Seafloor acquisition system and method of lifting an acquisition

Abstract

The application discloses a seabed collecting system and a collecting object lifting method, and belongs to the technical field of underwater collecting. The collecting system comprises a seabed collecting robot, a water surface support ship and a pipe cable system. The seabed collecting robot collects seabed target collecting objects. The water surface support ship is connected with the seabed collecting robot through the pipe cable system. The seabed collecting robot transports the collecting objects to the water surface support ship through the pipe cable system as a guide cable. According to the buoyancy principle, the target collecting object collecting net bag is automatically floated upwards by inflating the air bag so that the buoyancy of the target collecting object collecting net bag is greater than the gravity. In combination with the pipe cable system as a floating cable, the full load collecting object collecting net bag can be lifted to the moon pool of the water surface support ship. The system also adopts intelligent automatic control technology, and the underwater mechanical claw cooperates with the collecting mechanical claw on the ship to automatically complete the inflation, replacement and recovery of the collecting net bag. The application is suitable for seabed collecting objects which are sensitive to the lifting process and impact force, and can greatly improve the working efficiency and the continuity of the system.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of underwater collection and relates to a seabed collection system and a collection object lifting method. BACKGROUND

[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 aquaculture, mineral resources, and seabed garbage cleaning. How to efficiently and lowly collect and lift underwater target objects has always been a technical problem. Traditional seabed collection and lifting methods mostly rely on mechanical, hydraulic, or pipeline power systems, which directly grab or suck target objects through mechanical claws, suction cups, and other means and then lift them to the water surface.

[0003] However, the traditional lifting method has several shortcomings:

[0004] High energy consumption: Traditional power lifting systems often require a large amount of energy, especially in deep-sea environments, and energy consumption is more prominent. Long-term operation may lead to a decrease in system efficiency.

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

[0006] Low operation efficiency: Many existing systems still rely on manual operation or semi-automatic control, which may cause misoperation, system failure, and other problems during operation, affecting work efficiency and continuity.

[0007] Complex lifting process and low automation level: Current seabed collection systems often lack intelligent control systems and cannot automatically complete operations such as inflating and replacing collection nets. The lifting process requires manual intervention, increasing the complexity of the operation and potential risks.

[0008] Therefore, the present application proposes a seabed collection system and a collection object lifting method, which has a simple structure, high energy efficiency, gentle lifting process, and high automation level. SUMMARY

[0009] To solve the above problems, the present application proposes a seabed collection system and a collection object lifting method.

[0010] The technical solution of the present application is: the seabed collection system of the present application comprises a seabed collection robot (1), a water surface support ship (2), and a pipe cable system (3), the water surface support ship (2) is connected to the seabed collection robot (1) through the pipe cable system (3);

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

[0012] The power supply and control module (21) and the air compressor (22) are connected with the seabed collection robot (1) through a pipe cable system (3),

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

[0014] The storage cabin (24) is arranged on the water surface support ship (2) and close to one side of the collection mechanical claw (23).

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

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

[0017] The net bag storage cabin (16) is arranged on the top side of the storage basket (12), the collection conveying pipe (11) is arranged at the upper end of the storage basket (12), and the storage basket (12) is arranged below the collection conveying pipe (11);

[0018] A collection net bag (13) is arranged in the storage basket (12), and the collection net bag (13) is connected with the storage basket (12) by electromagnetic magnetic attraction.

[0019] Further, a control arm (17) is fixedly connected above the air cabin (14), the control arm (17) comprises a vertical leg and a horizontal sliding shaft, and a mechanical claw (18) is arranged on the horizontal sliding shaft.

[0020] Further, the storage basket (12) comprises a storage basket (121) for arranging the collection net bag (13), an electromagnetic oscillator (122) and an infrared sensor (123), the electromagnetic oscillator (122) is arranged at the bottom of the storage basket (121), the infrared sensor (123) is arranged at the upper part of the storage basket (121), and the infrared sensor (123) comprises an infrared emitting end and a receiving end.

