Seabed collection system and collected object lifting method

Abstract

The invention discloses a seabed collection system and a collected object lifting method. Belongs to the technical field of underwater collection. The seabed collection robot collects a seabed target collection object; the water surface support ship is communicated with the seabed acquisition robot through the pipe cable system; the seabed collecting robot conveys collected objects to the water surface supporting ship through the pipe cable system serving as a guide cable. According to the buoyancy principle, the air bag is inflated to enable the buoyancy of the target collected object collecting net bag to be larger than the gravity to achieve automatic floating; a pipe cable system is combined to serve as a floating cableway, and a net bag fully loaded with collected objects can be lifted to a moon pool of a water surface supporting ship. The system also adopts an intelligent automatic control technology, and automatically completes the inflation and replacement of a net bag and the recovery of collected objects through the cooperation of an underwater mechanical claw and an on-board collection mechanical claw. The device is suitable for seabed collected objects which have high requirements on the lifting process and are sensitive to impact force, and the working efficiency and the continuity of the system can be greatly improved.

Description

Technical Field

[0001] The invention belongs to the technical field of underwater collection, and relates to a seabed collection system and a method for lifting collected objects. Background Art

[0002] With the development and utilization of seabed resources, seabed collection operations have become an important part of marine engineering, especially in the fields of seabed aquatic products, mineral resources and seabed garbage cleaning. How to collect and lift underwater targets efficiently and with low loss has always been a technical challenge. Traditional seabed collection and lifting methods mostly rely on mechanical, hydraulic or pipeline power systems, directly grabbing or sucking the target through mechanical claws, suction cups, etc., and then lifting it to the water surface.

[0003] However, traditional lifting methods have several disadvantages:

[0004] High energy consumption: Traditional power lifting systems often require a lot of energy. Especially in deep-sea environments, the energy consumption problem is more prominent, and long-term operation may lead to a decrease in system efficiency.

[0005] Large impact force and high risk of damage: Many traditional lifting methods have a large impact on underwater collection objects, especially for some fragile targets such as seabed aquatic products, soft-bodied organisms, etc., which are easy to cause damage.

[0006] Low operating efficiency: Many existing systems still rely on manual operation or semi-automatic control, which may lead to problems such as misoperation and system failure during the operation process, affecting work efficiency and continuity.

[0007] The lifting process is complex and the degree of automation is low: Current seabed collection systems often lack intelligent control systems and are unable to automatically complete operations such as inflation and replacement of collection net bags. The lifting process requires manual intervention, which increases the complexity of the operation and potential risks.

[0008] Therefore, the present invention proposes a seabed collection system and a method for lifting collected objects, which is a seabed collection system with a simple structure, high energy efficiency, gentle lifting process and high automation level. Summary of the invention

[0009] In view of the above problems, the present invention aims to provide a seabed collection system and a method for lifting collected objects.

[0010] The technical solution of the present invention is: a seabed collection system according to the present invention comprises a seabed collection robot (1), a surface support vessel (2) and a duct and cable system (3), wherein the surface support vessel (2) is connected to the seabed collection robot (1) via the duct and cable system (3);

[0011] The surface support vessel (2) is respectively provided with a power supply and control module (21), an air compressor (22), a collection mechanical claw (23), a storage tank (24) and a monitoring system;

[0012] The power supply and control module (21) and the air compressor (22) are connected to the seabed collection robot (1) via a cable system (3).

[0013] The collection mechanical claw (23) and the monitoring system are respectively fixedly arranged beside a moon pool provided on the surface support vessel (2);

[0014] The storage tank (24) is installed on the surface support vessel (2) at a side close to the collection mechanical claw (23).

[0015] Furthermore, the seabed collection robot (1) comprises a collection delivery pipe (11), a storage basket (12), an air chamber (14), a quantitative air pump (15) and a net bag storage chamber (16);

[0016] One end of the air cabin (14) is connected to the pipe and cable system (3), and the other end is connected to the quantitative air pump (15);

[0017] The net bag storage compartment (16) is installed on the top side of the storage basket (12), the collection and delivery pipe (11) is installed on the upper end of the storage basket (12), and the storage basket (12) is installed below the collection and delivery pipe (11);

[0018] A collecting net bag (13) is arranged inside the storage basket (12), and the collecting net bag (13) is connected to the storage basket (12) by electromagnetic attraction.

