Multi-vehicle cooperative deep-sea mining underwater positioning navigation system and working method

Abstract

The invention relates to the technical field of submarine mining, in particular to a multi-vehicle cooperative deep-sea mining underwater positioning navigation system and a working method, and the system comprises a wireless communication positioning device, a long baseline positioning assembly, an ultra-short baseline positioning assembly, a communication cable, an inertial navigation system and a Doppler flow velocity log; the long baseline positioning assembly comprises a long baseline positioning node, a long baseline positioning terminal and a long baseline resolving unit; the ultra-short baseline positioning assembly comprises an ultra-short baseline positioning array and an ultra-short baseline positioning terminal. The method can be applied to underwater comprehensive positioning and navigation of a plurality of mining vehicles, conveying hoses, relay stations and conveying vertical pipes in a commercial mining system.

Description

Technical Field

[0001] The present invention relates to the technical field of deep-sea mineral resource mining equipment, and in particular to an underwater positioning and navigation system for multi-vehicle collaborative deep-sea mining and a working method. Background Art

[0002] The mining of deep-sea mineral resources requires the coordinated operation of multiple platforms and equipment such as mining ships, mining vehicles, relay stations, transmission pipes, and underwater submersibles. The operation time is long and the coverage area is wide. In commercial mining, multiple mining vehicles are also required to operate at the same time, avoiding collisions with each other and avoiding overlapping or large intervals between collection paths, which will reduce the operation efficiency. In addition, the relative positions of ships, relay stations, and vehicles must be strictly controlled to avoid breaking the transmission risers and transmission hoses. The positioning accuracy, positioning refresh rate, positioning delay, data validity and other indicators of the underwater positioning system are extremely high. At the same time, the mining vehicle's collection operation is noisy, which will seriously interfere with the normal operation of the hydroacoustic positioning equipment.

[0003] Previously, the positioning of mineral mining equipment mainly relied on combined navigation of hydroacoustic positioning, inertial components, and Doppler odometers. CN212569544U proposed the use of ultra-short baselines, laser gyroscopes, Doppler speed meters, and wheel speed sensors to monitor the trajectory of mining vehicles. CN217813464U proposed the use of multiple sets of ultra-short baseline positioning equipment to achieve underwater positioning. CN220849667U proposed the use of two sets of ultra-short baseline positioning equipment to achieve absolute positioning of mining vehicles and relative positioning of near-bottom equipment, respectively. However, the above methods generally have the problems of low positioning accuracy and large positioning delay. When applied to commercial mining, it is difficult to receive acoustic signals on high-noise mining vehicles. The acoustic signals of the ship-mining workshop are easily blocked by the transport riser. The data validity is poor or even impossible to locate, making it difficult to support commercial mining.

[0004] In summary, deep-sea mineral resource mining urgently needs an underwater navigation and positioning system that can cope with mining noise and occlusion problems and has excellent positioning accuracy, positioning refresh rate, positioning delay, and data validity. Summary of the invention

[0005] The purpose of the present invention is to overcome the deficiencies of the prior art and to provide an underwater positioning and navigation system and a working method for multi-vehicle collaborative deep-sea mining.

[0006] The objective of the present invention is achieved through the following technical solutions: A multi-vehicle collaborative deep-sea mining underwater positioning and navigation system, comprising:

[0007] Several sets of wireless communication positioning equipment, which are arranged on the mining ship and the wave glider;

[0008] Several sets of long baseline positioning assemblies, which are arranged on mining vessels, wave gliders, transport risers, relay stations and underwater submersibles;

[0009] A set of ultra-short baseline positioning components, wherein the ultra-short baseline positioning components are arranged on the relay station, the conveying hose and the mining vehicle;

[0010] A set of communication cables, wherein the communication cables are connected to the wireless communication positioning equipment at the mining ship end, the long baseline positioning component at the mining ship end, the long baseline positioning component at the relay station end, the long baseline positioning component at the transmission riser end, the ultra-short baseline positioning component at the relay station end, the ultra-short baseline positioning component at the transmission hose end, and the communication positioning component at the mining vehicle end;

[0011] Several inertial navigation systems, which are arranged on underwater vehicles, relay stations and mining vehicles;

[0012] A plurality of Doppler current logs are provided on an underwater vehicle and a mining vehicle.