[0021] Further, the collection net bag (13) comprises a net bag (132) and a traction rope (136), a net bag hollow bottom plate (131) is fixedly connected at the bottom of the net bag (132), and an electromagnetic relay in the electromagnetic oscillator (122) is connected with the net bag hollow bottom plate (131) by magnetic attraction in the electrified state,

[0022] The upper end of the mesh bag (132) is respectively provided with a magnetic support rod (133), a hinged support rod (134) and a support sleeve rod (135) connected with each other.

[0023] Further, the magnetic support rod (133) and the hinged support rod (134) are each two, and are connected with 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 fixed to the four end points of the rectangle formed by the magnetic support rod (133) and the hinged support rod (134), and the other end is fixedly connected with a connecting ring (137) and symmetrically arranged.

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

[0027] Further, the magnetic support rod (133) is made of a magnetic corrosion-resistant rod, and an earring is arranged in the middle of the rod.

[0028] A hinge is arranged in the middle of the rod of the hinged support rod (134) to fold the hinged support rod (134) inward.

[0029] The support sleeve rod (135) is made of a non-magnetic corrosion-resistant material, one end of which is provided with a circular ring, and the other end is provided with a hook, which is sleeved with the earring of the magnetic support rod (133) on both sides.

[0030] Further, the mesh hollow bottom plate (131) is made of a magnetic corrosion-resistant material.

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

[0032] Further, the pipe cable system (3) includes a protective outer skin (31), a gas pipeline (32),

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

[0034] The reinforcing filler (33) is filled between the protective outer skin (31) and the gas pipeline (32), and the cable (34) and the signal cable (35) are embedded in the reinforcing filler (33).

[0035] Further, a method for lifting the collected objects of a seabed collection system, the operation steps are as follows:

[0036] Step (1): When the system is deployed, the air compressor (22) continuously supplies air into the air chamber (14) at a constant rate through the cable system (3);

[0037] Step (2): The mechanical claw (18) grabs the collection net (13) in the net storage chamber (16) and fits the connecting ring (137) of the collection net (13) on the cable system (3);

[0038] Step (3): After the mechanical claw (18) aims the outlet of the air pump (15) at the air inlet of the air bag (138) through the mechanical arm, the air pump (15) is opened to inject a constant amount of air to fill the air bag (138);

[0039] Step (4): The mechanical claw (18) moves and extends on the operating arm (17) to grab the traction rope (136), causing the collection net (13) to slide on the cable system (3) to above the storage basket (12);

[0040] Step (5): The electromagnetic relay of the electromagnetic oscillator (122) is started to cause the net meshed bottom plate (131) of the collection net (13) to be adsorbed by the electromagnetic oscillator (122), completing the installation;

[0041] Step (6): The seafloor collecting robot (1) performs collection work, and the target collection object falls into the collection net (13) through the collection conveying pipe (11), while the infrared sensor (123) continuously works;

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

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

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

[0045] (8.2): When the infrared sensor (123) is still continuously shielded, the seafloor collecting robot (1) stops working;

[0046] Step (9): The mechanical claw (18) moves to above the collection net (13), removes the hook of the support sleeve rod (135) from the ear ring 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 closed, and the collection net (13) and the target collection object inside the collection net (13) float up under the action of the buoyancy of the air bag (138) based on the sleeving of the connecting ring (137) and the umbilical system (3) and the umbilical system (3) as a cableway under the action of the buoyancy;

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

[0049] Step (12): after the collection net (13) full of target collection objects is found, the collection mechanical claw (23) unloads the connecting ring (137) of the collection net (13) full of target collection objects from the umbilical system (3), and grasps the collection net (13) full of target collection objects into the storage cabin (24) for storage, and the collection is completed.

[0050] The working principle of the present application is as follows:

[0051] 1. According to the buoyancy principle, the collection net full of target collection objects is made to float up by inflating the air bag, so that the buoyancy is greater than the gravity, and then the collection net full of target collection objects is made to float up to the moon pool of the water surface support ship in a smooth manner.