[0019] Furthermore, a control arm (17) is fixedly connected above the air chamber (14), and the control arm (17) includes a vertical support leg and a transverse sliding shaft, and a mechanical claw (18) is installed on the transverse sliding shaft.

[0020] Furthermore, the storage basket (12) comprises a storage basket (121) on which the collecting net bag (13) is installed, an electromagnetic oscillator (122) and an infrared sensor (123), wherein the electromagnetic oscillator (122) is installed at the bottom of the storage basket (121), and the infrared sensor (123) is installed at the top of the storage basket (121), and comprises an infrared emitting end and a receiving end.

[0021] Furthermore, the collecting net bag (13) comprises a net bag net bag (132) and a traction rope (136), a net bag hollow bottom plate (131) is fixed to the bottom of the net bag net bag (132), and the electromagnetic relay in the electromagnetic oscillator (122) is magnetically connected to the net bag hollow bottom plate (131) when powered on.

[0022] A magnetic support rod (133), a loose-leaf support rod (134) and a supporting sleeve rod (135) which are connected to each other are respectively installed at the upper end of the net bag (132).

[0023] Furthermore, the magnetic support rods (133) and the loose-leaf support rods (134) are provided in pairs, and are connected to each other left and right and front and back to form a rectangular frame;

[0024] The two ends of the support sleeve rod (135) are respectively connected to the magnetic support rods (133) on both sides;

[0025] One end of the traction rope (136) is fastened to the four end points of the rectangle formed by the magnetic support rod (133) and the loose-leaf support rod (134), and the other end is fixedly connected to a connecting ring (137) and arranged symmetrically.

[0026] The connecting ring (137) is sleeved on the umbilical cable system (3), and an inflatable air bag (138) is arranged above the connecting ring (137).

[0027] Furthermore, the magnetic support rod (133) is made of a magnetic anti-corrosion rod, and an earring is installed in the middle of the rod;

[0028] A hinge is arranged in the middle of the rod of the loose-leaf support rod (134) to enable the loose-leaf support rod (134) to fold inwards;

[0029] The support sleeve rod (135) is made of non-magnetic anti-corrosion material, with a ring installed at one end and a hook installed at the other end, which are respectively connected with the earrings of the magnetic support rods (133) on both sides.

[0030] Furthermore, the net bag hollow bottom plate (131) is made of magnetic anti-corrosion material;

[0031] The net bag (132) is made of a high-strength anti-corrosion mesh material.

[0032] Furthermore, the pipe and cable system (3) comprises a protective outer skin (31), a gas transmission pipeline (32),

[0033] The gas transmission pipeline (32) is opened at the center of the cable system (3), and the protective outer skin (31) is made of wear-resistant and corrosion-resistant material;

[0034] A reinforcement filler (33) is filled between the protective outer skin (31) and the gas transmission pipeline (32), and a cable (34) and a signal cable (35) are embedded inside the reinforcement filler (33).

[0035] Furthermore, a method for lifting collected objects of a seabed collection system has the following operating steps:

[0036] Step (1): After the system is deployed, the air compressor (22) continuously replenishes air at a constant rate into the air cabin (14) through the pipe and cable system (3);

[0037] Step (2): the mechanical claw (18) grabs the collection net bag (13) in the net bag storage compartment (16), and sleeves the connecting ring (137) of the collection net bag (13) onto the pipe cable system (3);

[0038] Step (3): the mechanical claw (18) aligns the outlet of the quantitative air pump (15) with the air inlet of the air bag (138) through the mechanical hand, then turns on the quantitative air pump (15) and injects a quantitative amount of air to fill the air bag (138);

[0039] Step (4): the mechanical claw (18) moves and retracts on the control arm (17) to grab the traction rope (136), so that the collection net bag (13) slides on the cable system (3) to the top of the storage basket (12);

[0040] Step (5): activating the electromagnetic relay of the electromagnetic oscillator (122), so that the hollow bottom plate (131) of the collecting net bag (13) is adsorbed onto the electromagnetic oscillator (122), and the installation is completed;

[0041] Step (6): the seabed collection robot (1) performs a collection operation, and the target collection object falls into the collection net bag (13) through the collection conveying pipe (11), and the infrared sensor (123) continues to work;

