Intelligent collection method for deep sea polymetallic nodules

Abstract

The invention provides an intelligent collection method for deep sea polymetallic nodules. The method comprises the following steps: S1, capturing a tuberculosis image through a seabed camera of a mining vehicle; s2, carrying out graying processing on the acquired image; s3, carrying out binarization processing on the preprocessed tuberculosis image; s4, expanding the processed tuberculosis image based on a morphological reconstruction method; s5, determining the particle size and shape of the tuberculosis; s6, comparing with existing tuberculosis data, and determining the quality of the tuberculosis; s8, selecting the optimal advancing route of the mining vehicle, and determining the working condition of the advancing route; s9, further adjusting jet parameters according to the determined information; s10, collecting the tuberculosis washed out by the jet flow; s11, lifting the collected tuberculosis to a collection ship; s12, carrying out collection result detection on the mining area; and S13, if the collection result does not reach the standard, continuing collection, and if the collection result reaches the standard, ending collection. Through the steps, the intelligent and efficient collection system for the deep sea polymetallic nodules is formed.

Description

Technical Field

[0001] The present invention relates to the fields of marine engineering and mineral resource exploitation, and in particular to a method for intelligently collecting deep-sea polymetallic nodules. Background Art

[0002] Deep-sea polymetallic nodules contain rich strategic and reserve metals and are potato-sized nodules buried 4-6 km deep on the seafloor. As land-based mineral deposits are being depleted at an alarming rate, the mining of deep-sea polymetallic nodules may become a viable alternative to land-based mining. The discovery of valuable minerals deposited on or near the surface of the deep seafloor has aroused human interest in exploring and developing these resources.

[0003] As a potential and rich mineral resource, deep-sea polymetallic nodules have attracted extensive attention from the international community. Deep-sea polymetallic nodule mining faces complex environments such as high sea conditions, ultra-deep water, ultra-high pressure, lack of light, communication difficulties, and various ocean current changes, and there are many scientific and engineering technical problems that need to be solved.

[0004] At present, deep-sea polymetallic nodule mining has made progress. The deep-sea mining system mainly includes three subsystems: seabed operation, ore transportation and surface support. The collection of seabed polymetallic nodules is the core technology of the seabed operation system. The structure of the ore collection device is a key factor affecting the nodule collection effect. Reasonable geometric structure and collection parameters can not only improve the collection efficiency of nodules, but also reduce the degree of disturbance of seabed surface sediments during the ore collection process, thereby reducing the impact on benthic organisms. The existing ore collection device structure and technology have not yet achieved intelligent adjustment according to the abundance of polymetallic nodules, and the energy utilization rate and collection efficiency are low, and the generation of plumes cannot be well controlled. Therefore, it is urgent to develop a set of intelligent and efficient collection methods based on the abundance of polymetallic nodules, intelligently adjust the collection, realize intelligent and efficient collection of polymetallic nodules, improve the collection efficiency and collection rate, and reduce the disturbance of the seabed.

[0005] Based on the above practical problems, existing patents and technologies have made certain designs and optimizations for deep-sea polymetallic nodule mining, but the following problems still exist: In the existing patents and technologies, the existing mining vehicles mostly use fixed collection parameters for collection, which fails to achieve accurate collection of polymetallic nodules with different particle sizes and abundances, consumes a lot of energy during collection, and cannot achieve efficient collection; In existing patents and technologies, mining vehicles do not consider energy utilization, collection rate, collection efficiency, etc. to intelligently adjust collection parameters; In existing patents and technologies, the speed of most mining vehicles and the parameters of the collection heads are fixed, which has a high degree of disturbance on the seabed and a greater impact on the plume; In the existing patents and technologies, the collection route is not the optimal route, there is no collection result detection system during the mining operation, the collection efficiency and collection rate are relatively low, and the leakage phenomenon is serious; In the existing patents and technologies, the existing mining vehicles do not take into account the collection adjustment of the mining vehicles under various working conditions, and the collection efficiency is low and the energy utilization rate is low under complex working conditions. Summary of the invention

