Deep-sea mineral lifting unmanned transportation system

Abstract

This invention discloses an unmanned transport system for deep-sea mineral hoisting. The system constructs a framework of "unmanned vehicle - intelligent execution - flexible scheduling," comprising four main modules: unmanned transport equipment, a communication network system, a scheduling and control center, and a support system. The unmanned transport equipment achieves mineral transport based on buoyancy; the communication network adopts a layered redundancy architecture with underwater acoustic OFDM and laser emergency links to ensure highly reliable communication and centimeter-level positioning; the scheduling and control center improves operational efficiency through intelligent task allocation and trajectory planning; and the support system integrates energy management, digital twin monitoring, and emergency response mechanisms. The operational process adopts a "primarily unmanned autonomous operation, supplemented by remote monitoring" mode, covering ballast diving, acoustic-optical docking, buoyancy adjustment, and dynamic unloading from the mother ship. This invention significantly improves the efficiency, maneuverability, and reliability of deep-sea mineral hoisting, providing core technological support for deep-sea resource development.

Description

Technical Field

[0001] This invention relates to the field of deep-sea mineral mining and transportation technology, and specifically to an unmanned transportation system for lifting deep-sea minerals. Background Technology

[0002] In recent years, deep-sea mining technology has undergone rapid iteration, profoundly altering the international competitive landscape. Belgium's GSR completed sea trials of a 4,500-meter-class mining vehicle, while South Korea's KIOST achieved a transport efficiency of 80 tons / hour with its 1,200-meter hydraulic lifting system. The International Seabed Authority (ISA) plans to issue the "Deep-Sea Mining Regulations" in 2025, and the US, Japan, and Europe are accelerating their applications for mining areas outside their exclusive economic zones. my country's "Jiaolong" and "Fendouzhe" submersibles have achieved breakthroughs in 10,000-meter exploration technology, and the "Kaituo-2" mining vehicle has completed verification in complex terrain at a depth of 4,000 meters. However, traditional deep-sea transportation methods face significant bottlenecks. The most mainstream pipeline lifting system currently has an energy efficiency of less than 6%, mining costs are more than three times higher than on land, and there is a lack of fully autonomous control technology throughout the entire process.

[0003] Against this backdrop, unmanned transportation systems for deep-sea mineral hoisting are an inevitable development driven by digital and intelligent transformation. By constructing an unmanned transportation system that integrates "unmanned vehicles, intelligent execution, and flexible scheduling," the system aims to improve the efficiency of deep-sea mineral resource extraction and reduce operating costs, providing core support for my country to seize the commanding heights of deep-sea resource development. Summary of the Invention

[0004] In view of the problems of low efficiency, poor operability and susceptibility to water flow in existing technologies, the purpose of this invention is to provide an unmanned transportation system for lifting deep-sea minerals.

[0005] To achieve the above objectives, the technical solution of the present invention is as follows:

[0006] This invention provides an unmanned deep-sea mineral lifting and transportation system, which mainly consists of four modules: unmanned transport equipment, a communication network system, a dispatch and control center, and a support and maintenance system. The system employs a hybrid control mode where these four modules work together to achieve "autonomous unmanned operation as the primary method, supplemented by remote monitoring and emergency takeover." Its overall framework is as follows: Figure 1 As shown:

[0007] Unmanned transport equipment enables the transportation of minerals from the seabed to the surface in deep-sea mining operations. It mainly includes vehicles, transport units (container type), mining equipment docking devices, and mother ship docking devices, encompassing all devices or equipment involved in the process of transporting minerals from the underwater transport base station to the mother ship.

[0008] The communication network system ensures communication between the underwater unmanned transport equipment and the surface mother ship (dispatch and control center), and the underwater unmanned transport equipment. It mainly includes vehicle positioning, underwater communication base stations, beacons, control stations, communication network software and other networking systems and equipment.

[0009] The dispatch and control center, based on the operation mode and process and the actual transportation situation, performs vehicle task allocation and management, navigation decision and trajectory planning system, docking and loading / unloading control system, and support and guarantee system control, etc., for the number of vehicles deployed, sailing speed, and single transport capacity. It mainly includes dispatch and control software, surface control station and other equipment and systems.

[0010] Support and safeguard systems ensure the normal operation of the system, mainly including equipment and systems such as energy supply for the vehicle, status monitoring and assessment of the entire system, intelligent operation and maintenance management of the entire system, and emergency response and accident handling robots.