[0042] Step (7): when the infrared sensor (123) is shielded for a long time, the oscillation module of the electromagnetic oscillator (122) oscillates horizontally for a period of time t to shake the collected target object, while the infrared sensor (123) continues to perform monitoring work;

[0043] Step (8): Determine whether the infrared sensor (123) is blocked;

[0044] (8.1): When the infrared sensor (123) is no longer blocked, the cycle continues from step (6);

[0045] (8.2): When the infrared sensor (123) is still blocked, the seabed collection robot (1) stops working;

[0046] Step (9): the mechanical claw (18) moves to the top of the collection net bag (13), removes the hook of the support sleeve rod (135) from the earring of the magnetic support rod (133), and the net bag (132) is closed under the magnetic attraction of the two magnetic support rods (133), and the mechanical claw (18) is retracted;

[0047] Step (10): the electromagnetic relay of the electromagnetic oscillator (122) is turned off, and the collection net bag (13) and the target collection object inside thereof float upward under the buoyancy of the air bag (138) based on the connection between the connecting ring (137) and the cable system (3), using the cable system (3) as a cableway;

[0048] Step (11): the mechanical claw (18) enters the working cycle of step (1); at the same time, the monitoring system on the surface support vessel (2) monitors whether a collection net bag (13) full of target collection objects appears in the moon pool;

[0049] Step (12): After finding the collection net bag (13) full of target collection objects, the collection mechanical claw (23) removes the connecting ring (137) of the collection net bag (13) full of target collection objects from the pipe and cable system (3), and grabs the collection net bag (13) full of target collection objects into the storage cabin (24) for storage, thereby completing the collection.

[0050] Working principle of the present invention:

[0051] 1. The present invention uses the buoyancy principle to inflate the airbag so that the buoyancy of the collection net bag fully loaded with target objects is greater than the gravity, so that it floats up autonomously. At the same time, combined with the sleeve connection with the pipe and cable system, the pipe and cable system can be used as a floating cableway for the collection net bag fully loaded with target objects, and can float smoothly to the moon pool of the surface support ship;

[0052] 2. The present invention uses intelligent automatic control technology, through the underwater mechanical claws installed on the underwater collection robot and the collection mechanical claws installed on the support ship, to automatically complete the inflation and replacement of the collection net bag and the automatic recovery of the collection net bag fully loaded with target collection objects in the moon pool.

[0053] The beneficial effects of the present invention are: 1. The present invention lifts underwater collected objects through the principle of buoyancy, has a simple structure, low energy consumption, and can achieve energy-saving lifting work; 2. The present invention lifts underwater collected objects through the principle of buoyancy, which has less impact and less damage to the collected objects compared with traditional power lifting methods, such as pipeline lifting, and is suitable for the collection of target objects such as seabed aquatic products that require very high impact force during the lifting process; 3. The present invention uses intelligent automatic control technology to automatically complete the inflation and replacement of the collection net bag and the automatic recovery of the collection net bag fully loaded with target collection objects in the moon pool, which greatly improves the efficiency and continuity of the system operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 It is a schematic diagram of the system composition of the present invention;

[0055] Figure 2 It is a schematic diagram of the structure of the cable system of the present invention;

[0056] Figure 3 It is a schematic diagram of the structure of the ore storage and transportation system carried by the seabed mining robot of the present invention;

[0057] Figure 4 It is a schematic diagram of the structural composition of the collection net bag of the present invention;

[0058] Figure 5 It is a schematic diagram of the connection between the magnetic support rod and the support sleeve rod of the present invention;

[0059] In the figure, 1 is a seabed collection robot, 11 is a collection conveying pipe,

[0060] 12 is a storage basket, 121 is a storage basket, 122 is an electromagnetic oscillator, and 123 is an infrared sensor;

[0061] 13 is a collection net bag, 131 is a hollow bottom plate of the net bag, 132 is a net bag of the net bag, 133 is a magnetic support rod, 134 is a loose-leaf support rod, 135 is a supporting sleeve rod, 136 is a traction rope, 137 is a connecting ring, and 138 is an air bag;

[0062] 14 is an air cabin, 15 is a quantitative air pump, 16 is a net bag storage cabin, 17 is a control arm, and 18 is a mechanical claw;

[0063] 2 is a surface support vessel, 21 is a power supply and control module, 22 is an air compressor, 23 is a collection mechanical claw, and 24 is a storage tank;

[0064] 3 is a pipe and cable system; 31 is a protective outer skin, 32 is a gas transmission pipeline, 33 is a reinforced filling, 34 is a cable, and 35 is a signal cable. DETAILED DESCRIPTION

[0065] The specific technical solutions of the present invention are further described in detail below in conjunction with specific examples.