[0006] The purpose of the present invention is to propose a deep-sea polymetallic nodule intelligent collection method, which can realize the intelligent and accurate collection of polymetallic nodules in the collection area, and detect the collection results in the area after collection. It is beneficial to improve the polymetallic nodule collection rate, select the best forward route for mining vehicles, reduce energy utilization, reduce missed mining, reduce disturbance to seabed sediments, improve collection efficiency, and play a positive and meaningful guiding role in actual deep-sea polymetallic nodule mining.

[0007] A method for intelligent collection of deep-sea polymetallic nodules, characterized in that it comprises the following steps: S1. The seabed camera is mounted on the deep-sea polymetallic nodule mining vehicle. The camera is debugged in the sea area to be mined. After the debugging is completed and the mining work is ready, the mining work is started to capture the images of seabed polymetallic nodules; S2, grayscale processing is performed on the collected images, and all collected images are converted into grayscale images; S3, binarizing the preprocessed polymetallic nodule image and determining the optimal sensitivity; S4. Dilate the processed polymetallic nodule image by a morphological reconstruction method to further obtain a more accurate polymetallic nodule coverage rate; S5, identifying the processed polymetallic nodule image, determining whether it is circular or elliptical, and determining the particle size of the polymetallic nodule, the specific steps of which include: Step (1): using edge detection method to identify the edge of polymetallic nodules in the image, so as to make the outline of polymetallic nodules more obvious; Step (2): Use Hough circle transform and Hough ellipse transform to identify circles and ellipses in the image respectively; Step (3): Verify the detected shapes to ensure that the correct circular and elliptical shapes are recognized after transformation; Step (4): Count the circular and elliptical polymetallic nodules obtained in step (3), respectively, count the diameter of the circular nodules, the major axis length and the minor axis length of the elliptical nodules, and analyze their relationship with the nodule quality; S6. Compare with the existing nodule data, establish the linear relationship between mass and cross-sectional area, and calculate the mass of polymetallic nodules. The steps mainly include: Step (1): Measure the cross-sectional area and mass of existing spheroidal and ellipsoidal nodules; Step (2): Based on the relationship between mass and cross-sectional area, a linear relationship between mass and cross-sectional area of ​​spheroidal nodules and ellipsoidal nodules is established; Step (3): according to the circular and elliptical nodules in the collected image, a relationship is established between the diameter and the cross-sectional area of ​​the circular nodules, and a relationship is established between the major axis length and the minor axis length and the cross-sectional area of ​​the elliptical nodules; Step (4): Substitute the nodule mass-cross-sectional area linear relationship in step (2) to obtain the nodule mass; S7. Calculate the abundance of polymetallic nodules in the region based on the nodule mass; S8. Comprehensively analyze and compare the energy utilization rate, collection rate and collection efficiency that can be achieved on each route, select the optimal route for the mining vehicle, and determine the specific working conditions of the route for the mining vehicle; S9, according to the particle size of polymetallic nodules determined by S5, the abundance of polymetallic nodules determined by S7 and the route and working conditions of the mining vehicle determined by S8, further collect parameters and make intelligent adjustments, which are divided into Coanda effect-based collection and adjustment and double-row jet collection and adjustment, and its characteristics are as follows: (I) When using the Coanda effect-based jet collection, the specific steps are as follows: Step (1): Transmitting the particle size and abundance information of polymetallic nodules to the intelligent adjustment module based on Coanda effect collection; Step (2): The information in step (1) is transmitted to the nozzle jet speed adjustment module and the vehicle forward speed adjustment module; the nozzle jet speed is further adjusted according to the particle size and abundance information of the polymetallic nodules, and the pressure of the ejected fluid is controlled by adjusting the water pressure or the air pressure, so as to achieve the purpose of adjusting the nozzle jet speed. The forward speed of the vehicle ... and the pressure of the ejected fluid is controlled by adjusting the water pressure or the air pressure, and the pressure of the ejected fluid is controlled by adjusting the water pressure or the air pressure, and the pressure of the ejected fluid is controlled by adjusting the water pressure or the air pressure, and the pressure of the ejected fluid is controlled by adjusting the water pressure or the air pressure, and the pressure of the ejected fluid is controlled by adjusting the water pressure or the air pressure, and the pressure (II) When using double-row jet collection, the specific steps are as follows: Step (1): Transmitting the particle size and abundance information of polymetallic nodules to the double-row jet collection intelligent adjustment module; Step (2): Transmit the information of step (1) to the nozzle jet velocity adjustment module and the nozzle start quantity adjustment module; further, according to the particle size and abundance information of the polymetallic nodules, perform intelligent adjustment of the nozzle jet velocity, adopt low speed I and high speed I, and control the pressure of the ejected fluid by adjusting the water pressure or the air pressure, so as to achieve the purpose of adjusting the nozzle jet velocity. Further, according to the particle size and abundance information of the polymetallic nodules, perform intelligent adjustment of the nozzle start quantity, receive the data transmitted by the detection system through the vehicle control system, and control and dynamically adjust the nozzle start quantity; Through intelligent adjustment of acquisition parameters, it can reduce unnecessary energy consumption, lower energy utilization, and improve acquisition efficiency. At the same time, it can use better acquisition parameters to reduce disturbance to seabed sediments and reduce the generation of plumes. S10, collecting the polymetallic nodules flushed out by the jet through a suction device; S11. lifting the collected polymetallic nodules to a collection vessel through a pipeline lifting system; S12, testing the collection results of the mining area; S13, receiving the detected results. If the collection rate does not reach 80%, repeat the steps after S8 to re-collect. If the collection result reaches more than 80%, the collection is terminated.

