A multi-metal nodule collecting posture control mechanism and a control method thereof

Abstract

The application provides a multi-metal nodule collecting posture control mechanism and a control method thereof. The posture control mechanism is composed of a posture measuring mechanism and a four-bar linkage control mechanism. The posture measuring mechanism is fixed on a main frame of a mining system in a cantilever form. The four-bar linkage control mechanism is hingedly connected with a hydraulic collecting device and the main frame of the mining system. The posture control method measures the posture of the collecting device in real time through the posture measuring mechanism, compares the posture with an initial posture, calculates the stroke of each control cylinder of the four-bar linkage control mechanism required for adjusting the corresponding posture by using an algorithm, and then adjusts in real time through hydraulic pressure to solve the problem of posture deviation of the collecting device caused by the change of seabed topography and geological conditions. The control mechanism and the method can ensure that the ore collecting rate is always at a high level, thereby improving the reliability and stability of the operation of the collecting system.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of deep-sea mining equipment for ocean engineering, in particular to a polymetallic nodule collection posture control mechanism and a control method thereof. BACKGROUND

[0002] Deep sea contains a large amount of strategic mineral resources, and its reasonable development is an inevitable choice for the sustainable development of human society in the future, including people's livelihood, resources, technology and economy. Deep sea mineral resources mainly include polymetallic nodules, cobalt-rich crust and polymetallic sulfides, which are rich in cobalt, manganese, nickel and other rare metal resources, with reserves much higher than those on land, providing a guarantee for the increasing demand of emerging new energy industry for rare metals. Compared with the complex occurrence of other ores, polymetallic nodules are semi-buried in the surface layer of soft soil on the seabed in a spherical shape, which are easier to collect, and the research and development of equipment for commercial mining is in full swing.

[0003] The collection device is a key component of the deep-sea mining system, which directly affects the operation capacity and efficiency of the mining system. Hydraulic collection uses the principle of jet flow to separate polymetallic nodules from seabed sediments and transport them upward, which has the advantages of simple structure, high collection efficiency, etc., and is the most commercially potential collection method. However, due to the changes in seabed topography and geological conditions, the mining system is prone to pitch and overall subsidence during operation, which leads to the deviation of the posture of the collection device. Through a series of experiments and simulation studies, it is found that the hydraulic collection is restricted by the posture of the collection device, especially the height of the jet flow from the bottom. Once it deviates from the theoretical posture range, the collection efficiency will be greatly reduced. SUMMARY

[0004] The present application aims to overcome at least one of the above-mentioned defects of the prior art, and to provide a polymetallic nodule collection posture control mechanism and a control method thereof, in order to solve the problem of posture deviation of the collection device caused by changes in seabed topography and geological conditions, thereby improving the reliability and stability of the collection system operation.

[0005] The technical solution of the present application is as follows:

[0006] A polymetallic nodule collection posture control mechanism and a control method thereof, the posture control mechanism is composed of a posture measuring mechanism and a four-bar linkage control mechanism.

[0007] The posture measuring mechanism is fixed in a cantilever form on the main frame of the mining system, and the four-bar linkage control mechanism is hinged with the hydraulic collection device and the main frame of the mining system, respectively.

[0008] The posture measuring mechanism is composed of a support beam, an altimeter, a cantilever beam, a rotary encoder and an angle measuring probe.

[0009] Further, the support beam is fixed on the main frame of the mining system, and a height gauge is fixed on the front end thereof for detecting the height of the front fixed end from the bottom at a certain time. The cantilever beam is fixed on the lower edge of the front end of the support beam for connecting and fixing the rotary encoder. The angle measuring probe is hinged on the rotary encoder, and the free end thereof is a circular ring structure which falls on the seabed surface under the action of gravity. The rotary encoder can read the angular displacement of the angle measuring probe in this state, and the difference between the angular displacement of the angle measuring probe in the state of horizontal inward is the included angle of the probe and the horizontal plane.

[0010] The four-bar linkage control mechanism is composed of an angle adjusting hydraulic cylinder, a height adjusting hydraulic cylinder, a guide connecting rod, an angle adjusting hydraulic cylinder displacement sensor, a height adjusting hydraulic cylinder displacement sensor, a hinged support A, a hinged support B, a hinged support C and a hinged support D.