[0052] 2. According to the intelligent automatic control technology, the underwater mechanical claw installed on the underwater collection robot and the collection mechanical claw installed on the support ship can automatically complete the inflation, replacement and automatic recovery of the collection net full of target collection objects in the moon pool.

[0053] The present application has the following advantages: 1. The underwater collection object is lifted by the buoyancy principle, the structure is simple, the energy consumption is low, and the energy-saving lifting work can be realized; 2. The underwater collection object is lifted by the buoyancy principle, and the impact on the collection object is small compared with the traditional power lifting method, such as pipeline lifting, and the damage is small, which is suitable for the collection of target objects such as seabed aquatic products which require high impact force during lifting; 3. The intelligent automatic control technology is used to automatically complete the inflation, replacement and automatic recovery of the collection net full of target collection objects in the moon pool, which greatly improves the efficiency and continuity of the system work. BRIEF DESCRIPTION OF DRAWINGS

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

[0055] Figure 2 is a schematic diagram of the structure of the umbilical system of the present application;

[0056] Figure 3 This is a schematic diagram of the structure of the mineral storage and transportation system carried by the seabed harvesting robot of the present invention.

[0057] Figure 4 This is a schematic diagram of the structure of the collection net bag of the present invention;

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

[0059] In the diagram, 1 represents the seabed harvesting robot, and 11 represents the harvesting and delivery 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 the collection net, 131 is the hollow bottom plate of the net, 132 is the net bag, 133 is the magnetic support rod, 134 is the hinge support rod, 135 is the support sleeve rod, 136 is the traction rope, 137 is the connecting ring, and 138 is the airbag.

[0062] 14 is the air chamber, 15 is the metering air pump, 16 is the net storage tank, 17 is the control arm, and 18 is the mechanical claw.

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

[0064] 3 is the cable system; 31 is the protective sheath; 32 is the gas pipeline; 33 is the reinforcing filler; 34 is the cable; and 35 is the signal cable. Detailed Implementation

[0065] The specific technical solution of the present invention will be further described in detail below with reference to specific examples.

[0066] like Figure 1 As shown, the seabed data collection system of the present invention mainly includes a seabed data collection robot 1, a surface support vessel 2, and a 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. 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 uses a cable system 3 as a guide cable to transport the collected material to the moon pool of the surface support vessel 2 for further collection and transportation.

[0070] The water surface support ship 2, in addition to the basic module on the ship, the modules participating in the operation of the collection system also include a power supply and control module 21, an air compressor 22, a collection mechanical claw 23, a storage cabin 24 and a monitoring system;

[0071] The power supply and control module 21 is communicated with the seabed collection robot 1 through the umbilical system 3, and provides electric energy and control signals for the seabed collection robot 1;

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

[0073] The collection mechanical claw 23 is fixedly arranged beside the moon pool of the water surface support ship 2, when the seabed target collection object floats to the moon pool along the umbilical system 3, the target collection object is taken off and transferred to the storage cabin 24;

[0074] The storage cabin 24 is used for temporarily storing the seabed target collection object collected and recovered, and the seabed target collection object in the storage cabin 24 can be further delivered to a transport ship for transportation;

[0075] The monitoring system is arranged beside the moon pool, and is used for monitoring the target collection object delivered into the moon pool in real time.

[0076] As shown in Figure 3 The seabed collection robot 1, in addition to the modules necessary for the collection work, the structure participating in the lifting work of the collection object also includes a collection delivery pipe 11, a storage basket 12, a collection net 13, an air tank 14, a quantitative air pump 15, a net storage cabin 16, a control arm 17 and a mechanical claw 18;

[0077] The collection delivery pipe 11 delivers the target collection object collected by the seabed collection robot 1 into the collection net 13;

[0078] The collection net 13 is connected with the storage basket 12 by electromagnetic magnetic attraction, and the storage basket 12 is arranged below the collection delivery pipe 11;

[0079] One end of the air tank 14 is connected with the umbilical system 3, when the gas storage in the air tank 13 is insufficient, the gas is supplemented through the umbilical system 3, and the other end of the air tank 14 is connected with the quantitative air pump 15, and the gas can be pumped outwards through the quantitative air pump 15, which is used for lifting the seabed target collection object;

[0080] The net storage cabin 16 is arranged at the top side of the storage basket 12, and is used for placing the replacement collection net

[0081] The control arm 17 is fixed above the air chamber 14, including a vertical leg and a transverse sliding shaft, on which a mechanical claw 18 is arranged, which can move on the transverse sliding shaft and can freely stretch and retract, and can complete responsive mechanical hand operations upon receiving work commands.