[0013] Furthermore, the wireless communication positioning device includes a satellite positioning device and a wireless communication device, which is used to realize communication between the wave glider end and the mining ship end.

[0014] Furthermore, the long baseline positioning component includes:

[0015] A long baseline positioning node, wherein the long baseline positioning node is arranged on the wave glider;

[0016] A long baseline positioning terminal, which is arranged on the transport riser, the underwater submersible and the relay station;

[0017] A long baseline solving unit is arranged on a mining vessel.

[0018] Furthermore, the ultra-short baseline positioning component includes:

[0019] An ultra-short baseline positioning array, wherein the ultra-short baseline positioning array is arranged on a relay station;

[0020] The ultra-short baseline positioning terminal, the long baseline positioning terminal is arranged on the conveying hose and the mining vehicle.

[0021] Furthermore, the long baseline positioning node and the ultra-short baseline positioning array operate outside the noise interference area of ​​the mining vehicle and the relay station.

[0022] Furthermore, the ultra-short baseline positioning component and the long baseline positioning component adopt a power supply method that combines battery self-powering and external power supply, and the external power supply is provided by the mounting platform.

[0023] On the other hand, the present invention provides a working method of a multi-vehicle collaborative deep-sea mining underwater positioning and navigation system, comprising the following steps:

[0024] Step 1: The wave glider is equipped with wireless communication positioning equipment and long baseline positioning nodes to sail and virtually anchor above the mining area.

[0025] Step 2: The long baseline positioning terminals on the transport riser and the relay station simultaneously transmit the hydroacoustic positioning request signal with the support of the communication cable. The long baseline positioning node on the wave glider receives the positioning request signal and packages the receiving time and position coordinates and forwards them to the long baseline solving unit on the mining ship through the wireless communication positioning device. The long baseline solving unit solves the absolute position of the long baseline positioning terminal.

[0026] Step 3: The ultra-short baseline positioning terminals on the mining vehicle and the conveying hose simultaneously transmit the hydroacoustic positioning request signal with the support of the communication cable. After the ultra-short baseline positioning array at the relay station receives the positioning request signal, it calculates the relative position of each ultra-short baseline positioning terminal in combination with the transmission time of the positioning request signal transmitted back by the communication cable.

[0027] Step 4: Combine the absolute position of the long baseline positioning terminal, the relative position of the ultra-short baseline positioning terminal, the inertial navigation data of the relay station, the inertial navigation data of the mining vehicle, and the Doppler flow meter data of the mining vehicle to calculate the absolute position of the mining vehicle and the configuration of the conveying hose and the conveying riser, and provide navigation for the motion control of the mining vehicle and the relay station;

[0028] Step 5: The long baseline positioning terminal at the underwater submersible end transmits a hydroacoustic positioning request signal. The long baseline positioning node at the wave glider end receives the positioning request signal and packages the receiving time and position coordinates and forwards them to the long baseline solving unit at the mining ship end through the wireless communication equipment. The long baseline solving unit solves the absolute position of the long baseline positioning terminal and sends it to the long baseline positioning terminal at the underwater submersible end through the long baseline positioning node at the wave glider end. It is integrated with the inertial navigation and Doppler current log data at the underwater submersible end to output the absolute position of the underwater submersible and provide navigation for the motion control of the underwater submersible.