[0011] The functional framework of the aforementioned deep-sea mineral lifting unmanned transportation system ( Figure 2 )as follows:

[0012] Unmanned transport equipment controls the navigation of the vehicle, loads and unloads minerals, docks with underwater base stations and mother ships, and adjusts buoyancy to make the vehicle rise and fall.

[0013] The communication network system enables highly reliable communication and high-precision positioning between underwater unmanned vehicles and surface mother ships (dispatch and control centers), underwater base stations, and beacons;

[0014] The dispatch and control center enables efficient transportation of deep-sea resources by allocating and managing vehicle tasks, adjusting vehicle navigation strategies, planning vehicle navigation trajectories, environmental perception and collision avoidance, emergency takeover and support control, etc.

[0015] The support system monitors and predicts the status of the entire system, promptly detects potential dangers, and provides rapid early warnings to prevent accidents, thereby ensuring the normal operation of the system.

[0016] This invention relates to an unmanned deep-sea mineral lifting and transportation system, which adopts a hybrid control mode of "primarily unmanned autonomous operation, supplemented by remote monitoring and emergency takeover." Its operational process (see...) Figure 3 This can be summarized in the following steps:

[0017] (1) Ballast descent and layered speed regulation: The unmanned vehicle actively increases its weight through the ballast system and adjusts its descent rate in stages through the layered speed control algorithm, and finally accurately positions itself to the deep-sea mining base station operation area.

[0018] (2) Sound and light coordinated precise docking: Relying on the sound beacon for long-distance positioning guidance and the optical short-distance precise guidance system, the vehicle and the underwater base station complete centimeter-level precision docking, and achieve rigid connection through mechanical locking mechanism to ensure the stability of the mineral loading process.

[0019] (3) Buoyancy control and controllable ascent: After loading, the vehicle starts the drainage system to form positive buoyancy, and adopts a layered speed control strategy to avoid shallow turbulence disturbance, and ascends to the near water surface area in a gradual acceleration mode.

[0020] (4) Dynamic docking and unloading of the mother ship: The carrier and the mother ship deck guide device work together to complete the dynamic docking under wave compensation. After the minerals are unloaded through the closed transmission system, the carrier and the mother ship are separated and the ballast state is reset, and the next operation cycle begins.

[0021] Furthermore, the main system design scheme and functional implementation of the present invention are as follows:

[0022] The unmanned transport vehicle: The design of the unmanned transport equipment is as follows Figure 4 As shown. The vehicle primarily moves vertically, driven by buoyancy, with weak positive buoyancy for ascent and weak negative buoyancy for descent. Buoyancy-driven operation is the lowest energy consumption mode, enabling safe surface buoyancy with zero energy consumption. Ballast water regulates net buoyancy, and vector thrust provides horizontal maneuverability. Due to limitations in the availability of large-displacement seawater pumps, drainage pumps are economical and reliable for medium and low water depths (1000 meters / submarine's maximum depth), while ultra-high pressure drainage pumps are required for deep water.

[0023] The communication network system is a deep-sea communication network subsystem built upon underwater acoustic orthogonal frequency division multiplexing (OFDM) technology and a laser emergency link. This subsystem enables highly reliable communication and high-precision positioning between 25 unmanned underwater vehicles (UUVs) and control stations, base stations, and beacons in an 8km water depth environment. The core of the subsystem utilizes OFDM technology for long-distance, highly reliable communication, while integrating a laser emergency link to ensure ultra-low latency data exchange. The system adopts a "layered collaborative, dual-link redundancy" architecture. Figure 5 As shown.

[0024] Communication network system workflow:

[0025] Backbone communication layer: mainly based on underwater acoustic OFDM technology, covering full-depth communication and supporting multi-node access and data relay.

[0026] Emergency Link Layer: Blue-green laser communication serves as a supplement, providing an ultra-low latency channel in local high-priority scenarios (such as obstacle avoidance commands and emergency positioning).

[0027] Positioning and navigation layer: It integrates underwater acoustic ranging, inertial navigation system (INS) and acoustic beacon network to achieve three-dimensional dynamic positioning.

[0028] Network management platform: The control station acts as the core node, dynamically allocating communication resources, monitoring node status, and optimizing routing.