[0082] As shown in Figure 4 、 5 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 layout space for the collection net 13.

[0084] The electromagnetic oscillator 122 is arranged at the bottom of the storage basket 121 and mainly consists of an electromagnetic relay and a planar oscillation module.

[0085] The infrared sensor 123 is arranged at the upper part of the storage basket 121 and contains an infrared emitting end and a receiving end, which are used to determine whether the target collection is full of the collection net 13.

[0086] The collection net 13 includes a net hollow bottom plate 131, a net bag 132, a magnetic support rod 133, a loose-leaf support rod 134, a support sleeve rod 135, a traction rope 136, a connecting ring 137, and an air bag 138.

[0087] The magnetic support rod 133 and the loose-leaf support rod 134 each have two, which are connected 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 corrosion-resistant 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 hinged support rod 134, so that the hinged support rod 134 can be folded inward; the support sleeve rod 135 is made of a non-magnetic corrosion-resistant material, one end has a circular ring, and the other end has a hook, which can be sleeved with the earring of the two magnetic support rods 133 respectively, when the support sleeve rod 135 is sleeved with the earring of the two magnetic support rods 133, the entire magnetic support rod 133, the hinged support rod 134 and the support sleeve rod 135 form a rectangular opening, and the collecting net bag 13 is opened, when the hook of the support sleeve rod 135 is separated from the earring of the corresponding two magnetic support rods 133, the two segments of the hinged 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 fixed on the four endpoints of the rectangle formed by the magnetic support rod 133 and the hinged support rod 134, and the other end is fixedly connected with the connecting ring 137, which is symmetrically arranged; the connecting ring 137 can be sleeved on the pipe cable system 3, and the 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] As shown in Figure 2 The pipe cable system 3 mainly consists of a protective outer skin 31, a gas pipeline 32, a reinforcing filler 33, a cable 34 and a signal cable 35;

[0090] Among them, the protective outer skin 31 is composed of smooth wear-resistant corrosion-resistant material, in order to protect the internal structure of the pipe cable system 3, and provide smooth and wear-resistant cableway for the lifting of the target collection object;

[0091] The gas pipeline 32 is arranged in the center of the pipe cable system 3 to connect the water surface support ship 2 and the seabed collecting robot 1, and provides a flow path for the passage of gas flow; the reinforcing filler 33 is filled between the protective outer skin 31 and the gas pipeline 32 to improve the overall strength and working life of the pipe cable system 3; the cable 34 and the signal cable 35 are embedded in the reinforcing filler 33 to connect the water surface support ship 2 and the seabed collecting robot 1, and ensure the supply of power and transmission of signals.

[0092] Further, the seabed collecting system and the collecting object lifting method thereof have the following steps:

[0093] 1. After the system is deployed, the air compressor 22 continuously supplies air to the air chamber 14 at a constant rate through the pipe cable system 3;

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

[0095] 3、Mechanical claw 18 through the mechanical hand to the quantitative air pump 15 outlet alignment air bag 138 air inlet, open quantitative air pump 15, injects the quantitative air makes the air bag 138 full;

[0096] 4、Mechanical claw 18 on the control arm 17 moves, telescopic, catch the traction rope 136, so that the collection net bag 13 on the pipe cable system 3 slide to the storage basket 12 above;

[0097] 5、Start electromagnetic relay of electromagnetic oscillator 122, so that the net bag 13 of the collection net bag hollow bottom plate 131 and electromagnetic oscillator 122 adsorption, complete installation;

[0098] 6、Seafloor collection robot 1 carries out collection operation, target collection object falls 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, so as to shake the collected target collection object, while the infrared sensor 123 continues to monitor work;