[0066] like Figure 1 As shown, a seabed acquisition system described in the present invention mainly includes a seabed acquisition robot 1, a surface support vessel 2 and a pipe and cable system 3;

[0067] The seabed collection robot 1 is mainly used to collect seabed target objects;

[0068] The surface support vessel 2 is connected to the seabed collection robot 1 through the cable system 3, and the surface support vessel 2 provides power, control signals and air to the seabed collection robot 1 through the cable system 3;

[0069] The seabed collection robot 1 transports the collected materials to the moon pool of the surface support vessel 2 through the cable system 3 as a guide cable for further collection and transportation.

[0070] In addition to the basic modules on board, the modules involved in the acquisition system operation of the surface support vessel 2 also include a power supply and control module 21, an air compressor 22, a collection mechanical claw 23, a storage tank 24 and a monitoring system;

[0071] The power supply and control module 21 is connected to the seabed collection robot 1 through the cable system 3 to provide power and control signals to the seabed collection robot 1;

[0072] The air compressor 22 is connected to the seabed collection robot 1 through the cable system 3, so as to deliver the high-pressure gas necessary for the collection process to the seabed collection robot 1;

[0073] The collection mechanical claw 23 is fixedly installed beside the moon pool of the surface support vessel 2. When the seabed target collection object floats to the moon pool along the cable system 3, the target collection object is taken out and transferred to the storage tank 24.

[0074] The storage tank 24 is used to temporarily store the collected and recovered seabed target objects, and the seabed target objects in the storage tank 24 can be further transported to a transport ship for transportation;

[0075] The monitoring system is installed beside the moon pool and is used to monitor in real time whether there are target collection objects transmitted up from the moon pool.

[0076] like Figure 3 As shown, in addition to the modules necessary for the collection work, the structures involved in the collection lifting work of the seabed collection robot 1 also include a collection conveying pipe 11, a storage basket 12, a collection net bag 13, an air chamber 14, a quantitative air pump 15, a net bag storage chamber 16, a control arm 17 and a mechanical claw 18;

[0077] The collection and delivery pipe 11 delivers the target collected objects collected by the seabed collection robot 1 to the collection net bag 13;

[0078] The collection net bag 13 is connected to the storage basket 12 by electromagnetic attraction, and the storage basket 12 is installed below the collection and delivery pipe 11;

[0079] One end of the gas chamber 14 is connected to the pipe-cable system 3. When the gas reserve in the gas chamber 13 is insufficient, the gas is replenished through the pipe-cable system 3. The other end of the gas chamber 14 is connected to the quantitative air pump 15, and the gas can be pumped out through the quantitative air pump 15 to lift the target collected objects on the seabed.

[0080] The net bag storage compartment 16 is installed on the top side of the storage basket 12 to place the collection net bag for replacement.

[0081] The control arm 17 is fixedly connected to the top of the air cabin 14, and includes vertical legs and a transverse sliding shaft, on which a mechanical claw 18 is installed. The mechanical claw 18 can move on the transverse sliding shaft and can be freely extended and retracted, and can complete the corresponding manipulator operation when receiving a work command.

[0082] like Figure 4 , 5 As shown, the storage basket 12 includes a storage basket 121, an electromagnetic oscillator 122 and an infrared sensor 123;

[0083] The storage basket 121 provides a space for placing the collection net bag 13;

[0084] The electromagnetic oscillator 122 is installed at the bottom of the storage basket 121, and is mainly composed of an electromagnetic relay and a planar oscillation module;

[0085] The infrared sensor 123 is installed on the upper part of the storage basket 121, and includes an infrared emitting end and a receiving end, and is used to determine whether the target collection object fills the collection net bag 13.