[0011] Further, the lower end of the angle adjusting hydraulic cylinder is fixed on the main frame of the mining system through the hinged support A, and the upper end thereof is fixed on the lower side of the support frame of the hydraulic collection device through the hinged support B. The angle adjusting hydraulic cylinder is provided with a displacement sensor on the upper end thereof, and the extension length of the piston rod of the angle adjusting hydraulic cylinder can be monitored in real time. The lower end of the guide connecting rod is fixed on the main frame of the mining system through the hinged support C, and the upper end thereof is fixed on the support frame of the hydraulic collection device through the hinged support D, and the guide connecting rod can make a circular motion with a constant radius around the fulcrum of the hinged support C. The angle adjusting hydraulic cylinder and the guide connecting rod are in the same plane, and the height adjusting hydraulic cylinder is not in the plane. The upper and lower ends of the height adjusting hydraulic cylinder are fixed in the same way as the angle adjusting hydraulic cylinder. The lower end thereof is fixed on the main frame of the mining system through the hinged support, and the upper end thereof is fixed on the upper side of the support frame of the hydraulic collection device through the hinged support D. The height adjusting hydraulic cylinder is provided with a displacement sensor on the upper end thereof, and the extension length of the piston rod of the height adjusting hydraulic cylinder can be monitored in real time.

[0012] The specific steps of the multi-metal nodule collection posture control method include:

[0013] Step 1: The height gauge and the rotary encoder in the posture measuring mechanism respectively measure the height h0 of the front fixed end from the bottom in the initial standard working condition and the included angle β0 of the probe and the horizontal plane, and the height h and the included angle β in the current state.

[0014] Step 2: The height h of the front fixed end from the bottom in the current state is compared with the height h0 from the bottom in the standard working condition (the best posture of the collection device), and it is judged whether the height from the bottom changes. If h = h0, it indicates that the height of the front measuring position does not change, and step 3 is performed. If h ≠ h0, it indicates that the height of the front measuring position changes, and step 4 is performed.

[0015] Step 3: Compare the angle β between the probe and the horizontal plane in the current state with the angle β0 under the standard working condition (optimal posture of the data acquisition device) to determine whether the angle has changed. If β = β0, it means that the angle of the data acquisition device has not changed, the overall posture remains unchanged, and the angle adjustment hydraulic cylinder, height adjustment hydraulic cylinder, and guide rod are all stationary; if β ≠ β0, it means that the angle of the data acquisition device has changed, and overall translational and rotational adjustments are required. The angle adjustment hydraulic cylinder and the height adjustment hydraulic cylinder rotate and extend, and the guide rod rotates around the fulcrum of the hinge support C. Execute calculation (Ⅰ) to obtain the extension and retraction lengths Δa and Δb of the piston rods of the angle adjustment hydraulic cylinder and the height adjustment hydraulic cylinder, respectively. Further, execute step 5.

[0016] Step 4: Compare the angle β between the probe and the horizontal plane in the current state with the theoretical angle after the probe angle deflection caused by the height change. The comparison is performed to determine whether the data acquisition device has undergone a change in pitch attitude. If... This indicates that the angle change is consistent with the height change, and the data acquisition device does not undergo a pitch change. Only the height above the ground needs to be adjusted via translation. The height adjustment hydraulic cylinder rotates and extends / retracts, the guide rod rotates around the fulcrum of hinge support C, and the angle adjustment hydraulic cylinder rotates around the fulcrum of hinge support A without extending / retracting. Calculation (II) is performed to obtain the extension / retraction length Δb of the piston rod of the height adjustment hydraulic cylinder; if This indicates that the angle change and height change are inconsistent, and the data acquisition device undergoes a pitch attitude change, requiring overall translation and rotation adjustments. The angle adjustment hydraulic cylinder and the height adjustment hydraulic cylinder rotate and extend / retract, and the guide connecting rod rotates around the fulcrum of the hinge support C. Calculation (III) is performed to obtain the extension / retraction lengths Δa and Δb of the piston rods of the angle adjustment hydraulic cylinder and the height adjustment hydraulic cylinder, respectively. Further, step 5 is executed.

[0017] Step 5: The calculated values ​​of the extension and retraction of the piston rods of the angle-adjusting hydraulic cylinder and the height-adjusting hydraulic cylinder obtained in Step 3 or Step 4 are input into the hydraulic control proportional valve via an electrical signal. The proportional valve adjusts the amount of oil required for the extension and retraction of the piston rods of the angle-adjusting hydraulic cylinder and the height-adjusting hydraulic cylinder accordingly, thereby realizing real-time control of the attitude of the data acquisition device.