[0100] 8、Determine whether the infrared sensor 123 is shielded;

[0101] 8.1、When the infrared sensor 123 is no longer shielded, continue from step 6;

[0102] 8.2、When the infrared sensor 123 is still continuously shielded, the seafloor collection robot 1 stops working;

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

[0104] 10、The electromagnetic relay of the electromagnetic oscillator 122 is closed, and the collection net bag 13 and the target collection object inside it float under the buoyancy of the air bag 138, based on the sleeve connection of the connecting ring 137 and the pipe cable system 3, taking the pipe cable system 3 as a cableway, and floating under the buoyancy;

[0105] 11、Mechanical claw 18 enters the working cycle of step 1; At the same time, the monitoring system on the water surface support ship 2 monitors whether the target full load target collection object collection net bag 13 appears in the moon pool;

[0106] 12、After finding the full load target collection object collection net bag 13, the collection mechanical claw 23 unloads the connecting ring 137 of the full load target collection object collection net bag 13 from the pipe cable system 3, and grabs the full load target collection object collection net bag 13 into the storage compartment 24 for storage, completing the collection.

Claims

1. A seabed acquisition system, characterized in that, The application relates to a seabed collecting robot (1), a water surface support ship (2) and a pipe cable system (3), wherein the water surface support ship (2) is connected with the seabed collecting robot (1) through the pipe cable system (3); A power supply and control module (21), an air compressor (22), a collecting mechanical claw (23), a storage cabin (24) and a monitoring system are arranged on the water surface support ship (2) respectively; The power supply and control module (21) and the air compressor (22) are connected with the seabed collecting robot (1) through the pipe cable system (3), The collecting mechanical claw (23) and the monitoring system are fixedly arranged beside a moon pool arranged on the water surface support ship (2); The storage cabin (24) is arranged on the water surface support ship (2) and is close to one side of the collecting mechanical claw (23); The seabed collecting robot (1) comprises a collecting conveying pipe (11), a storage basket (12), an air cabin (14), a quantitative air pump (15) and a net bag storage cabin (16); One end of the air cabin (14) is connected with the pipe cable system (3), and the other end is connected with the quantitative air pump (15); The net bag storage cabin (16) is arranged on the top side of the storage basket (12), the collecting conveying pipe (11) is arranged on the upper end of the storage basket (12), and the storage basket (12) is arranged below the collecting conveying pipe (11); A collecting net bag (13) is arranged in the storage basket (12), and the collecting net bag (13) is connected with the storage basket (12) through electromagnetic magnetic attraction; A control arm (17) is fixedly connected above the air cabin (14), the control arm (17) comprises a vertical supporting leg and a transverse sliding shaft, and a mechanical claw (18) is arranged on the transverse sliding shaft; The storage basket (12) comprises a storage basket (121) for arranging the collecting net bag (13), an electromagnetic oscillator (122) and an infrared sensor (123), the electromagnetic oscillator (122) is arranged at the bottom of the storage basket (121), the infrared sensor (123) is arranged at the upper part of the storage basket (121), and the infrared sensor (123) comprises an infrared emitting end and a receiving end; The collecting net bag (13) comprises a net bag (132) and a traction rope (136), a net bag hollow bottom plate (131) is fixedly connected at the bottom of the net bag (132), and an electromagnetic relay in the electromagnetic oscillator (122) is connected with the net bag hollow bottom plate (131) through magnetic attraction in the electrified state, A magnetic force supporting rod (133), a loose-leaf supporting rod (134) and a supporting sleeve rod (135) are arranged at the upper end of the net bag (132) and are connected with each other; The magnetic force supporting rod (133) and the loose-leaf supporting rod (134) are each provided with two magnetic force supporting rods (133) and two loose-leaf supporting rods (134) which are connected with each other in a left-right and front-rear direction, and form a rectangular frame; Two ends of the supporting sleeve rod (135) are connected with the magnetic force supporting rods (133) on the two sides; One end of the traction rope (136) is fixed to four end points of the rectangle formed by the magnetic force supporting rods (133) and the loose-leaf supporting rods (134), and the other end is fixedly connected with a connecting ring (137) and is symmetrically arranged, The connecting ring (137) is sleeved on the pipe cable system (3), and the inflatable air bag (138) is arranged above the connecting ring (137); The magnetic support rod (133) is made of a magnetic corrosion-resistant rod, and an earring is arranged in the middle of the rod; A hinge is arranged in the middle of the rod of the leaflet support rod (134) to fold the leaflet support rod (134) inward; The support sleeve rod (135) is made of a non-magnetic corrosion-resistant material, one end of which is provided with a circular ring, and the other end is provided with a hook, which is sleeved with the earring of the magnetic support rod (133) on both sides.