[0008] In S2, the grayscale processing is to unify the RGB value of each pixel of the image into the same value. After grayscale processing, the image changes from three channels to a single channel. The unification is specifically carried out in the following way: in is the gray value of the position, , , They are the three color components of the pixel value RGB at that position respectively.

[0009] In S8, the mining vehicle operating conditions are divided into extremely soft sediments, heterogeneous sediments, steep seamounts, and rugged terrain.

[0010] In the S9, when the jet collection technology based on the Coanda effect is used, the height of the suction port is set to 100-120 mm, the height of the jet port is set to 20-25 mm, and 12 circular jet nozzles are arranged at the center, each nozzle having a diameter of d The height of the collection device from the seabed is 30-40 mm, and the nozzle spacing is 10-20 mm. H 60-120 mm, jet angle α 40-50°, convex wall radius R 300-400 mm.

[0011] In S9, when the double-row jet collection technology is used, the nozzle height is set H 40-45 mm, front and rear nozzle spacing B 260-320 mm, set the front nozzle angle α The rear nozzle angle is 30-45° β The angle is 45-55°. Twelve circular nozzles are arranged in double rows. Two opposite nozzles form a group, with a total of six groups. The diameter of each nozzle is d 10-15 mm.

[0012] In S9, when using the Coanda effect based jet collection, the nozzle jet velocity in step 2 v Specifically, it can be divided into: small-size nodules use low speed II: 6-12 m / s, preferably 8-10 m / s; medium-size nodules use medium speed II: 8-13 m / s, preferably 11-12 m / s; large-size nodules use high speed II: 11-16 m / s, preferably 12-14 m / s. The forward speed of the vehicle in step 2 can be specifically divided into: small and medium-size nodules use low speed III: 0.25-0.5 m / s, preferably 0.25-0.3 m / s; large-size nodules use high speed III: 0.5-1 m / s, preferably 0.5-0.8 m / s.