[0018] The calculation method for the piston rod extension / retraction of the angle-adjusting hydraulic cylinder and the height-adjusting hydraulic cylinder in the attitude control of polymetallic nodule acquisition is as follows:

[0019] 1) When the angle change is consistent with the height change, and the data acquisition device is translating, perform calculation (II) as follows:

[0020] Suppose the pivot point of the guide link around the hinge support C is the coordinate origin (0, 0), a plane rectangular coordinate system is established, the dashed line pattern in the figure represents the initial position of the device, the coordinate of the pivot point of the hinge support A is (m, n), since the main frame 4 structure is fixed and unchangeable, the coordinate relative to the origin is unchangeable, the initial coordinate of the pivot point of the hinge support D is (x0, y0), and the moving coordinate is (x, y). According to the geometric relationship, x and y satisfy the following formulas:

[0021] x 2 +y 2 =c 2 ,x<0 (1)

[0022] (x-m) 2 +(y-n) 2 =b 2 (2)

[0023] y-y0=h0-h (3)

[0024] Since m, n and c are fixed values, the initial value b0 can be read by the displacement sensor, and the (x0, y0) coordinate value can be determined according to formulas (1) and (2); the off-bottom heights h0 and h before and after movement can be measured by the height gauge, and the y value can be determined together with the y0 value by substituting them into formula (3); further, the x value can be determined by substituting the y value into formula (1); finally, the b value can be determined by substituting the x and y values into formula (2), and the difference between b and b0 is the piston rod extension change length Δb (positive value for extension, negative value for shortening) of the height adjusting hydraulic cylinder.

[0025] 2) When the height does not change and the angle changes, perform calculation (I), as follows:

[0026] The same plane rectangular coordinate system as in 1) is established, the intersection of the cantilever beam axis and the ground is taken as the rotation center, the fixed coordinate is (s, t), the moving coordinate of the pivot point of the hinge support B is (i, j), and the auxiliary coordinate of the pivot point of the hinge support D is (x1, y1). According to the geometric relationship, the parameter values satisfy the following formulas:

[0027] (i-m) 2 +(j-n) 2 =a 2 (4)

[0028]

[0029] tanγ0=n / m (6)

[0030] γ-γ0=θ=arctan[(sinβ0-sinβ) / cosβ] (7)

[0031] tanγ=(y-j) / (x-i) (8)

[0032] tan beta = (y1 - t) / (x1 - s) (9)

[0033] (x0 - s) 2 +(y0 - t) 2 = (x1 - s) 2 +(y1 - t) 2 (10)

[0034] tan theta = (y - y1) / (x - x1) (11)

[0035] Since m, n, and c are fixed values, the initial value b0 can be read by the displacement sensor, and the (x0, y0) coordinate value can be determined according to formulas (1) and (2); the initial value a0 can be read by the displacement sensor, and (i0, j0) can be determined by substituting a0, x0, and y0 into formulas (4) and (5); the value of gamma0 can be determined by formula (6); the value of gamma can be determined by substituting the angles beta and beta0 measured by the rotary encoder and the angle measurement probe into formula (7) together with gamma0; since s and t are fixed values, (x1, y1) can be determined by substituting beta, x0, and y0 into formulas (9) and (10); the six unknowns x, y, i, j, a, and b can be solved by the six equations of formulas (1), (2), (4), (5), (8), and (11), so that the piston rod extension and retraction length changes delta a and delta b of the angle adjusting hydraulic cylinder and the height adjusting hydraulic cylinder can be further obtained.

[0036] 3) When the height and the angle are both changed and inconsistent, calculation (III) is performed, which can be divided into two steps, first, calculation (II) is performed according to the height from the bottom measured by the altimeter, and the angle beta and the cylinder stroke b value under the calculation result are taken as initial values, then calculation (I) is performed, and finally the piston rod extension and retraction length changes delta a and delta b of the angle adjusting hydraulic cylinder and the height adjusting hydraulic cylinder can be obtained.

[0037] Compared with the prior art, the beneficial effects of the present application are:

[0038] The multi-metal nodule collecting posture control mechanism and the control method thereof provided by the present application compare the posture of the collecting device measured by the height and angle measuring elements in real time with the initial posture, and then adjust the posture in real time through the hydraulic connecting rod mechanism, so as to solve the problem of posture deviation of the collecting device caused by the change of the seabed topography and geological conditions, ensure that the ore collecting rate is always at a high level, and thus improve the reliability and stability of the collecting system operation. BRIEF DESCRIPTION OF DRAWINGS

[0039] Figure 1 Arrangement drawing of the multi-metal nodule collecting posture control mechanism