[0029] The operation workflow of a communication network system is as follows:

[0030] (1) The UUV periodically reports status data to the base station or control station via the underwater acoustic link;

[0031] (2) The control station broadcasts instructions via OFDM or sends emergency instructions via laser link;

[0032] (3) The beacon network provides a positioning reference, which, combined with the UUV’s built-in sensors, enables real-time position correction;

[0033] (4) When the network is abnormal, it will automatically switch to laser link or relay mode to ensure communication continuity.

[0034] Furthermore, the underwater three-dimensional communication network system consists of four major functional modules, such as... Figure 6 As shown:

[0035] (1) Underwater communication network:

[0036] Underwater acoustic base station: Deployed at key nodes on the seabed, equipped with an OFDM modem, supporting multipath signal processing within an 8km range;

[0037] Mobile relay nodes: Based on unmanned vehicles (UUVs), dynamic routes are built to extend communication coverage;

[0038] Buoy system: Surface buoys serve as gateways for underwater acoustic and satellite communications, enabling data exchange between the underwater vessel and the mother ship.

[0039] Environmental monitoring sensor system: Real-time collection of water temperature, salinity, and flow velocity data, and optimization of channel model.

[0040] (2) High-precision positioning system:

[0041] Underwater acoustic beacon array: Using the Time Difference of Arrival (TDOA) algorithm combined with pre-positioned beacons on the seabed, centimeter-level positioning is achieved;

[0042] Geomagnetic matching module: assists in correcting underwater acoustic positioning errors and improves navigation accuracy.

[0043] (3) Laser emergency link:

[0044] Laser communication terminal: Equipped with a blue-green laser emitter, it can achieve high-speed communication of over 1Gbps within a range of 100m;

[0045] Dual-mode communication emergency handover: Supports dual-mode communication handover and autonomous routing decision-making.

[0046] (4) Control and Management Platform:

[0047] Cluster control system: Real-time monitoring of node status and dynamic adjustment of network resource allocation;

[0048] Data Processing Center: Integrates multi-source data to support task planning and collaborative decision-making.

[0049] The dispatch and control center serves as the command and decision-making hub for the deep-sea mineral lifting unmanned transportation system. It includes modules for vehicle dispatch and control, navigation decision-making and trajectory planning, and vehicle docking and loading / unloading control. The main functions of the dispatch and control center are to achieve vehicle task allocation and management, navigation decision-making and trajectory planning, docking and loading / unloading control, and support system control, thereby improving the efficiency and safety of deep-sea mining operations and realizing the efficient extraction and transportation of deep-sea resources. The operational workflow of each module is as follows:

[0050] (1) Vehicle task allocation and management: Determine the number of vehicles involved in transportation, sailing speed, single load capacity, etc., to realize the allocation and management of multiple unmanned vehicle transportation tasks; vehicle task allocation and management, based on the operation mode and process of the deep-sea mineral lifting unmanned transportation system and the actual transportation situation, dynamically schedule the number of vehicles, sailing speed, single load capacity, etc., to be deployed, complete task allocation and coordination among multiple vehicles, and ensure the system's work efficiency.

[0051] (2) Navigation decision and trajectory planning: Adjust the vehicle navigation strategy in real time, plan the navigation path, avoid collisions between multiple vehicles and docking devices, etc.; Navigation decision and trajectory planning: Adjust the navigation strategy in real time according to the vehicle position and navigation environment, plan the ship's navigation trajectory, and realize environmental perception and collision avoidance.

[0052] (3) Docking and loading / unloading control: realize docking control between the vehicle and the underwater base station and the mother ship, as well as loading and unloading operation process control; docking and loading / unloading control adopts sound and light guidance to realize docking between the vehicle and the underwater base station and the mother ship, optimize mineral loading and unloading efficiency, and improve operational stability.

[0053] (4) Support for system control: Enables system status monitoring and emergency control, emergency vehicle takeover, and rescue robot dispatch. Supports system control by enabling emergency vehicle takeover, emergency response control, and rescue robot dispatch through system status monitoring.

[0054] The support and assurance system includes:

[0055] (1) Energy supply system

[0056] The energy supply system should meet the high energy consumption demands of deep-sea mining while balancing economic efficiency and environmental protection requirements, providing a solid energy foundation for long-duration deep-sea operations. Current underwater unmanned vehicles utilize lithium polymer and lithium-ion batteries, but these are limited by energy density (specific energy of secondary lithium batteries ≤350Wh / kg), resulting in short endurance (typically 10-40 hours). Fuel cells offer high energy density and long endurance, suitable for long-duration deep-sea missions, but face challenges in refueling and storage. Nuclear power can serve as a long-term, stable energy source, suitable for extended deep-sea operations; for example, the Russian Poseidon uses nuclear power and has a range exceeding 10,000 kilometers, but the technology is complex and costly.

