-areas, and implements coverage in each of the sub-areas.

[0015] Furthermore, the embedded program of the industrial computer runs in the following steps: Step 1: Initialize and preset obstacle coordinates. After completion, proceed to step 2. Step 2: System self-check. If there is any abnormality, go to step 11. If there is no abnormality, go to step 3. Step 3, obtain the current position of the surface / bottom mobile platform, the industrial computer obtains the platform coordinates through the base station, and then proceeds to step 4; Step 4: If there is a new coordinate task, go to step 5; otherwise, go to step 6; Step 5, update the target coordinates, and then proceed to step 6; Step 6: motion path planning, using the algorithm to calculate the motion path, and then proceed to step 7; Step 7: The mobile platform moves according to the planning data to determine whether it has reached the target area. If it has reached the target area, it proceeds to step 8; if it has not reached the target area, it proceeds to step 2. Step 8: Feedback the location information, and then proceed to step 9; Step 9, obtain the new coordinate task, judge, if there is a new coordinate task, return to step 5, if there is no new coordinate task, go to step 10; Step 10, the industrial computer sends the current status information to the control console via the WIFI base station; Step 11, fault-tolerant control, the system performs software correction according to the self-test fault report, and then proceeds to step 12; Step 12, determine, if the fault is solved, return to step 3, if not, return to step 10.

[0016] The beneficial effect of the present invention is that the terminal control part and the mobile platform part are matched by pipelines, so that the movement planning of the mining vehicle cluster in the direction of each horizontal plane is realized. Since the experimental platform is equipped with a visual control interface, the movement instructions can be transmitted according to actual needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of the collaborative operation experimental platform of the present invention; Figure 2 This is a system composition diagram of the collaborative operation experimental platform of the present invention; Figure 3 It is a program flow chart of the collaborative operation experimental platform of the present invention. DETAILED DESCRIPTION

[0018] The present invention will be further described below in conjunction with the accompanying drawings: In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined purpose of the invention, the specific implementation method, steps and effects of the collaborative operation of the deep-sea mining system proposed by the present invention are described in detail below in combination with the accompanying drawings and preferred embodiments.

[0019] The above and other technical contents, features and effects of the present invention will be clearly presented in the following detailed description of the preferred embodiments with reference to the drawings. Through the description of the specific implementation methods, the technical means and effects adopted by the present invention to achieve the intended purpose can be more deeply and specifically understood.

[0020] like Figure 1As shown, it is a structural schematic diagram of the collaborative operation experimental platform of the deep-sea mining system of the present invention, wherein the experimental platform includes hoses L1, L2, L3, L4, bottom mobile platforms 1, 2, 3, 4, surface mobile platforms, surface and underwater positioning base stations 1, 2, 3, 4, test pools and preset obstacles; wherein the bottom mobile platforms 1, 2, 3, 4 respectively include underwater beacons A1, A2, A3, A4 and motion control modules B1, B2, B3, B4; the surface and underwater positioning base stations 1, 2, 3, 4 respectively include base station signal processors C1, C2, C3, C4, WIFI modules D1, D2, D3, D4, UWB base stations E1, E2, E3, E4, and underwater short baseline signal receivers F1, F2, F3, F4.

[0021] The surface mobile platform and the bottom mobile platform are placed in a test pool, and the two platforms are connected by the hose, and the length of the hose can be changed. The surface mobile platform is equipped with a WIFI module 1, and the control platform controls the surface mobile platform through serial port AT commands, wherein the WIFI module 1 is an ATK-ESP8266 WIFI communication module.

[0022] The deep-sea mining system collaborative operation experimental platform is networked by installing one surface underwater positioning base station in each of the four vertex areas of the test pool. Each surface underwater positioning base station is equipped with a UWB (ultra-wideband) base station at the top of the surface and an underwater short baseline signal receiver F at the underwater end. UWB positioning technology is based on the propagation time measurement principle of wireless signals. It transmits extremely short pulse signals and the receiver records its arrival time or time difference, and calculates the distance between the transmitter and the receiver in combination with the speed of light. By using multiple receivers to receive signals simultaneously and using triangulation, the position of the target object can be accurately calculated. Underwater short baseline positioning is a technology that uses the propagation characteristics of sound waves to measure underwater positions. Its working principle is to install an acoustic beacon on the target to be located underwater, and install an ultra-short baseline array on the surface ship. After the acoustic beacon sends out an acoustic signal, the ultra-short baseline system receives these signals and calculates the direction and distance of the target by measuring parameters such as the time and phase difference of signal propagation.

[0023] Through the above-mentioned technical means, the surface and underwater positioning base stations are used to respectively receive the beacon data of the surface mobile platform and the hydroacoustic positioning signals emitted by the bottom mobile platform, so as to realize the effective positioning of each mobile platform. In the process of data analysis and platform design, the echo effect of the boundary of the test pool will be fully considered and effective filtering will be performed.