[0013] In S9, when double-row jet collection is used, the nozzle jet speed in step 2 can be specifically divided into: small and medium-sized nodules use low speed I: 8-13 m / s, preferably 11-13 m / s; large-sized nodules use high speed I: 11-16 m / s, preferably 13-15 m / s. In step 2, taking a 12-nozzle mining vehicle as an example, the number of double-row jet nozzles activated can be divided into: (1) small-sized nodules, 1-2 groups of nozzles are activated, preferably 2 groups of nozzles; (2) medium-sized nodules, 3-4 groups of nozzles are activated, preferably 3 groups of nozzles; (3) large-sized nodules, 5-6 groups of nozzles are activated, preferably 5 groups of nozzles.

[0014] In the above S10, the polymetallic nodules are collected mainly by suction. Under the push of a power device such as a water pump, the polymetallic nodules are sucked into the transfer station through a conveying hose.

[0015] In S11, the polymetallic nodule pipeline lifting system is carried out by hydraulic lifting, using the power of fluid lifting to overcome the static pressure of seawater and the gravity of the slurry itself, and realizes vertical transportation of materials through a conveying hose.

[0016] Beneficial effects of the present invention: 1. Compared with the prior art, the present invention intelligently adjusts the collection parameters in the process of collecting deep-sea polymetallic nodules through the particle size and abundance of polymetallic nodules. In the process of collecting based on the Coanda effect, the moving speed of the mining vehicle is intelligently adjusted by the on-board intelligent sensor and the jet speed of the nozzle is intelligently adjusted by water pressure or air pressure. In the process of collecting using double-row jets, the number of nozzles started by the mining vehicle is intelligently adjusted by the control system of the mining vehicle and the jet speed of the nozzle is intelligently adjusted by water pressure or air pressure to achieve precise collection; 2. Compared with the prior art, the present invention realizes the targeted and accurate collection of deep-sea polymetallic nodules through intelligent adjustment of the collection parameters by the central control system, thereby improving the collection efficiency and reducing the use of energy; 3. Compared with the prior art, the present invention uses a collection result detection system to repeatedly collect the collection results, thereby improving the collection rate of deep-sea polymetallic nodules, which is expected to reach 90%, avoiding the waste of resources caused by too much missed collection; 4. Compared with the prior art, the present invention realizes precise collection by intelligently adjusting the collection system through the control system, which reduces the disturbance to the seabed sediments and reduces the generation of plume flow; 5. Compared with the prior art, the present invention takes into account the complexity and variability of the deep-sea environment, comprehensively considers the various working conditions of the mining vehicle during collection, selects the best route, and realizes intelligent adjustment for various complex working conditions under the premise of considering abundance, thereby improving the collection efficiency and collection rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a step-by-step diagram of the precise collection method based on the abundance of deep-sea polymetallic nodules; Figure 2 This is a schematic diagram of the deep-sea polymetallic nodule collection head and the location map of the deep-sea camera; Figure 3 Schematic diagram of the collection technology of deep-sea polymetallic nodules based on the Coanda effect; Figure 4 Schematic diagram of the double-row jet collection technology for deep-sea polymetallic nodules.

[0018] In the figure, 1. Main device diagram of the collection head, 2. Nodule output port, 3. Combined transition chamber, 4. Jet device, 5. Deep-sea camera. DETAILED DESCRIPTION

[0019] The following implementation cases will clearly and completely demonstrate the purpose, technical solutions and advantages of the present invention. Obviously, the implementation cases described are only partial examples of the present invention, not all examples. They are representative and can serve as a certain illustration of the present application.

[0020] This embodiment provides a method for intelligent collection of deep-sea polymetallic nodules, which is characterized by comprising the following steps:

[0021] S1. Mount the seabed camera on the deep-sea polymetallic nodule mining vehicle, debug the camera in the sea area to be mined, and start mining after debugging is completed and mining is ready to capture images of seabed polymetallic nodules.