[0040] Figure 2Flow chart of the multi-metal nodule collection posture control method of the present application

[0041] Figure 3 Schematic diagram of the translation of the collection device of the present application

[0042] Figure 4 Schematic diagram of the rotation of the collection device of the present application

[0043] The reference signs are as follows:

[0044] 1, posture measuring mechanism; 101, support beam; 102, altimeter; 103, cantilever beam; 104, rotary encoder; 105, angle measuring probe rod; 2, four-bar linkage control mechanism; 201, angle adjusting hydraulic cylinder; 202, height adjusting hydraulic cylinder; 203, guide link; 204, angle adjusting hydraulic cylinder displacement sensor; 205, height adjusting hydraulic cylinder displacement sensor; 206, hinge support A; 207, hinge support B; 208, hinge support C; 209, hinge support D; 3, hydraulic collection device; 4, main frame of the mining system. DETAILED DESCRIPTION

[0045] The drawings in the embodiments describe the technical solutions in the embodiments of the present application in more detail. In the drawings, the same or similar reference signs represent the same or similar elements or elements with the same or similar functions throughout. The described embodiments are part of the embodiments of the present application, not all the embodiments. The embodiments described below by referring to the drawings are exemplary and are intended to explain the present application, and cannot be understood as a limitation of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative efforts under the premise that the present application falls within the scope of protection. The embodiments of the present application are described in detail below in conjunction with the drawings.

[0046] It should be noted that if the present application embodiments involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement condition, etc. between the components in a certain posture (as shown in the drawings), if the specific posture changes, the directional indications also change accordingly.

[0047] In addition, if the description of "first", "second" and the like is involved in the embodiments of the present application, the description of "first", "second" and the like is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the technical features indicated or implicitly indicating the number of technical features. Therefore, the features limited by "first", "second" can be explicitly or implicitly included at least one of the features. In addition, the technical solutions of various embodiments can be combined with each other, but it must be based on the realization of ordinary skilled in the art, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, nor in the protection scope claimed by the present application.

[0048] Embodiments

[0049] As Figures 1-4 shown, a multi-metallic nodule collection posture control mechanism and its control method, the posture control mechanism is composed of posture measurement mechanism 1 and four-bar linkage control mechanism 2, wherein the posture measurement mechanism 1 is fixed in the form of cantilever on the main frame 4 of the mining system, and the four-bar linkage control mechanism 2 is hinged with the hydraulic collection device 3 and the main frame 4 of the mining system respectively.

[0050] The posture measurement mechanism 1 is composed of support beam 101, altimeter 102, cantilever beam 103, rotary encoder 104 and angle measurement probe 105. Among them, the support beam 101 is fixed on the main frame 4 of the mining system, and an altimeter 102 is fixed at the front end of the support beam 101, which is used to detect the height h of the front fixed end from the bottom at a certain time. The cantilever beam 103 is fixed at the lower edge of the front end of the support beam 101, which is used to connect and fix the rotary encoder 104, and the length of the cantilever beam 103 is e. The angle measurement probe 105 is hinged on the rotary encoder 104, and the length of the angle measurement probe 105 is d, and the free end of the angle measurement probe 105 is a circular ring structure, which falls on the seabed surface under the action of gravity. The rotary encoder 104 can read the angular displacement of the angle measurement probe 105 in this state, and the difference between the angular displacement of the angle measurement probe 105 in the horizontal inward state is the included angle β of the probe and the horizontal plane.

[0051] The four-bar linkage control mechanism 2 is composed of an angle adjusting hydraulic cylinder 201, a height adjusting hydraulic cylinder 202, a guide connecting rod 203, an angle adjusting hydraulic cylinder displacement sensor 204, a height adjusting hydraulic cylinder displacement sensor 205, a hinge support A 206, a hinge support B 207, a hinge support C 208 and a hinge support D 209. The lower end of the angle adjusting hydraulic cylinder 201 is fixed on the main frame 4 of the mining system through the hinge support A 206, and the upper end is fixed on the lower side of the support frame of the hydraulic collection device 3 through the hinge support B 207. The angle adjusting hydraulic cylinder 201 is fixed with the displacement sensor 204, which can monitor the extension length a of the piston rod of the angle adjusting hydraulic cylinder in real time. The lower end of the guide connecting rod 203 is fixed on the main frame 4 of the mining system through the hinge support C 208, and the upper end is fixed on the support frame of the hydraulic collection device 3 through the hinge support D 209. The length of the guide connecting rod 203 is fixed as c, which can make a circular motion with a constant radius around the hinge support C 208. The angle adjusting hydraulic cylinder 201 and the guide connecting rod 203 are in the same plane, and the height adjusting hydraulic cylinder 202 is not in the plane. The upper and lower ends of the height adjusting hydraulic cylinder 202 are fixed in the same way as the angle adjusting hydraulic cylinder 201. The lower end of the hinge support is fixed on the main frame 4 of the mining system and coaxial with the hinge support A 206, and the upper end of the hinge support is fixed on the upper side of the support frame of the hydraulic collection device 3 and coaxial with the hinge support D 209. The height adjusting hydraulic cylinder 202 is fixed with the displacement sensor 205, which can monitor the extension length b of the piston rod of the height adjusting hydraulic cylinder in real time.