[0057] Develop an energy management module for unmanned transportation systems. Through dynamic task allocation and intelligent path planning, reduce recovery frequency and improve the collaborative charging efficiency of multiple underwater unmanned vehicles. Construct a battery management module to monitor battery voltage, temperature, and charge / discharge status in real time, preventing overcharging / over-discharging and extending battery life.

[0058] The core function of the energy supply system is to provide a continuous and stable power supply for the deep-sea mineral lifting unmanned transportation system, ensuring mining operations, dynamic positioning, equipment operation, and emergency needs.

[0059] (2) Condition monitoring and reliability assessment system

[0060] A multi-source data fusion platform will be constructed, integrating various sensors (such as acoustic, optical, and inertial navigation sensors) to monitor the operational and environmental parameters of the unmanned transportation system in real time. This multi-source data fusion monitoring system will improve monitoring accuracy and reliability. A reliability assessment will be conducted on the unmanned underwater mining transportation system, including key indicators such as propulsion system reliability, energy system stability, navigation and positioning accuracy, structural integrity, communication reliability, and environmental adaptability. A dynamic reliability model of the transportation system will be built to evaluate its reliability under different operating conditions. Combining the impact of the marine environment and historical data, a state transition model will be established to predict the failure probability and remaining lifespan of the equipment in real time.

[0061] The core function of the condition monitoring and reliability assessment system is to monitor the condition of the transportation system through real-time acquisition and analysis of multi-source data, and to accurately identify system faults by combining artificial intelligence technology; and to evaluate the current system reliability and predict the probability of equipment failure in real time through dynamic reliability modeling technology.

[0062] (3) Intelligent Operation and Maintenance System

[0063] A virtual simulation system for an unmanned deep-sea mining transportation system is established using digital twin technology. This system utilizes historical data and real-time monitoring information to identify potential failure modes in advance. Combined with artificial intelligence, it enables self-diagnosis of faults, predicts the remaining lifespan of equipment, conducts predictive maintenance, and optimizes maintenance strategies. A remote monitoring center is set up to receive real-time data via satellite or underwater acoustic communication, enabling remote real-time monitoring and status early warning of the transportation system. An AR remote guidance system is developed to support online expert diagnosis and the delivery of repair solutions.

[0064] The core function of the intelligent operation and maintenance system is to use digital twin technology to simulate the system status in real time, realize early warning of faults and prediction of the remaining life of the system, support online diagnosis by experts and push maintenance solutions, ensure rapid identification, location and timely response to faults, and ensure operational safety in extreme environments.

[0065] (4) Emergency Response and Accident Handling System

[0066] The safety emergency subsystem is designed for sudden and extreme scenarios. It employs protective equipment to handle emergencies and conducts rescue and evacuation operations on the surface, underwater, and seabed. This subsystem includes functional modules such as safety status monitoring, risk control, and emergency decision-making. It shares a visual data platform with the dispatch control system through a digital twin system, reserves independent control channels for emergency equipment, and establishes emergency mooring facilities on the seabed.

[0067] Underwater 3D traffic condition monitoring based on a digital twin system encompasses four aspects: vehicle status (position, attitude, energy, and load), environmental status (hydrology, topography, and meteorology), system operation (communication, equipment health, and mission progress), and emergency risks (failures, environmental changes, and collisions). The digital twin system utilizes real-time data acquisition (sensors / communication networks), 3D dynamic modeling (physical + data-driven model), and AI-powered status analysis and prediction (anomaly detection and fault warning) to ultimately generate optimized decisions and provide closed-loop feedback to the physical system, achieving a complete intelligent management loop from monitoring to control. This system significantly improves the safety and efficiency of deep-sea operations.

[0068] The emergency decision-making system enables intelligent management of the entire deep-sea rescue process. The system constructs a virtual twin environment through real-time data fusion, uses AI algorithms to simulate and extrapolate fault scenarios, and automatically generates the optimal rescue plan. In terms of rescue submersible control, it supports both autonomous decision-making and human-machine collaboration modes to ensure precise command execution; search path planning employs reinforcement learning algorithms to dynamically optimize search paths and enable multi-submersible collaborative operations; during the capture operation phase, it assesses the feasibility of methods such as robotic arm grasping and cable towing, and monitors the mechanical state in real time to ensure safe recovery. This system provides reliable intelligent emergency support for deep-sea operations.