[0022] S2. Grayscale the collected images. Convert all collected images into grayscale images. Unify the RGB values ​​of each pixel of the image into the same value based on the average value method. Convert all collected images into grayscale images. The formula is as follows: in is the gray value of the position, , , They are the three color components of the pixel value RGB at that position respectively.

[0023] S3. Binarize the preprocessed polymetallic nodule image and determine the optimal sensitivity.

[0024] S4. The processed polymetallic nodule image is expanded by a morphological reconstruction method to further obtain a more accurate polymetallic nodule coverage.

[0025] S5. Identify the processed polymetallic nodule image to determine whether it is circular or elliptical, and determine the particle size of the polymetallic nodules. The specific steps include: step (1): using an edge detection method to identify the edge of the polymetallic nodules in the image, so that the outline of the polymetallic nodules is more obvious; step (2): using Hough circle transform and Hough ellipse transform to identify the circle and ellipse in the image respectively; step (3): verifying the detected shape to ensure that the correct circular and elliptical shapes are identified after the transformation; step (4): statistically analyzing the circular and elliptical polymetallic nodules obtained in step (3), statistically analyzing the diameter of the circular nodules, the major axis length and the minor axis length of the elliptical nodules, and analyzing their relationship with the nodule quality.

[0026] S6. Compare with the existing nodule data, establish a linear relationship between mass and cross-sectional area, and calculate the mass of the polymetallic nodules. The steps mainly include: step (1): measure the cross-sectional area and mass of the existing spheroidal and ellipsoidal nodules; step (2): establish a linear relationship between mass and cross-sectional area of ​​the spheroidal and ellipsoidal nodules according to the relationship between mass and cross-sectional area; step (3): according to the circular and elliptical nodules in the collected image, the circular nodules are related to the cross-sectional area by the diameter, and the elliptical nodules are related to the cross-sectional area by the major axis length and the minor axis length; step (4): substitute the linear relationship between the mass and cross-sectional area of ​​the nodules in step (2) to calculate the mass of the nodules.

[0027] S7. Calculate the abundance of polymetallic nodules in the area based on the nodule mass.

[0028] S8. By detecting the abundance of deep-sea polymetallic nodules, comprehensively comparing the energy utilization rate, collection rate and collection efficiency of each route, the optimal route for the mining vehicle is determined, and the specific working conditions on the route of the mining vehicle are determined through the on-board camera. The working conditions of the mining vehicle are divided into extremely soft sediments, heterogeneous sediments, steep seamounts, and rugged terrain.

[0029] S9. Based on the determined particle size and abundance of polymetallic nodules, the energy utilization, collection rate, collection efficiency, and the mining vehicle's forward route and working conditions, the vehicle control system is used to further perform intelligent adjustment of collection parameters, which is divided into Coanda effect-based collection adjustment and double-row jet collection adjustment, and its characteristics are as follows: (I) When using the Coanda effect based jet collection, the parameters are set to a suction port height of 100-120 mm, a jet port height of 20-25 mm, and 12 circular jet nozzles are configured at the center, each with a diameter of d The height of the collection device from the seabed is 30-40 mm, and the nozzle spacing is 10-20 mm. H 60-120 mm, jet angle α 40-50°, convex wall radius R 300-400 mm.

[0030] The specific steps are as follows: Step (1): Transmitting the particle size and abundance information of polymetallic nodules to the intelligent adjustment module based on Coanda effect collection; Step (2): The information in step (1) is transmitted to the nozzle jet speed adjustment module and the vehicle forward speed adjustment module; the nozzle jet speed is further adjusted according to the particle size and abundance information of the polymetallic nodules, and the pressure of the ejected fluid is controlled by adjusting the water pressure or the air pressure, so as to achieve the purpose of adjusting the nozzle jet speed. The forward speed of the vehicle is further adjusted according to the particle size and abundance information of the polymetallic nodules, and the speed is respectively 0.25-0.3 m / s and 0.5-0.8 m / s, and the vehicle forward speed is transmitted to the vehicle central control system through the on-board intelligent sensor optimization algorithm to dynamically plan the vehicle driving speed.