[0029] The beneficial effects of the present invention are as follows: a multi-vehicle collaborative deep-sea mining underwater positioning and navigation system of the present invention adopts a long baseline positioning method to provide a large range of absolute positioning for the transport riser, relay station, and underwater submersible. Compared with ultra-short baseline positioning, its positioning accuracy is high, and it can be used for formation monitoring and fault prevention of the transport riser. At the same time, its sound line will not be blocked by the bending of the transport riser, and the positioning effectiveness is high; the long baseline positioning terminal only sends but does not receive, and the reception of the hydroacoustic positioning signal is set on the wave glider, and the wave glider can be maneuvered to a low-noise area to ensure that the noise of the mining vehicle and the relay station end will not interfere with the reception of the acoustic positioning signal. The ultra-short baseline positioning method is adopted to provide a small range of relative positioning for the mining vehicle, relay station, and transport hose, with high positioning accuracy and low positioning delay. Combined with inertial navigation and Doppler odometer data, it can be used for multi-vehicle collaboration in collection operations; the ultra-short baseline positioning terminal only sends but does not receive, and the reception of the hydroacoustic positioning signal is set at the relay station end with relatively small noise, and a high-frequency hydroacoustic positioning signal is adopted to effectively avoid the interference of the mining vehicle noise, and the positioning effectiveness is high. The entire underwater positioning and navigation system mainly adopts a power supply method that combines battery self-powered and external power supply. It has a long working time and can still use battery power to provide emergency positioning and navigation after the external power supply is cut off due to a mining system failure, ensuring system safety and supporting emergency response. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art or ordinary technicians, other drawings can be obtained based on these drawings without paying creative work. Figure 1 It is a system composition diagram of the present invention.

[0031] Description of reference numerals:

[0032] Wave glider 1, mining ship 2, underwater submersible 3, delivery riser 4, relay station 5, delivery hose 6, mining vehicle 7. Long baseline positioning node 101, satellite positioning equipment 102, wireless communication equipment 103, long baseline solution unit 104, communication cable 105, long baseline positioning terminal 106, inertial navigation 107, Doppler current log 108, ultra-short baseline positioning array 110, ultra-short baseline positioning terminal 111. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work belong to the protection scope of the present invention.

[0034] Please participate Figure 1 The present invention provides a technical solution: a multi-vehicle cooperative deep-sea mining underwater positioning and navigation system includes several sets of wireless communication positioning equipment, which are arranged on a mining ship 2 and a wave glider 1; several sets of long baseline positioning components, which are arranged on the mining ship 2, the wave glider 1, the delivery riser 4, the relay station 5, and the underwater submersible 3; a set of ultra-short baseline positioning components, which are arranged on the relay station 5, the delivery hose 6, and the mining vehicle 7; a set of communication cables 105 The communication cable 105 connects the wireless communication positioning equipment at the mining ship end, the long baseline positioning component at the mining ship end, the long baseline positioning component at the relay station end, the long baseline positioning component at the delivery riser end, the ultra-short baseline positioning component at the relay station end, the ultra-short baseline positioning component at the delivery hose end, and the communication positioning component at the mining vehicle end; a number of inertial navigation systems 107, which are arranged on the underwater submersible 3, the relay station 5, and the mining vehicle 7; and a number of Doppler current meters 108, which are arranged on the underwater submersible 3 and the mining vehicle 7.

[0035] The wireless communication positioning device comprises a satellite positioning device 102 and a wireless communication device 103, and the wireless communication positioning device can realize communication between the wave glider end and the mining ship end.

[0036] The long baseline positioning component includes a long baseline positioning node 101, a long baseline positioning terminal 106, and a long baseline solving unit 104. The long baseline positioning node 101 is arranged on the wave glider 1, the long baseline positioning terminal 106 is arranged on the transport riser 4, the underwater submersible 3, and the relay station 5, and the long baseline solving unit 104 is arranged on the mining ship 104.

[0037] The ultra-short baseline positioning component includes an ultra-short baseline positioning array 110 and an ultra-short baseline positioning terminal 111. The ultra-short baseline positioning array 110 is arranged on the relay station 5, and the long baseline positioning terminal 111 is arranged on the conveying hose 6 and the mining vehicle 7.