[0069] Core functions of the emergency response and accident handling system:

[0070] ① Safety Status Monitoring: Real-time monitoring technology ensures operational safety and efficiency for unmanned vehicles. Multiple sensors track parameters such as speed, direction, attitude, and remaining energy, and analyze acceleration and angular velocity to determine equipment status. Simultaneously, the system monitors the stability of connections between the vehicle and other units, as well as surface and underwater environmental parameters such as water temperature and pressure. Information is obtained using communication base stations and beacons to assess and address potential risks. In underwater mining, in addition to monitoring mining progress and equipment status, the system also monitors the reserves, temperature, and pressure of mineral storage facilities. Upon detecting anomalies, such as speed fluctuations or exceeding environmental parameter limits, the system immediately alarms and takes measures to ensure safe and stable operation.

[0071] ② Risk Control: In deep-sea mining operations, ensuring safety and efficiency relies not only on precise control of routine operations, but also on identifying risks in abnormal scenarios, detecting system anomalies, and sensing adverse operating conditions. By analyzing historical data and real-time monitoring information, and utilizing machine learning techniques to build risk models, potential risks such as earthquakes and tsunamis can be identified in a timely manner. When abnormal seabed seismic activity is detected, its impact on operations is rapidly assessed. Simultaneously, continuous monitoring of the operational status of systems such as communication networks and dispatch control centers enables rapid detection of communication interruptions, equipment failures, and other problems, and allows switching to backup communication channels when necessary to ensure continuous information transmission. For adverse conditions such as severe sea conditions, complex terrain, and equipment failures, sensors on vehicles and equipment acquire data in real time to assess the safety of the operating environment. Once a problem is detected, such as encountering seabed obstacles or equipment malfunctions, the system immediately adjusts its strategy to avoid accidents and ensure safe operation.

[0072] ③ Emergency Decision-Making: In deep-sea operations, ensuring safety and efficiency relies on the rational configuration and scheduling of emergency submersibles, enhanced autonomous emergency response capabilities, and the establishment of seabed emergency mooring and operational recovery mechanisms. First, multi-functional emergency submersibles should be configured based on risk assessment results and rapidly deployed to respond to emergencies and minimize losses. Second, artificial intelligence and automation technologies should be utilized to improve the autonomous navigation, obstacle avoidance, and decision-making capabilities of emergency submersibles, enhancing their flexibility in responding to emergencies. Finally, seabed emergency mooring facilities should be established to provide refuge for equipment, and effective operational recovery strategies should be developed, including repairing damaged equipment and replanning operational schedules, to quickly restore normal operation.

[0073] In view of the scope of impact of emergencies and the implementation area of ​​emergency response, the above-mentioned safety emergency subsystems include emergency response on the surface, underwater and seabed.

[0074] Surface Emergency Control: The surface emergency control center is crucial for ensuring the safety of deep-sea operations, enabling rapid response and management of surface and underwater emergencies. It maintains contact with unmanned transport equipment through advanced communication networks, ensuring timely and accurate information transmission, thereby efficiently coordinating resources such as rescue vessels and helicopters for emergency rescue. The emergency control center utilizes real-time data analysis to quickly formulate response strategies and monitors environmental factors such as weather and currents for early warning. As the management center for emergency resources, it ensures all resources are on standby at all times, guaranteeing a rapid response to any emergency and ensuring the safety and stability of deep-sea operations.

[0075] Underwater Emergency Control: Real-time monitoring and control of unmanned transport equipment and emergency submersibles are achieved through underwater communication base stations and control stations. In the event of an accident, the system can respond rapidly and adjust equipment operating status by sending commands. When mechanical failures or insufficient power are detected, the control center can remotely command the equipment to stop operation and guide it to a safe area. If environmental anomalies occur (such as earthquakes or changes in water flow), operating parameters are adjusted immediately to mitigate risks. The emergency submersible is equipped with multiple functions, such as rescue, maintenance, and environmental monitoring. Upon receiving instructions, it can autonomously navigate and perform specific tasks, such as fault repair or environmental assessment. Utilizing advanced navigation technology, obstacle avoidance mechanisms, and decision support systems, the emergency submersible can independently complete tasks even in complex environments, ensuring the safety and efficiency of deep-sea operations.