[0086] The collecting net bag 13 comprises a net bag hollow bottom plate 131, a net bag net bag 132, a magnetic support rod 133, a loose-leaf support rod 134, a supporting sleeve rod 135, a traction rope 136, a connecting ring 137 and an air bag 138; wherein the net bag hollow bottom plate 131 is arranged at the bottom of the collecting net bag 13 and is made of a magnetic anti-corrosion material, so that the net bag 13 can be installed in the storage basket 12 and magnetically connected to the net bag hollow bottom plate 131 through the electromagnetic relay in the electromagnetic oscillator 123 in the power-on state; the net bag net bag 132 adopts a high-strength anti-corrosion mesh material, the lower end of which is fixed to the net bag hollow bottom plate 131, and the upper end is connected to the magnetic support rod 133 and the loose-leaf support rod 134, forming a space for holding the target collection object;

[0087] The magnetic support rods 133 and the hinged support rods 134 are each two, connected to each other left and right and front and back to form a rectangular frame to expand the collection net bag 132;

[0088] The magnetic support rod 133 is made of a magnetic anti-corrosion rod, and an earring is arranged in the middle of the rod to facilitate the installation of the support sleeve rod 135; a hinge is arranged in the middle of the loose-leaf support rod 134, so that the loose-leaf support rod 134 can be folded inward; the support sleeve rod 135 is made of non-magnetic anti-corrosion material, with a ring at one end and a hook at the other end, which can be respectively connected with the earrings of the two magnetic support rods 133. When the support sleeve rod 135 is connected with the earrings of the two magnetic support rods 133, the entire magnetic support rod 133, the loose-leaf support rod 134, and the support sleeve rod 135 form a rectangular opening, and the collection net bag 13 is opened. When the hook of the support rod 135 is separated from the earrings of the corresponding two magnetic support rods 133, the two sections of the loose-leaf support rod 134 are folded inward under the magnetic attraction of the two magnetic support rods 133, and the collecting net bag 13 is closed; one end of the traction rope 136 is fastened to the four end points of the rectangle formed by the magnetic support rods 133 and the loose-leaf support rods 134, and the other end is fixedly connected to the connecting ring 137, and the two ends are symmetrically arranged; the connecting ring 137 can be sleeved on the cable system 3, and an inflatable air bag 138 is installed above the connecting ring 137, and the air bag 138 can be inflated by the quantitative air pump 15.

[0089] like Figure 2 As shown, the pipe and cable system 3 is mainly composed of a protective outer skin 31, a gas pipeline 32, a reinforced filling 33, a cable 34 and a signal cable 35;

[0090] The protective outer skin 31 is made of a smooth, wear-resistant and anti-corrosion material to protect the internal structure of the cable system 3 and provide a smooth, wear-resistant cableway for lifting the target collection object;

[0091] The gas pipeline 32 is installed in the center of the cable system 3 to connect the surface support vessel 2 and the seabed collection robot 1, providing a flow path for the passage of air; a reinforced filling 33 is filled between the protective outer skin 31 and the gas pipeline 32 to improve the overall strength and service life of the cable system 3; a cable 34 and a signal cable 35 are embedded in the reinforced filling 33 to connect the surface support vessel 2 and the seabed collection robot 1 to ensure the supply of electricity and the transmission of signals.

[0092] Furthermore, the steps of the method for lifting collected objects in the seabed collection system are as follows:

[0093] 1. After the system is deployed, the air compressor 22 continuously replenishes air at a constant rate into the air cabin 14 through the pipe and cable system 3;

[0094] 2. The mechanical claw 18 grabs the collection net bag 13 in the net bag storage compartment 16, and sleeves the connecting ring 137 of the collection net bag 13 onto the pipe and cable system 3;

[0095] 3. After the mechanical claw 18 uses the manipulator to align the outlet of the quantitative air pump 15 with the air inlet of the air bag 138, the quantitative air pump 15 is turned on to inject a certain amount of air to fill the air bag 138;

[0096] 4. The mechanical claw 18 moves and retracts on the control arm 17 to grab the traction rope 136, so that the collection net bag 13 slides on the cable system 3 to the top of the storage basket 12;

[0097] 5. Start the electromagnetic relay of the electromagnetic oscillator 122, so that the hollow bottom plate 131 of the collection net bag 13 is adsorbed with the electromagnetic oscillator 122, and the installation is completed;

[0098] 6. The seabed collection robot 1 performs collection operations, and the target collection objects fall into the collection net bag 13 through the collection conveying pipe 11, while the infrared sensor 123 continues to work;

[0099] 7. When the infrared sensor 123 is shielded for a long time, the oscillation module of the electromagnetic oscillator 122 oscillates horizontally for a period of time t to evenly shake the collected target object, while the infrared sensor 123 continues to monitor;