[0038] The long baseline positioning node 101 and the ultra-short baseline positioning array 110 operate outside the noise interference area such as mining vehicles and relay stations.

[0039] The ultra-short baseline positioning component and the long baseline positioning component adopt a power supply method that combines battery self-powering and external power supply, and the external power supply is provided by their carrying platform.

[0040] Based on the communication cable 105, high-precision clock synchronization of the long baseline positioning terminal 106, the ultra-short baseline positioning array 110, and the ultra-short baseline positioning terminal 111 carried on the mining ship, the conveying riser, the relay station, the conveying hose, and the mining vehicle is achieved.

[0041] A working method of a multi-vehicle collaborative deep-sea mining underwater positioning and navigation system is:

[0042] Step 1: The wave glider is equipped with wireless communication positioning components and long baseline positioning nodes to sail and virtually anchor above the mining area;

[0043] Step 2: The long baseline positioning terminals on the transport riser and relay station simultaneously transmit the hydroacoustic positioning request signal with the support of the communication cable. The long baseline positioning node on the wave glider receives the positioning request signal and packages the receiving time and position coordinates and forwards them to the long baseline solving unit on the mining ship through the wireless communication device. The long baseline solving unit solves the absolute position of the long baseline positioning terminal.

[0044] Step 3: The ultra-short baseline positioning terminals on the mining vehicle and the conveying hose simultaneously transmit the hydroacoustic positioning request signal with the support of the communication cable. After the ultra-short baseline positioning array at the relay station receives the positioning request signal, it calculates the relative position of each ultra-short baseline positioning terminal in combination with the transmission time of the positioning request signal transmitted back by the communication cable;

[0045] Step 4: Combine the absolute position of the long baseline positioning terminal, the relative position of the ultra-short baseline positioning terminal, the inertial navigation data of the relay station, the inertial navigation data of the mining vehicle, and the Doppler flow meter data of the mining vehicle to calculate the absolute position of the mining vehicle and the configuration of the conveying hose and the conveying riser, and provide navigation for the motion control of the mining vehicle and the relay station;

[0046] Step 5: The long baseline positioning terminal at the underwater submersible end transmits a hydroacoustic positioning request signal. The long baseline positioning node at the wave glider end receives the positioning request signal and packages the receiving time and position coordinates and forwards them to the long baseline solving unit at the mining ship end through the wireless communication equipment. The long baseline solving unit solves the absolute position of the long baseline positioning terminal and sends it to the long baseline positioning terminal at the underwater submersible end through the long baseline positioning node at the wave glider end. It is integrated with the inertial navigation and Doppler current log data at the underwater submersible end to output the absolute position of the underwater submersible and provide navigation for the motion control of the underwater submersible.

[0047] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A multi-vehicle collaborative underwater positioning and navigation system for deep-sea mining, characterized by: include: Several sets of wireless communication positioning equipment, wherein the wireless communication positioning equipment is arranged on the mining ship (2) and the wave glider (1); A plurality of sets of long baseline positioning components, wherein the long baseline positioning components are arranged on a mining vessel (2), a wave glider (1), a transport riser (4), a relay station (5) and an underwater submersible (3); A set of ultra-short baseline positioning components, wherein the ultra-short baseline positioning components are arranged on the relay station (5), the conveying hose (6) and the mining vehicle (7); A set of communication cables, wherein the communication cables are connected to the wireless communication positioning equipment at the mining ship end, the long baseline positioning component at the mining ship end, the long baseline positioning component at the relay station end, the long baseline positioning component at the transmission riser end, the ultra-short baseline positioning component at the relay station end, the ultra-short baseline positioning component at the transmission hose end, and the communication positioning component at the mining vehicle end; A plurality of inertial navigation systems (107), wherein the inertial navigation systems are arranged on the underwater vehicle (3), the relay station (5) and the mining vehicle (7); A plurality of Doppler current logs (108) are provided, wherein the Doppler current logs are arranged on the underwater vehicle (3) and the mining vehicle (7).