[0076] Seafloor Emergency Control: Establishing emergency control nodes on the seabed is a key measure to improve the safety of deep-sea operations. These nodes are specifically designed for the emergency control of seafloor equipment and facilities. In the event of equipment failure or sudden environmental changes, the node can respond rapidly, executing emergency shutdown or protective operations to prevent the accident from escalating. For example, upon detecting increased seismic activity or abnormally high equipment temperatures, the emergency control node can remotely control the relevant equipment to stop operating and initiate protective procedures to prevent the situation from worsening. This helps reduce losses and ensures the safety of subsequent repair work. Furthermore, by integrating a digital twin system, the emergency control node can simulate the development of seafloor accidents in real time. Utilizing physical models, sensor data, and operational history, the digital twin system achieves a precise virtual mapping of the seafloor environment and equipment, helping to predict the direction and scope of the accident's development.

[0077] The technical principle of this invention is as follows:

[0078] This invention achieves unmanned transportation of deep-sea minerals through the coordinated operation of four core modules:

[0079] 1. Unmanned Transport Equipment: Based on the principle of buoyancy propulsion, vertical movement is achieved by adjusting net buoyancy through ballast water (weak positive buoyancy for surfacing, weak negative buoyancy for descent), while a vector thruster provides horizontal maneuverability. Conventional drainage pumps are used in low to medium water depths (≤1000 meters), while ultra-high pressure drainage pumps are customized for deeper water. Containerized transport units support standardized loading and unloading, and the docking device between mining equipment and the mother ship achieves full-process mechanical locking (see...). Figure 1 , Figure 4 ).

[0080] 2. Communication Network System: A layered redundancy architecture of "underwater acoustic OFDM + laser emergency link" is adopted. The backbone layer uses underwater acoustic OFDM technology to achieve multi-node communication and relay within a water depth of 8km; the emergency layer utilizes blue-green lasers (1Gbps rate within 100 meters) to ensure low-latency command transmission; the positioning layer integrates underwater acoustic ranging, inertial navigation (INS), and acoustic beacon networks to achieve centimeter-level three-dimensional dynamic positioning (see...). Figure 5 , Figure 6 ).

[0081] 3. Dispatch and Control Center: Utilizes intelligent algorithms for multi-vehicle task allocation, trajectory planning, and dynamic collision avoidance. The operational process employs a "layered speed control + acoustic-optical coordinated docking" strategy: speed is adjusted in stages during the descent and ascent phases to avoid turbulence; during docking, long-distance guidance via acoustic beacons and close-range calibration via optical cameras achieve centimeter-level accuracy (see...). Figure 3 , Figure 7 ).

[0082] 4. Support and Guarantee System: Integrates multi-mode energy supply (lithium polymer battery / fuel cell / nuclear power), digital twin monitoring, and a three-tiered emergency response mechanism. The digital twin system integrates multi-source sensor data to assess equipment reliability and predict remaining lifespan in real time; the surface-underwater-seabed three-tiered emergency nodes support autonomous navigation and collaborative rescue for the submersible (see...). Figure 9 , Figure 11 ).

[0083] The advantages and beneficial effects of this invention are as follows: it improves the efficiency, mobility, and reliability of deep-sea mineral transportation, specifically as follows:

[0084] 1. Significantly improved transportation efficiency: The buoyancy-driven mode achieves zero-energy floating on the sea surface, which greatly reduces energy consumption compared to traditional pipeline lifting systems; intelligent energy consumption scheduling and standardized container transshipment technology shorten the cycle time of a single operation, increasing the efficiency of mineral transportation several times.

[0085] 2. It has mobility and reliability assurance: the layered communication architecture ensures communication reliability, centimeter-level positioning accuracy ensures docking success rate in complex sea conditions; digital twin and AI predictive maintenance will greatly reduce equipment failure rate, and the three-level emergency response mechanism can start rescue within minutes.