2. A seabed harvesting system according to claim 1, characterised in that The meshed bottom plate (131) of the mesh bag is made of a magnetic corrosion-resistant material; The mesh bag (132) is made of a high-strength corrosion-resistant mesh material.

3. A seabed harvesting system according to claim 1, wherein, The pipe cable system (3) comprises a protective outer skin (31) and a gas pipeline (32), The protective outer skin (31) is composed of wear-resistant corrosion-resistant materials; The protective outer skin (31) and the gas pipeline (32) are filled with a reinforcing filler (33), and the cable (34) and the signal cable (35) are embedded in the reinforcing filler (33).

4. A method of raising a catch from a subsea collection system according to any one of claims 1 to 3, wherein, The operation steps are as follows: Step 1, when the system is deployed, the air compressor (22) continuously supplies air to the air chamber (14) at a constant rate through the pipe cable system (3); Step 2, the mechanical claw (18) grabs the collection mesh bag (13) in the mesh bag storage tank (16), and the connecting ring (137) of the collection mesh bag (13) is sleeved on 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, opens the quantitative air pump (15), and injects a certain amount of air to make the air bag (138) full; Step 4, the mechanical claw (18) moves and stretches on the control arm (17), grabs the traction rope (136), and makes the collection mesh bag (13) slide to the upper side of the storage basket (12) on the pipe cable system (3); Step 5, the electromagnetic relay of the electromagnetic oscillator (122) is started, so that the meshed bottom plate (131) of the collection mesh bag (13) is adsorbed to the electromagnetic oscillator (122), and the installation is completed; Step 6, the submarine collecting robot (1) performs collecting operation, and the target collection falls into the collection mesh bag (13) through the collecting conveying pipe (11), and the infrared sensor (123) continuously works; Step 7, when the infrared sensor (123) is shielded for a long time, the oscillation module of the electromagnetic oscillator (122) horizontally oscillates for a period of time t, so as to shake the collected target collection, and the infrared sensor (123) continuously monitors; Step 8, whether the infrared sensor (123) is shielded is determined; Step 8.1, when the infrared sensor (123) is no longer shielded, the cycle continues from step 6; Step 8.2, when the infrared sensor (123) is still continuously shielded, the submarine collecting robot (1) stops working; Step 9, the mechanical claw (18) moves to the upper of the collection net bag (13), the hook of the support sleeve rod (135) is taken off from the earring of the magnetic force support rod (133), the net bag (132) is closed under the magnetic attraction of the two magnetic force support rods (133), the mechanical claw (18) is retracted; Step 10, the electromagnetic relay of the electromagnetic oscillator (122) is closed, the collection net bag (13) and the target collection object in it are floated under the buoyancy of the air bag (138), based on the sleeve connection of the connecting ring (137) and the pipe cable system (3), the pipe cable system (3) is used as a cableway, and floats under the buoyancy; Step 11, the mechanical claw (18) enters the working cycle of step 1; at the same time, the monitoring system on the water surface support ship (2) monitors whether the collection net bag (13) full of target collection objects appears in the moon pool; Step 12, after the collection net bag (13) full of target collection objects is found, the collection mechanical claw (23) unloads the connecting ring (137) of the collection net bag (13) full of target collection objects from the pipe cable system (3), and grabs the collection net bag (13) full of target collection objects into the storage cabin (24) for storage, and the collection is completed.

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