[0031] (ii) When using double-row jet collection, the parameter setting nozzle height H 40-45 mm, front and rear nozzle spacing B 260-320 mm, set the front nozzle angle α The rear nozzle angle is 30° β The angle is 55°, and twelve circular nozzles are arranged in double rows, with two opposite nozzles forming a group of six groups in total, and the diameter d of each nozzle is 10-15 mm.

[0032] The specific steps are as follows: Step (1): Transmitting the particle size and abundance information of polymetallic nodules to the double-row jet collection intelligent adjustment module; Step (2): The information of step (1) is transmitted to the nozzle jet velocity adjustment module and the nozzle start-up quantity adjustment module; further, according to the particle size and abundance information of the polymetallic nodules, the nozzle jet velocity is intelligently adjusted, and 11-13m / s and 13-15m / s are used respectively, and the pressure of the ejected fluid is controlled by adjusting the water pressure or the air pressure, so as to achieve the purpose of adjusting the nozzle jet velocity. Further, according to the particle size and abundance information of the polymetallic nodules, the nozzle start-up quantity is intelligently adjusted, and 2, 3, and 5 groups of nozzles are used respectively. The data transmitted by the detection system is received through the vehicle control system to control and dynamically adjust the nozzle start-up quantity.

[0033] Through intelligent adjustment of acquisition parameters, it is possible to reduce unnecessary energy consumption, lower energy utilization, and improve acquisition efficiency. At the same time, better acquisition parameters are used for acquisition to reduce disturbance to seabed sediments and reduce the generation of plume flows.

[0034] S10, collecting the polymetallic nodules flushed out by the jet flow into the polymetallic nodule relay station of the mining vehicle through the conveying hose by means of suction. The collection method is mainly carried out by suction, and the polymetallic nodules are sucked into the transfer station through the conveying hose under the push of a power device such as a water pump.

[0035] S11. The polymetallic nodule pipeline lifting system is carried out by hydraulic lifting, using the power of fluid lifting to overcome the static pressure of seawater and the gravity of the slurry itself, and realizes vertical transportation of materials through conveying hoses and lifts them to deep-sea mining vessels.

[0036] S12. Conduct another abundance test on the mined area by testing the abundance of polymetallic nodules, that is, test whether the collection results meet the standards.

[0037] S13. The deep-sea polymetallic nodule collection system receives the detected results. If the collection results do not reach 80%, it will be adjusted based on the re-obtained abundance results and then collected again. If the collection results reach 80%, the collection will be terminated.

[0038] In addition to the above embodiments, the present invention may also have other implementation modes. Any technical solution formed by equivalent replacement or equivalent transformation falls within the protection scope required by the present invention.