[0100] 8. Determine whether the infrared sensor 123 is blocked;

[0101] 8.1. When the infrared sensor 123 is no longer blocked, the cycle continues from step 6;

[0102] 8.2. When the infrared sensor 123 is still shielded, the seabed collection robot 1 stops working;

[0103] 9. The mechanical claw 18 moves to the top of the collection net bag 13, removes the hook of the support sleeve rod 135 from the earring of the magnetic support rod 133, and the net bag 132 is closed under the magnetic attraction of the two magnetic support rods 133, and the mechanical claw 18 retracts;

[0104] 10. The electromagnetic relay of the electromagnetic oscillator 122 is turned off, and the collection net bag 13 and the target collection objects inside thereof float upward under the buoyancy of the airbag 138 based on the connection between the connecting ring 137 and the pipe-cable system 3, using the pipe-cable system 3 as a cableway;

[0105] 11. The mechanical claw 18 enters the working cycle of step 1; at the same time, the monitoring system on the surface support vessel 2 monitors whether the collection net bag 13 full of target collection objects appears in the moon pool;

[0106] 12. After finding the collection net bag 13 full of target collection objects, the collection mechanical claw 23 removes the connecting ring 137 of the collection net bag 13 full of target collection objects from the pipe and cable system 3, and grabs the collection net bag 13 full of target collection objects into the storage cabin 24 for storage, thereby completing the collection.

Claims

1. A seabed collection system, characterized in that: It comprises a seabed collection robot (1), a surface support vessel (2) and a pipe and cable system (3), wherein the surface support vessel (2) is connected to the seabed collection robot (1) via the pipe and cable system (3); The surface support vessel (2) is respectively provided with a power supply and control module (21), an air compressor (22), a collection mechanical claw (23), a storage tank (24) and a monitoring system; The power supply and control module (21) and the air compressor (22) are connected to the seabed collection robot (1) via a cable system (3). The collection mechanical claw (23) and the monitoring system are respectively fixedly arranged beside a moon pool provided on the surface support vessel (2); The storage tank (24) is installed on the surface support vessel (2) at a side close to the collection mechanical claw (23).

2. A seabed acquisition system according to claim 1, characterized in that: The seabed collection robot (1) comprises a collection conveying pipe (11), a storage basket (12), an air chamber (14), a quantitative air pump (15) and a net bag storage chamber (16); One end of the air cabin (14) is connected to the pipe and cable system (3), and the other end is connected to the quantitative air pump (15); The net bag storage compartment (16) is installed on the top side of the storage basket (12), the collection and delivery pipe (11) is installed on the upper end of the storage basket (12), and the storage basket (12) is installed below the collection and delivery pipe (11); A collecting net bag (13) is arranged inside the storage basket (12), and the collecting net bag (13) is connected to the storage basket (12) by electromagnetic attraction.

3. A seabed collection system according to claim 2, characterized in that: A control arm (17) is fixedly connected above the air chamber (14), and the control arm (17) comprises a vertical support leg and a transverse sliding shaft, on which a mechanical claw (18) is mounted.

4. A seabed acquisition system according to claim 2, characterized in that: The storage basket (12) comprises a storage basket (121) on which a collecting net bag (13) is installed, an electromagnetic oscillator (122) and an infrared sensor (123); the electromagnetic oscillator (122) is installed at the bottom of the storage basket (121); the infrared sensor (123) is installed at the top of the storage basket (121) and comprises an infrared emitting end and a receiving end.

5. A seabed acquisition system according to claim 4, characterized in that: The collecting net bag (13) comprises a net bag net bag (132) and a traction rope (136). A net bag hollow bottom plate (131) is fixed to the bottom of the net bag net bag (132). The electromagnetic relay in the electromagnetic oscillator (122) is magnetically connected to the net bag hollow bottom plate (131) when powered on. A magnetic support rod (133), a loose-leaf support rod (134) and a supporting sleeve rod (135) which are connected to each other are respectively installed at the upper end of the net bag (132).