[0086] 3. Significant cost reduction and environmental benefits: The fully automated operation reduces human intervention, and mining costs are reduced to the level of land mining; the application of nuclear power and fuel cells achieves low carbon emissions, and the closed transportation system avoids mineral leakage and pollution. Attached Figure Description

[0087] Figure 1 : Overall framework of the deep-sea mineral lifting unmanned transportation system;

[0088] Figure 2 Functional framework of deep-sea mineral lifting unmanned transportation system;

[0089] Figure 3 Operational process of unmanned transport system for deep-sea mineral lifting;

[0090] Figure 4 Buoyancy-driven unmanned transport equipment;

[0091] Figure 5 Schematic diagram of a communication network system;

[0092] Figure 6 Composition of a communication network system;

[0093] Figure 7 The system consists of a dispatch and control center.

[0094] Figure 8 Functional architecture of the dispatch and control center;

[0095] Figure 9 Support and protection system components;

[0096] Figure 10 Composition of the safety and emergency response subsystem;

[0097] Figure 11 Functional architecture of the safety emergency subsystem.

[0098] In the diagram: ① Mining vehicle; ② Mineral pipeline transportation and power transmission; ③ Deep-sea mining underwater base station; ④ Underwater docking: acoustic and optical guidance; ⑤ Bulk cargo loading / container transshipment; ⑥ Base station power supply and signal transmission; ⑦ Layered speed control; ⑧ Ocean currents; ⑨ Ballast submersion and dewatering surfacing of underwater unmanned transport vehicles; ⑩ Acoustic communication; Two candidate solutions for water-based docking: underwater docking mechanism of the mother ship and underwater separation and surfacing convergence. surface mother ship; Three-dimensional traffic control; Vector side thrust; Ballast submersion; Displaced and floated upwards; mineral; Ballast water; Air inside the ballast tank; Water surface gateway; Underwater acoustic communication; Laser communication; Underwater three-dimensional communication network; Satellite network. Detailed Implementation

[0099] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0100] Example 1: High-efficiency transportation of deep-sea minerals in medium and low water depth areas

[0101] Application scenario: In conventional deep-sea mining areas with a water depth of ≤1000 meters, unmanned vehicles perform mineral transportation tasks from seabed base stations to surface mother ships, verifying the collaborative operation capabilities of unmanned transportation equipment and communication network systems.

[0102] The buoyancy drive mechanism of the unmanned transport equipment in this embodiment:

[0103] Vertical movement is achieved by employing a weak positive buoyancy for surfacing and a weak negative buoyancy for descent, adjusting net buoyancy by injecting or deleting seawater from ballast tanks (see...). Figure 4 The structure is described as "ballast submersion / dewatering buoyancy". In low to medium water depth scenarios, it is equipped with a conventional drainage pump. For example, at a water depth of 1000 meters, seawater is pumped in to put the vehicle into a state of weak negative buoyancy (gravity is slightly greater than buoyancy), allowing it to sink at a controllable rate.

[0104] Horizontal maneuverability: thrust vectoring device (see...) Figure 4 The "vector thrust" module provides lateral propulsion, enabling it to avoid obstacles in complex seabed terrain, such as navigating underwater mountains or trenches.

[0105] Standardized loading unit: Containerized transport unit (see...) Figure 1 The "container-type transshipment" system supports rapid loading and unloading, and the mining equipment docking device is rigidly connected to the submarine base station via a mechanical locking mechanism (see...). Figure 3 The "mechanical locking mechanism" ensures a stable and leak-free mineral loading process.

[0106] The layered redundancy architecture of communication networks includes:

[0107] Backbone communication layer: underwater acoustic base station (see...) Figure 6 The underwater acoustic base station ("underwater acoustic base station") is deployed at key nodes on the seabed and uses OFDM (Orthogonal Frequency Division Multiplexing) technology to achieve multi-node communication and data relay for 25 unmanned vehicles (UUVs) within an 8-kilometer range. It transmits real-time status data such as vehicle depth and speed to the dispatch and control center (see...). Figure 1 (China's "Dispatch and Control Center").

[0108] Emergency Link Layer: Blue-Green Laser Communication Terminal (see...) Figure 6 The laser communication terminal provides high-speed communication of over 1Gbps within a short distance of 100 meters, serving as a backup channel to ensure low-latency transmission of docking commands and avoid control delays caused by underwater acoustic signal attenuation.

[0109] Positioning and navigation layer: Integrating underwater acoustic ranging (see...) Figure 6 "Underwater acoustic beacon array" and inertial navigation INS (see Figure 6 The inertial navigation module (INS) and acoustic beacon network, through the Time Difference of Time (TDOA) algorithm, achieve centimeter-level three-dimensional dynamic positioning, ensuring that the vehicle accurately arrives at the base station's operating area (see...). Figure 3 (China's "centimeter-level docking").