[0052] The specific steps of the multi-metal nodule collection posture control method include:

[0053] Step 1: The height gauge 102 and the rotary encoder 104 in the posture measuring mechanism 1 measure the height h0 of the front fixed end from the bottom and the angle β0 between the probe rod and the horizontal plane in the initial standard working condition, and the height h and the angle β in the current state.

[0054] Step 2: Compare the height h of the front fixed end from the bottom in the current state with the height h0 from the bottom in the standard working condition (optimal posture of the collection device), and determine whether the height from the bottom changes. If h = h0, it indicates that the height of the front end measurement does not change, and step 3 is executed; if h ≠ h0, it indicates that the height of the front end measurement changes, and step 4 is executed.

[0055] Step 3: Compare the angle β between the probe rod and the horizontal plane in the current state with the angle β0 under the standard working condition (optimal posture of the data acquisition device) to determine whether the angle has changed. If β = β0, it means that the angle of the data acquisition device has not changed, the overall posture remains unchanged, and the angle adjustment hydraulic cylinder 201, the height adjustment hydraulic cylinder 202, and the guide rod 203 are all stationary; if β ≠ β0, it means that the angle of the data acquisition device has changed, and overall translational and rotational adjustments are required. The angle adjustment hydraulic cylinder 201 and the height adjustment hydraulic cylinder 202 rotate and extend, and the guide rod 203 rotates around the fulcrum of the hinge support C208. Calculation (Ⅰ) is performed to obtain the extension and retraction lengths Δa and Δb of the piston rods of the angle adjustment hydraulic cylinder 201 and the height adjustment hydraulic cylinder 202, respectively. Further, proceed to step 5.

[0056] Step 4: Compare the angle β between the probe and the horizontal plane in the current state with the theoretical angle after the probe angle deflection caused by the height change. The comparison is performed to determine whether the data acquisition device has undergone a change in pitch attitude. If... This indicates that the angle change is consistent with the height change, and the data acquisition device does not undergo a pitch attitude change. Only the height above the ground needs to be adjusted via translation. The height adjustment hydraulic cylinder 202 rotates and extends / retracts, the guide rod 203 rotates around the fulcrum of the hinge support C208, and the angle adjustment hydraulic cylinder 201 rotates around the fulcrum of the hinge support A206 without extending / retracting. Calculation (II) is performed to obtain the extension / retraction length Δb of the piston rod of the height adjustment hydraulic cylinder 202; if This indicates that the angle change and height change are inconsistent, causing a pitch change in the data acquisition device. Overall translational and rotational adjustments are required. The angle adjustment hydraulic cylinder 201 and the height adjustment hydraulic cylinder 202 rotate and extend / retract. The guide rod 203 rotates around the fulcrum of the hinge support C208. Calculation (III) is performed to obtain the extension / retraction lengths Δa and Δb of the piston rods of the angle adjustment hydraulic cylinder 201 and the height adjustment hydraulic cylinder 202, respectively. Further, step 5 is executed.

[0057] Step 5: The calculated values ​​of the piston rod extension and retraction of the angle-adjusting hydraulic cylinder 201 and the height-adjusting hydraulic cylinder 202 obtained in Step 3 or Step 4 are input to the hydraulic control proportional valve via an electrical signal. The proportional valve adjusts the amount of oil required for the piston rod extension and retraction of the angle-adjusting hydraulic cylinder 201 and the height-adjusting hydraulic cylinder 202 accordingly, thereby realizing real-time control of the attitude of the data acquisition device.