Claims

1. A method for intelligent collection of deep-sea polymetallic nodules, characterized in that: The steps include: S1. Mount the seabed camera on the deep-sea polymetallic nodule mining vehicle, debug the camera in the sea area to be mined, and start mining after debugging is completed and mining is ready to capture images of seabed polymetallic nodules; S2, grayscale processing is performed on the collected images, and all collected images are converted into grayscale images; S3, binarizing the preprocessed polymetallic nodule image and determining the optimal sensitivity; S4. Dilate the processed polymetallic nodule image by a morphological reconstruction method to further obtain a more accurate polymetallic nodule coverage rate; S5, identifying the processed polymetallic nodule image, determining whether it is circular or elliptical, and determining the particle size of the polymetallic nodule, the specific steps of which include: Step (1): using edge detection method to identify the edge of polymetallic nodules in the image, so as to make the outline of polymetallic nodules more obvious; Step (2): Use Hough circle transform and Hough ellipse transform to identify circles and ellipses in the image respectively; Step (3): Verify the detected shapes to ensure that the correct circular and elliptical shapes are recognized after transformation; Step (4): Count the circular and elliptical polymetallic nodules obtained in step (3), respectively, count the diameter of the circular nodules, the major axis length and the minor axis length of the elliptical nodules, and analyze their relationship with the nodule quality; S6. Compare with the existing nodule data, establish the linear relationship between mass and cross-sectional area, and calculate the mass of polymetallic nodules. The steps mainly include: Step (1): Measure the cross-sectional area and mass of existing spheroidal and ellipsoidal nodules; Step (2): Based on the relationship between mass and cross-sectional area, a linear relationship between mass and cross-sectional area of ​​spheroidal nodules and ellipsoidal nodules is established; Step (3): according to the circular and elliptical nodules in the collected image, a relationship is established between the diameter and the cross-sectional area of ​​the circular nodules, and a relationship is established between the major axis length and the minor axis length and the cross-sectional area of ​​the elliptical nodules; Step (4): Substitute the nodule mass-cross-sectional area linear relationship in step (2) to obtain the nodule mass; S7. Calculate the abundance of polymetallic nodules in the region based on the nodule mass; S8. Comprehensively analyze and compare the energy utilization rate, collection rate and collection efficiency that can be achieved on each route, select the optimal route for the mining vehicle, and determine the specific working conditions of the route for the mining vehicle; S9, according to the particle size of polymetallic nodules determined by S5, the abundance of polymetallic nodules determined by S7 and the route and working conditions of the mining vehicle determined by S8, further collect parameters and make intelligent adjustments, which are divided into Coanda effect-based collection and adjustment and double-row jet collection and adjustment, and its characteristics are as follows: (I) When using the Coanda effect-based jet collection, the specific steps are as follows: Step (1): Transmitting the particle size and abundance information of polymetallic nodules to the intelligent adjustment module based on Coanda effect collection; Step (2): The information in step (1) is transmitted to the nozzle jet speed adjustment module and the vehicle forward speed adjustment module; the nozzle jet speed is further adjusted according to the particle size and abundance information of the polymetallic nodules, and the pressure of the ejected fluid is controlled by adjusting the water pressure or the air pressure, so as to achieve the purpose of adjusting the nozzle jet speed. The forward speed of the vehicle ... and the pressure of the ejected fluid is controlled by adjusting the water pressure or the air pressure, and the pressure of the ejected fluid is controlled by adjusting the water pressure or the air pressure, and the pressure of the ejected fluid is controlled by adjusting the water pressure or the air pressure, and the pressure of the ejected fluid is controlled by adjusting the water pressure or the air pressure, and the pressure of the ejected fluid is controlled by adjusting the water pressure or the air pressure, and the pressure (II) When using double-row jet collection, the specific steps are as follows: Step (1): Transmitting the particle size and abundance information of polymetallic nodules to the double-row jet collection intelligent adjustment module; Step (2): Transmit the information of step (1) to the nozzle jet velocity adjustment module and the nozzle start quantity adjustment module; further, according to the particle size and abundance information of the polymetallic nodules, perform intelligent adjustment of the nozzle jet velocity, adopt low speed I and high speed I, and control the pressure of the ejected fluid by adjusting the water pressure or the air pressure, so as to achieve the purpose of adjusting the nozzle jet velocity. Further, according to the particle size and abundance information of the polymetallic nodules, perform intelligent adjustment of the nozzle start quantity, receive the data transmitted by the detection system through the vehicle control system, and control and dynamically adjust the nozzle start quantity; S10, collecting the polymetallic nodules flushed out by the jet through a suction device; S11. lifting the collected polymetallic nodules to a collection vessel through a pipeline lifting system; S12, testing the collection results of the mining area; S13, receiving the detected results. If the collection rate does not reach 80%, repeat the steps after S8 to re-collect. If the collection result reaches more than 80%, the collection is terminated.