2. The multi-vehicle cooperative underwater positioning and navigation system for deep-sea mining according to claim 1 is characterized by: The wireless communication positioning device comprises a satellite positioning device (102) and a wireless communication device (103), which is used to realize communication between the wave glider end and the mining ship end.

3. The multi-vehicle cooperative underwater positioning and navigation system for deep-sea mining according to claim 2 is characterized by: The long baseline positioning assembly comprises: A long baseline positioning node (101), wherein the long baseline positioning node (101) is arranged on the wave glider (1); A long baseline positioning terminal (106), wherein the long baseline positioning terminal (106) is arranged on the transport riser (4), the underwater submersible (3) and the relay station (5); A long baseline solving unit (104) is provided on the mining vessel (2).

4. The multi-vehicle collaborative deep-sea mining underwater positioning and navigation system according to claim 3 is characterized by: The ultra-short baseline positioning component comprises: An ultra-short baseline positioning array (110), wherein the ultra-short baseline positioning array (110) is arranged on a relay station (5); An ultra-short baseline positioning terminal (111), wherein the long baseline positioning terminal (111) is arranged on a conveying hose (6) and a mining vehicle (7).

5. The multi-vehicle cooperative underwater positioning and navigation system for deep-sea mining according to claim 4 is characterized in that: The long baseline positioning node and the ultra-short baseline positioning array operate outside the noise interference area of ​​the mining vehicle and the relay station.

6. The multi-vehicle collaborative deep-sea mining underwater positioning and navigation system according to claim 5 is characterized by: The ultra-short baseline positioning component and the long baseline positioning component adopt a power supply method combining battery self-powering and external power supply, and the external power supply is provided by the mounting platform.

7. A working method using the multi-vehicle cooperative deep-sea mining underwater positioning and navigation system as claimed in any one of claims 1 to 6, characterized in that: The steps include: Step 1: The wave glider (1) is equipped with wireless communication positioning equipment and long baseline positioning nodes and sails to virtually anchor above the mining area. Step 2: The long baseline positioning terminals on the transport riser (4) and the relay station (5) simultaneously transmit a hydroacoustic positioning request signal with the support of the communication cable, the long baseline positioning node on the wave glider receives the positioning request signal and packages the receiving time and position coordinates and forwards them to the long baseline solving unit on the mining ship through the wireless communication positioning device, and the long baseline solving unit solves the absolute position of the long baseline positioning terminal; Step 3: The ultra-short baseline positioning terminals on the mining vehicle (7) and the conveying hose (6) simultaneously transmit a hydroacoustic positioning request signal with the support of the communication cable. After the ultra-short baseline positioning array at the relay station receives the positioning request signal, it calculates the relative position of each ultra-short baseline positioning terminal in combination with the transmission time of the positioning request signal transmitted back by the communication cable; Step 4: Combine the absolute position of the long baseline positioning terminal, the relative position of the ultra-short baseline positioning terminal, the inertial navigation data of the relay station, the inertial navigation data of the mining vehicle, and the Doppler flow meter data of the mining vehicle to calculate the absolute position of the mining vehicle and the configuration of the conveying hose and the conveying riser, and provide navigation for the motion control of the mining vehicle and the relay station; Step 5: The long baseline positioning terminal at the underwater submersible end transmits a hydroacoustic positioning request signal. The long baseline positioning node at the wave glider end receives the positioning request signal and packages the receiving time and position coordinates and forwards them to the long baseline solving unit at the mining ship end through the wireless communication equipment. The long baseline solving unit solves the absolute position of the long baseline positioning terminal and sends it to the long baseline positioning terminal at the underwater submersible end through the long baseline positioning node at the wave glider end. It is integrated with the inertial navigation and Doppler current log data at the underwater submersible end to output the absolute position of the underwater submersible and provide navigation for the motion control of the underwater submersible.

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