[0058] Combination Figure 3 and Figure 4 The method for calculating the piston rod extension / retraction of the angle-adjusting hydraulic cylinder 201 and the height-adjusting hydraulic cylinder 202 in the attitude control of polymetallic nodule collection proposed in this invention is as follows:

[0059] 1) When the angle change is consistent with the height change, and the data acquisition device is translating, perform calculation (II) as follows:

[0060] Suppose the pivot point of the guide link 203 around the hinge support C 208 is the coordinate origin (0, 0) of a plane rectangular coordinate system, the dashed line pattern in the figure represents the initial position of the device, and the pivot point coordinate of the hinge support A 206 is (m, n). Since the main frame 4 structure is fixed and unchanging, this coordinate is relative to the origin and does not change. The initial coordinate of the pivot point of the hinge support D 209 is (x0, y0), and the moving coordinate is (x, y). According to the geometric relationship, x and y satisfy the following formulas:

[0061] x 2 +y 2 =c 2 , x < 0 (1)

[0062] (x-m) 2 +(y-n) 2 =b 2 (2)

[0063] y-y0=h0-h (3)

[0064] Since m, n, and c are fixed values, the initial value b0 can be read by the displacement sensor 205, and the (x0, y0) coordinate value can be determined according to formulas (1) and (2). The height h0 before movement and the height h after movement can be measured by the height gauge 102, and together with the y0 value, they can be substituted into formula (3) to determine the y value. Further, the y value is substituted into formula (1) to determine the x value. Finally, the x and y values are substituted into formula (2) to determine the b value. The difference between b and b0 is the length of the piston rod extension and retraction change Δb of the height adjustment hydraulic cylinder 202 (positive value for extension, negative value for shortening).

[0065] 2) When the height does not change and the angle changes, perform calculation (I), as follows:

[0066] The same plane rectangular coordinate system as in 1) is established, the intersection of the cantilever beam 103 axis and the ground is taken as the rotation center, the fixed coordinate is (s, t), the moving coordinate of the pivot point of the hinge support B 207 is (i, j), and the auxiliary coordinate of the pivot point of the hinge support D 209 is (x1, y1). According to the geometric relationship, the parameter values satisfy the following formulas:

[0067] (i-m) 2 +(j-n) 2 =a 2 (4)

[0068]

[0069] tanγ0=n / m (6)

[0070] γ-γ0=θ=arctan[(sinβ0-sinβ) / cosβ] (7)

[0071] tan γ = (y - j) / (x - i) (8)

[0072] tan β = (y1- t) / (x1- s) (9)

[0073] (x0- s) 2 + (y0- t) 2 = (x1- s) 2 + (y1- t) 2 (10)

[0074] tan θ = (y - y1) / (x - x1) (11)

[0075] Since m, n, c are fixed values, the initial value b0 can be read by displacement sensor 205, and the (x0, y0) coordinate value can be determined according to formula (1), (2); the initial value a0 can be read by displacement sensor 204, and (i0, j0) can be determined by substituting a0, x0, y0 into formula (4), (5); the value of γ0 can be determined by formula (6); the value of γ can be determined by substituting the angle β, β0 and γ0 measured by rotary encoder 104 and angle measurement probe 105 into formula (7); since s, t are fixed values, (x1, y1) can be determined by substituting β, x0, y0 into formula (9), (10); the six unknowns of x, y, i, j, a, b can be solved by the six equations of formula (1), (2), (4), (5), (8), (11), and thus the piston rod extension and retraction length Δa, Δb of angle adjusting hydraulic cylinder 201 and height adjusting hydraulic cylinder 202 can be further obtained.

[0076] 3) When the height and angle are changed and inconsistent, calculation (III) is performed, which can be divided into two steps, first, calculation (II) is performed according to the height from the bottom measured by height gauge 102, and the angle β, cylinder stroke b value under the calculation result are taken as initial values, then calculation (I) is performed, and finally the piston rod extension and retraction length Δa, Δb of angle adjusting hydraulic cylinder 201 and height adjusting hydraulic cylinder 202 can be obtained.

[0077] The above embodiments are only used to illustrate the technical solutions of the present application and not limit the present application. Although the present application has been described in detail with reference to the above preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or replaced by equivalents without departing from the spirit and scope of the present application. Those skilled in the art can also make other changes within the spirit of the present application and use them in the design of the present application, as long as they do not deviate from the technical effects of the present application. These changes made in accordance with the spirit of the present application should be included in the scope of the present application.