2. According to claim 1, a method for intelligent collection of deep-sea polymetallic nodules, characterized in that: In S2, the grayscale processing is to unify the RGB value of each pixel of the image into the same value. After grayscale processing, the image changes from three channels to a single channel. The unification is specifically carried out in the following way: in is the gray value of the position, , , They are the three color components of the pixel value RGB at that position respectively.

3. According to claim 1, a method for intelligent collection of deep-sea polymetallic nodules, characterized in that: In S8, the mining vehicle operating conditions are divided into extremely soft sediments, heterogeneous sediments, steep seamounts, and rugged terrain.

4. According to claim 1, a method for intelligent collection of deep-sea polymetallic nodules, characterized in that: In the above S9, when the jet collection technology based on the Coanda effect is used, the height of the suction port is set to 100-120 mm, the height of the jet port is set to 20-25 mm, and 12 circular jet nozzles are arranged at the center, each nozzle has a diameter d of 30-40 mm, and the nozzle spacing is 10-20 mm. The height H of the collection device from the seabed is 80-120 mm, the jet angle α is 40-50°, and the convex curved wall radius R is 300-400 mm.

5. According to claim 1, a method for intelligent collection of deep-sea polymetallic nodules, characterized in that: In S9, when the double-row jet collection technology is used, the nozzle height is set H 40-45 mm, front and rear nozzle spacing B 260-320 mm, set the front nozzle angle α The rear nozzle angle is 30-45° β The angle is 45-55°. Twelve circular nozzles are arranged in double rows. Two opposite nozzles form a group of six groups. The diameter of each nozzle is d 10-15 mm.

6. According to claim 1, a method for intelligent collection of deep-sea polymetallic nodules, characterized in that: In S9, when using the Coanda effect based jet collection, the nozzle jet velocity in step 2 v Specifically, it can be divided into: small-size nodules use low speed II: 6-12 m / s, preferably 8-10 m / s; medium-size nodules use medium speed II: 8-13 m / s, preferably 11-12 m / s; large-size nodules use high speed II: 11-16 m / s, preferably 12-14 m / s. The forward speed of the vehicle in step 2 can be specifically divided into: small and medium-size nodules use low speed III: 0.25-0.5 m / s, preferably 0.25-0.3 m / s; large-size nodules use high speed III: 0.5-1 m / s, preferably 0.5-0.8 m / s.

7. According to claim 1, a method for intelligent collection of deep-sea polymetallic nodules, characterized in that: In S9, when double-row jet collection is used, the nozzle jet speed in step 2 can be specifically divided into: small and medium-sized nodules use low speed I: 8-13 m / s, preferably 11-13 m / s; large-sized nodules use high speed I: 11-16 m / s, preferably 13-15 m / s. In step 2, taking a 12-nozzle mining vehicle as an example, the number of double-row jet nozzles activated can be divided into: (1) small-sized nodules, 1-2 groups of nozzles are activated, preferably 2 groups of nozzles; (2) medium-sized nodules, 3-4 groups of nozzles are activated, preferably 3 groups of nozzles; (3) large-sized nodules, 5-6 groups of nozzles are activated, preferably 5 groups of nozzles.

8. According to claim 1, a method for intelligent collection of deep-sea polymetallic nodules, characterized in that: In the above S10, the polymetallic nodules are collected mainly by suction. Under the push of a power device such as a water pump, the polymetallic nodules are sucked into the transfer station through a conveying hose.

9. According to claim 1, a method for intelligent collection of deep-sea polymetallic nodules, characterized in that: In S11, the polymetallic nodule pipeline lifting system is carried out by hydraulic lifting, using the power of fluid lifting to overcome the static pressure of seawater and the gravity of the slurry itself, and realizes vertical transportation of materials through a conveying hose.

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