[0024] The preset obstacle is placed at the bottom of the test pool, and the preset obstacle is set in the control system. The control system calculates the motion path based on the preset obstacle. The path planning is mainly based on the underwater bottom mobile platform. The surface mobile platform is manually controlled to the center of the test pool by commands. The movement of the underwater bottom mobile platform is carried out by the path planning algorithm. The algorithm is based on the cluster coverage path planning strategy of the traditional algorithm and the deep Q network (DQN). By decomposing the target area into multiple sub-areas and covering each sub-area, the coverage efficiency is improved and the path duplication is reduced.

[0025] Working principle of the deep-sea mining system collaborative operation experimental platform, combined with Figure 2 , which is a system composition diagram of the deep-sea mining system collaborative operation experimental platform. Among them, the deep-sea mining system collaborative operation experimental platform system of the present invention also includes a control system, the control system includes a control console and a WIFI base station; the control console includes a control center and a visual control interface, wherein the control center uses an industrial computer as the data information processing core. The WIFI base station communicates with the control console and the WIFI module 1 equipped on the surface mobile platform to transmit coordinate data. The visual control interface is used to set parameters, load coverage strategies, and display the running tracks of each mobile platform.

[0026] The surface mobile platform includes a built-in Jetson NX control board, a motion control module 1, a WIFI module 1, a UWB beacon, a power management module 1 and thrusters T1, T2, T3 and T4; the built-in Jetson NX control board is connected to the WIFI module 1, the motion control module 1 and the power management module 1 through a built-in USB port, and is powered and communicated with the underwater beacon A1 and the motion control module B1 in the bottom mobile platform 1 through a hose L1, and is powered and communicated with the underwater beacon A2 and the motion control module B2 in the bottom mobile platform 2 through a hose L2, and is powered and communicated with the underwater beacon A3 and the motion control module B3 in the bottom mobile platform 3 through a hose L3, and is powered and communicated with the underwater beacon A4 and the motion control module B4 in the bottom mobile platform 4 through a hose L4. The motion control module 1 is connected to thrusters T1, thrusters T2, thrusters T3 and thrusters T4. The motion control module 1, the power management module 1 and the WIFI module 1 connected to the thruster are solidified on a unified peripheral circuit.

[0027] The Jetson NX control panel is connected to the water surface / bottom mobile platform and the water and electricity pipeline through the transmission connection device of the hose. The hose is the energy supply and communication line of the bottom mobile platform and does not have the material transportation function. In the actual simulation test process, the experimental platform is equipped with a plurality of hose groups of different lengths for replacement to simulate different spatial constraints. The motion planning data of the Jetson NX control panel and the mobile platform can be transmitted through cables.

[0028] The WIFI module D1, base station signal processor C1, UWB base station E1 and underwater short baseline signal receiver F1 of the surface underwater positioning base station 1 are solidified on the same circuit board; the WIFI module D2, base station signal processor C2, UWB base station E2 and underwater short baseline signal receiver F2 of the surface underwater positioning base station 2 are solidified on the same circuit board; the WIFI module D3, base station signal processor C3, UWB base station E3 and underwater short baseline signal receiver F3 of the surface underwater positioning base station 3 are solidified on the same circuit board; the WIFI module D4, base station signal processor C4, UWB base station E4 and underwater short baseline signal receiver F4 of the surface underwater positioning base station 4 are solidified on the same circuit board.

[0029] The WIFI base station communicates with the WIFI module D1, WIFI module D2, WIFI module D3, and WIFI module D4 to transmit coordinate data.

[0030] The surface mobile platform and the surface and underwater positioning base stations are all equipped with wired power supplies and data communication links to ensure the long-term operation of the experimental platform.

[0031] Combination Figure 3 , which is a program flow chart of the deep-sea mining system collaborative operation experimental platform, in which the steps of running the embedded program in the industrial computer are as follows: Step 1: Initialize and preset obstacle coordinates. After completion, proceed to step 2. Step 2: System self-check. If there is any abnormality, go to step 11. If there is no abnormality, go to step 3. Step 3, obtain the current position of the surface / bottom mobile platform, the industrial computer obtains the platform coordinates through the base station, and then proceeds to step 4; Step 4: If there is a new coordinate task, go to step 5; otherwise, go to step 6; Step 5, update the target coordinates, and then proceed to step 6; Step 6: motion path planning, using the algorithm to calculate the motion path, and then proceed to step 7; Step 7: The mobile platform moves according to the planning data to determine whether it has reached the target area. If it has reached the target area, it proceeds to step 8; if it has not reached the target area, it proceeds to step 2. Step 8: Feedback the location information, and then proceed to step 9; Step 9, obtain the new coordinate task, judge, if there is a new coordinate task, return to step 5, if there is no new coordinate task, go to step 10; Step 10, the industrial computer sends the current status information to the control console via the WIFI base station; Step 11, fault-tolerant control, the system performs software correction according to the self-test fault report, and then proceeds to step 12; Step 12, determine, if the fault is solved, return to step 3, if not, return to step 10.