Claims

1. A method for controlling the posture of a polymetallic nodule collector, characterized in that, The posture control method is completed by a posture control mechanism, which is composed of a posture measuring mechanism and a four-bar linkage control mechanism; the posture measuring mechanism is fixed on the main frame of the mining system in the form of a cantilever, and is composed of a support beam, an altimeter, a cantilever beam, a rotary encoder and an angle measuring probe; the support beam is fixed on the main frame of the mining system, and an altimeter is fixed at the front end of the support beam to detect the height of the front fixed end from the bottom at a certain moment; the cantilever beam is fixed at the lower edge of the front end of the support beam to connect and fix the rotary encoder; the angle measuring probe is hinged on the rotary encoder, and the free end of the angle measuring probe is a circular ring structure, which falls on the seabed surface under the action of gravity; the rotary encoder can read the angular displacement of the angle measuring probe in this state, and the difference between the angular displacement of the angle measuring probe in the horizontal inward state and the angular displacement of the angle measuring probe in the horizontal inward state is the included angle between the probe and the horizontal plane; the four-bar linkage control mechanism is composed of an angle adjusting hydraulic cylinder, a height adjusting hydraulic cylinder, a guide link, an angle adjusting hydraulic cylinder displacement sensor, a height adjusting hydraulic cylinder displacement sensor, a hinged support A, a hinged support B, a hinged support C and a hinged support D; the posture control method comprises the following steps: Step 1: the altimeter and the rotary encoder respectively measure the height h0 of the front fixed end from the bottom in the initial standard working condition and the included angle β0 between the probe and the horizontal plane, and the height h and the included angle β in the current state; Step 2: compare the height h of the front fixed end from the bottom in the current state with the height h0 from the bottom in the standard working condition (optimal posture of the collecting device), and determine whether the height changes; if h = h0, it indicates that the height of the front measuring position does not change, and step 3 is performed; if h ≠ h0, it indicates that the height of the front measuring position changes, and step 4 is performed; Step 3: compare the included angle β in the current state with the included angle β0 in the standard working condition (optimal posture of the collecting device), and determine whether the angle changes; if β = β0, it indicates that the angle of the collecting device does not change, and the overall posture remains unchanged, and the angle adjusting hydraulic cylinder, the height adjusting hydraulic cylinder and the guide link are all stationary; if β ≠ β0, it indicates that the angle of the collecting device changes, and overall translation and rotation adjustment is required, and the angle adjusting hydraulic cylinder and the height adjusting hydraulic cylinder rotate and stretch, and the guide link rotates around the fulcrum of the hinged support C, and calculation I is performed to obtain the piston rod extension and retraction change lengths Δa and Δb of the angle adjusting hydraulic cylinder and the height adjusting hydraulic cylinder respectively; further, step 5 is performed; Step 4: the angle β between the probe rod in the current state and the horizontal plane and the theoretical angle after the angle of the probe rod is deflected by the height change If the angle change is consistent with the height change, the collecting device does not change the pitch attitude, and only needs to adjust the height from the bottom by moving horizontally. The height adjustment hydraulic cylinder rotates and extends and retracts, the guide connecting rod rotates around the fulcrum of hinge support C, the angle adjustment hydraulic cylinder rotates around the fulcrum of hinge support A and does not extend and retract, calculation II is performed, and the extension and retraction change length Δb of the piston rod of the height adjustment hydraulic cylinder is obtained. If the angle change is inconsistent with the height change, the collecting device changes the pitch attitude, and needs to be adjusted by moving horizontally and rotating as a whole. The angle adjustment hydraulic cylinder and the height adjustment hydraulic cylinder rotate and extend and retract, the guide connecting rod rotates around the fulcrum of hinge support C, calculation III is performed, and the extension and retraction change lengths Δa and Δb of the piston rods of the angle adjustment hydraulic cylinder and the height adjustment hydraulic cylinder are obtained respectively. Further, step 5 is performed. If the angle change is inconsistent with the height change, the collecting device changes the pitch attitude, and needs to be adjusted by moving horizontally and rotating as a whole. The angle adjustment hydraulic cylinder and the height adjustment hydraulic cylinder rotate and extend and retract, the guide connecting rod rotates around the fulcrum of hinge support C, calculation III is performed, and the extension and retraction change lengths Δa and Δb of the piston rods of the angle adjustment hydraulic cylinder and the height adjustment hydraulic cylinder are obtained respectively. Further, step 5 is performed. Step 5: the calculated values of the piston rod extension and retraction amounts of the angle adjusting hydraulic cylinder and the height adjusting hydraulic cylinder obtained in step 3 or step 4 are input into the hydraulic control proportional valve through electrical signals, and the proportional valve adjusts the oil amount required for the piston rod extension and retraction of the angle adjusting hydraulic cylinder and the height adjusting hydraulic cylinder according to the calculated values, thereby realizing real-time control of the posture of the collecting device.