6. A seabed collection system according to claim 5, characterized in that: There are two magnetic support rods (133) and two loose-leaf support rods (134), which are connected to each other left and right and front and back to form a rectangular frame; The two ends of the support sleeve rod (135) are respectively connected to the magnetic support rods (133) on both sides; One end of the traction rope (136) is fastened to the four end points of the rectangle formed by the magnetic support rod (133) and the loose-leaf support rod (134), and the other end is fixedly connected to a connecting ring (137) and arranged symmetrically. The connecting ring (137) is sleeved on the umbilical cable system (3), and an inflatable air bag (138) is arranged above the connecting ring (137).

7. A seabed collection system according to claim 6, characterized in that: The magnetic support rod (133) is made of a magnetic anti-corrosion rod, and an earring is installed in the middle of the rod; A hinge is arranged in the middle of the rod of the loose-leaf support rod (134) to enable the loose-leaf support rod (134) to fold inwards; The support sleeve rod (135) is made of non-magnetic anti-corrosion material, with a ring installed at one end and a hook installed at the other end, which are respectively connected with the earrings of the magnetic support rods (133) on both sides.

8. A seabed acquisition system according to claim 5, characterized in that: The net bag hollow bottom plate (131) is made of magnetic anti-corrosion material; The net bag (132) is made of a high-strength anti-corrosion mesh material.

9. A seabed collection system according to claim 7, characterized in that: The cable system (3) comprises a protective outer skin (31), a gas transmission pipeline (32), The gas transmission pipeline (32) is opened at the center of the cable system (3), and the protective outer skin (31) is made of wear-resistant and corrosion-resistant material; A reinforcement filler (33) is filled between the protective outer skin (31) and the gas transmission pipeline (32), and a cable (34) and a signal cable (35) are embedded inside the reinforcement filler (33).

10. A method for lifting collected objects of a seabed collection system according to any one of claims 1 to 9, characterized in that: The operation steps are as follows: Step (1): After the system is deployed, the air compressor (22) continuously replenishes air at a constant rate into the air cabin (14) through the pipe and cable system (3); Step (2): the mechanical claw (18) grabs the collection net bag (13) in the net bag storage compartment (16), and sleeves the connecting ring (137) of the collection net bag (13) onto the pipe cable system (3); Step (3): the mechanical claw (18) aligns the outlet of the quantitative air pump (15) with the air inlet of the air bag (138) through the mechanical hand, then turns on the quantitative air pump (15) and injects a quantitative amount of air to fill the air bag (138); Step (4): the mechanical claw (18) moves and retracts on the control arm (17) to grab the traction rope (136), so that the collection net bag (13) slides on the cable system (3) to the top of the storage basket (12); Step (5): activating the electromagnetic relay of the electromagnetic oscillator (122), so that the hollow bottom plate (131) of the collecting net bag (13) is adsorbed onto the electromagnetic oscillator (122), and the installation is completed; Step (6): the seabed collection robot (1) performs a collection operation, and the target collection object falls into the collection net bag (13) through the collection conveying pipe (11), and the infrared sensor (123) continues to work; Step (7): when the infrared sensor (123) is shielded for a long time, the oscillation module of the electromagnetic oscillator (122) oscillates horizontally for a period of time t to shake the collected target object, while the infrared sensor (123) continues to perform monitoring work; Step (8): Determine whether the infrared sensor (123) is blocked; (8.1): When the infrared sensor (123) is no longer blocked, the cycle continues from step (6); (8.2): When the infrared sensor (123) is still blocked, the seabed collection robot (1) stops working; Step (9): the mechanical claw (18) moves to the top of the collection net bag (13), removes the hook of the support sleeve rod (135) from the earring of the magnetic support rod (133), and the net bag (132) is closed under the magnetic attraction of the two magnetic support rods (133), and the mechanical claw (18) is retracted; Step (10): the electromagnetic relay of the electromagnetic oscillator (122) is turned off, and the collection net bag (13) and the target collection object inside thereof float upward under the buoyancy of the air bag (138) based on the connection between the connecting ring (137) and the cable system (3), using the cable system (3) as a cableway; Step (11): the mechanical claw (18) enters the working cycle of step (1); at the same time, the monitoring system on the surface support vessel (2) monitors whether a collection net bag (13) full of target collection objects appears in the moon pool; Step (12): After finding the collection net bag (13) full of target collection objects, the collection mechanical claw (23) removes the connecting ring (137) of the collection net bag (13) full of target collection objects from the pipe and cable system (3), and grabs the collection net bag (13) full of target collection objects into the storage cabin (24) for storage, thereby completing the collection.

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