[0032] The above is only a preferred embodiment of the present invention, and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technician familiar with this profession can make some changes or modifications to equivalent embodiments of equivalent changes using the technical contents disclosed above without departing from the scope of the technical solution of the present invention. However, any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention still falls within the scope of the technical solution of the present invention.

Claims

1. A deep-sea mining system collaborative operation experimental platform, characterized in that: The experimental platform includes a hose, a bottom mobile platform, a surface mobile platform, a surface and underwater positioning base station, and a test pool; The surface mobile platform and the bottom mobile platform are placed in the test water pool, and the two mobile platforms are connected by the hose; The surface and underwater positioning base stations are installed at the four vertex areas of the test pool to receive the beacon data of the surface mobile platform and the hydroacoustic positioning signal emitted by the bottom mobile platform to achieve effective positioning of the mobile platform.

2. The platform according to claim 1, characterized in that The bottom mobile platform includes an underwater beacon A and a motion control module B.

3. The platform according to claim 2, characterized in that: The surface underwater positioning base station comprises a base station signal processor C, a WIFI module D, a UWB base station E, and an underwater short baseline signal receiver F solidified on the same circuit board; Wherein, a plurality of underwater short baseline signal receivers F are used to simultaneously receive the signal emitted by the beacon A, and the position of the target object is calculated using triangulation method.

4. The platform according to claim 3, characterized in that: The surface mobile platform includes a built-in Jetson NX control board, a motion control module 1, a WIFI module 1, a UWB beacon, a power management module 1 and thrusters T1, T2, T3 and T4; The built-in Jetson NX control board is connected to the WIFI module 1, the motion control module 1 and the power management module 1 through its own USB port, and is powered and communicated with the underwater beacon A and the motion control module B in the bottom mobile platform through the hose; The motion control module 1 is connected to the thrusters T1 , T2 , T3 , and T4 ; and the motion control module 1 , the power management module 1 , and the WIFI module 1 are solidified on a unified peripheral circuit.

5. The platform according to claim 4, characterized in that The experimental platform also includes a control system, which includes a control console and a WIFI base station; The control console includes a control center and a visual control interface, wherein the control center uses an industrial computer as the data information processing core; The WIFI base station communicates with the control console and the WIFI module 1 equipped on the surface mobile platform to transmit coordinate data; The visual control interface is used to set parameters, load coverage strategies and display the running tracks of each mobile platform.

6. The platform according to claim 4, characterized in that The Jetson NX control board is connected to the surface mobile platform, the bottom mobile platform and the water and electricity pipeline part through the transmission connection device of the hose; wherein the hose is the power supply and communication line of the bottom mobile platform; In addition, the motion planning data of the Jetson NX control board, the surface mobile platform, and the bottom mobile platform are transmitted via cables.

7. The platform according to claim 5, characterized in that The WIFI base station communicates with the WIFI module D to transmit coordinate data.

8. The platform according to claim 1, characterized in that The surface mobile platform and the surface underwater positioning base station are both equipped with wired power supplies and data communication links to ensure long-term operation of the experimental platform.

9. The platform according to claim 5, characterized in that: The experimental platform further includes a preset obstacle, which is placed at the bottom of the test pool. The preset obstacle is set in the control system, and the control system calculates the motion path of the bottom mobile platform based on the preset obstacle. The motion path is carried out by a path planning algorithm, which is based on a cluster coverage path planning strategy of a deep Q network, decomposes the target area into multiple sub-areas, and implements coverage in each of the sub-areas.

10. The platform according to claim 5, characterized in that The embedded program running steps of the industrial computer are as follows: Step 1: Initialize and preset obstacle coordinates. After completion, proceed to step 2. Step 2: System self-check. If there is any abnormality, go to step 11. If there is no abnormality, go to step 3. Step 3, obtain the current position of the surface / bottom mobile platform, the industrial computer obtains the platform coordinates through the base station, and then proceeds to step 4; Step 4: If there is a new coordinate task, go to step 5; otherwise, go to step 6; Step 5, update the target coordinates, and then proceed to step 6; Step 6: motion path planning, using the algorithm to calculate the motion path, and then proceed to step 7; Step 7: The mobile platform moves according to the planning data to determine whether it has reached the target area. If it has reached the target area, it proceeds to step 8; if it has not reached the target area, it proceeds to step 2. Step 8: Feedback the location information, and then proceed to step 9; Step 9, obtain the new coordinate task, judge, if there is a new coordinate task, return to step 5, if there is no new coordinate task, go to step 10; Step 10, the industrial computer sends the current status information to the control console via the WIFI base station; Step 11, fault-tolerant control, the system performs software correction according to the self-test fault report, and then proceeds to step 12; Step 12, determine, if the fault is solved, return to step 3, if not, return to step 10.

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