2. The attitude control method for multi-metal nodule collection according to claim 1, characterized in that, The calculation method of the piston rod extension and retraction amounts of the angle adjusting hydraulic cylinder and the height adjusting hydraulic cylinder in the posture control of the polymetallic nodule collecting device is as follows: 1) when the angle changes and the height changes are consistent, and the collecting device translates, calculation II is performed, as follows: Suppose the pivot point of the guide connecting rod around the hinge support C is the coordinate origin (0, 0), a plane rectangular coordinate system is established, the dashed line pattern in the figure represents the initial position of the device, the coordinate of the pivot point of the hinge support A is (m, n), since the main frame 4 structure is fixed and unchangeable, the coordinate relative to the origin is unchangeable, the initial coordinate of the pivot point of the hinge support D is (x0, y0), the moving coordinate is (x, y); according to the geometric relationship, x and y satisfy the following formulas: ； ； ； Since m, n and c are fixed values, the initial value b0 can be read by the displacement sensor, and the (x0, y0) coordinate value can be determined according to formulas (1) and (2); the off-bottom heights h0 and h before and after movement can be measured by the altimeter, and together with the y0 value, the y value can be determined by substituting them into formula (3), and further the x value can be determined by substituting the y value into formula (1); finally, the x and y values are substituted into formula (2) to determine the b value, and the difference between b and b0 is the piston rod extension change length Δb (positive value for extension, negative value for shortening) of the height adjusting hydraulic cylinder; 2) When the height does not change and the angle changes, perform calculation I, as follows: The same plane rectangular coordinate system as in 1) is established, the intersection of the cantilever beam axis and the ground is taken as the rotation center, the fixed coordinate is (s, t), the moving coordinate of the pivot point of the hinge support B is (i, j), and the auxiliary coordinate of the pivot point of the hinge support D is (x1, y1); according to the geometric relationship, the parameter values satisfy the following formulas: ； ； ； ； ； ； ； ； Since m, n and c are fixed values, the initial value b0 can be read by the displacement sensor, and the (x0, y0) coordinate value can be determined according to formulas (1) and (2); the initial value a0 can be read by the displacement sensor, and the (i0, j0) value can be determined by substituting a0, x0 and y0 into formulas (4) and (5); the γ0 value can be determined by formula (6); the angle β, β0 and γ0 measured by the rotation encoder and the angle measuring probe are substituted into formula (7) to determine the γ value; since s and t are fixed values, the (x1, y1) value can be determined by substituting β, x0 and y0 into formulas (9) and (10); the six unknowns x, y, i, j, a and b can be solved by the six equations of formulas (1), (2), (4), (5), (8) and (11), so that the piston rod extension change lengths Δa and Δb of the angle adjusting hydraulic cylinder and the height adjusting hydraulic cylinder can be further obtained; 3) When the height and the angle both change and are inconsistent, perform calculation III, which can be divided into two steps, first perform calculation II according to the off-bottom height measured by the altimeter, and then perform calculation I with the angle β and the cylinder stroke b value in the calculation result as the initial values, finally the piston rod extension change lengths Δa and Δb of the angle adjusting hydraulic cylinder and the height adjusting hydraulic cylinder can be obtained.

3. The method of claim 1, wherein the method further comprises: The lower end of the angle adjusting hydraulic cylinder is fixed on the main frame of the mining system through a hinge support A, and the upper end is fixed on the lower side of the support frame of the hydraulic collection device through a hinge support B, an angle adjusting hydraulic cylinder displacement sensor is fixed on the angle adjusting hydraulic cylinder, and the extension length of the piston rod of the angle adjusting hydraulic cylinder can be monitored in real time; the lower end of the guide connecting rod is fixed on the main frame of the mining system through a hinge support C, and the upper end is fixed on the support frame of the hydraulic collection device through a hinge support D, and the guide connecting rod can make a circular motion with a constant radius around the hinge support C; the angle adjusting hydraulic cylinder and the guide connecting rod are in the same plane, and the height adjusting hydraulic cylinder is not in the plane, the lower end hinge support of the height adjusting hydraulic cylinder is fixed on the main frame of the mining system and coaxial with the hinge support A, and the upper end hinge support is fixed on the upper side of the support frame of the hydraulic collection device and coaxial with the hinge support D; a height adjusting hydraulic cylinder displacement sensor is fixed on the height adjusting hydraulic cylinder, and the extension length of the piston rod of the height adjusting hydraulic cylinder can be monitored in real time.

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