[0110] The workflow in this embodiment is as follows:

[0111] (1) Ballast submersion and stratified speed regulation (see...) Figure 3 Step 1): The vehicle is injected with seawater through the ballast system to increase its weight, entering a state of weak negative buoyancy. A layered speed control algorithm is used to adjust the descent rate in stages: initially, it descends rapidly at 5 m / s to the middle water layer, then reduces to 2 m / s near the seabed, and finally to 0.5 m / s when it is 50 meters away from the base station. Depth data is transmitted back in real time through the underwater acoustic base station (see...). Figure 5 (The "underwater acoustic communication" link) avoids collisions with seabed topography (see...) Figure 1 (China's "undersea mining base station").

[0112] (2) Acoustic-optical coordinated docking and mineral loading (see...) Figure 3 Step 2): Long-distance guidance: underwater acoustic beacon array (see...) Figure 6 The underwater acoustic beacon array transmits signals to guide the vehicle to within 100 meters of the base station for coarse positioning; close-range calibration: optical camera (see...) Figure 3 The "Optical Near-Range Calibration" method captures the optical markers of the base station, achieving centimeter-level alignment through visual algorithms, and uses a mechanical locking mechanism (see...). Figure 1 The "underwater docking mechanism" of the mother ship locks the vehicle and the base station, and activates the closed mineral transport system to complete the loading (see...). Figure 1 (For bulk cargo loading / container transshipment) Communication support: Laser emergency link (see...) Figure 5 During this stage, "laser communication" serves as a backup channel to ensure that the loading command transmission delay is less than 10ms.

[0113] (3) Buoyancy control and controllable ascent (see...) Figure 3 Step 3): The vehicle discharges ballast water to generate positive buoyancy, employing a stratified velocity strategy to avoid shallow turbulence: the velocity is limited to ≤1m / s within 100 meters of the water surface to prevent loss of vehicle attitude control due to water flow disturbance; in the mid-to-deep waters, it gradually accelerates upwards at a rate of 2m / s. Multiple vehicles communicate via an underwater acoustic OFDM link (see...). Figure 5 The underwater acoustic communication system ("underwater acoustic communication") shares attitude data in real time with the dispatch and control center (see...). Figure 7 The "Navigation Decision and Trajectory Planning" system dynamically adjusts the path to avoid the risk of multi-vehicle collisions (see [link]). Figure 1 (China's "three-dimensional traffic control").

[0114] (4) Dynamic docking and unloading of the mother ship (see...) Figure 3 Step 4): The mother ship passes through the wave compensation device (see...) Figure 1 The "mother ship docking device" in the middle offsets the effects of wave undulations and achieves dynamic alignment with the carrier; the closed transmission system (see Figure 1 The "mineral pipeline" transport system directly delivers containerized minerals to the mother ship's cargo hold, avoiding seawater pollution.

[0115] After unloading is completed, the vehicle is refilled with ballast water, reset to a state of weak negative buoyancy, and returns to the seabed base station to begin the next operation cycle.

[0116] The effectiveness of this embodiment has been verified: Efficiency improvement: The single operation cycle is shortened from 120 minutes in the traditional pipeline system to 45 minutes, and the mineral transportation efficiency reaches 120 tons / hour, which is 200% higher than that of the traditional pipeline (see...). Figure 3 (Comparison of workflow sequence); Positioning accuracy: Acoustic-optical coordinated docking achieves a positioning error of ±5 cm, far exceeding the meter-level accuracy of traditional underwater acoustic positioning (see...). Figure 6 Supported by "high-precision positioning system" technology; Energy consumption optimization: buoyancy-driven mode achieves zero-energy sea surface suspension, reducing energy consumption by 70% compared to traditional pump-type lifting systems, verifying the economy and reliability of conventional drainage pumps in low to medium water depth scenarios (see...). Figure 4 (Advantages of the "buoyancy-driven" principle in China).

[0117] This embodiment is illustrated by... Figure 1 The system framework in Figure 4 The vehicle structure in Figure 5-6 The communication layered architecture and Figure 3 The operational process described in the invention realizes the "unmanned transport equipment realizing mineral transportation based on buoyancy drive" and "the communication network adopting a layered redundancy architecture to ensure highly reliable communication", verifying the efficiency and reliability of the system in conventional water depth scenarios.

[0118] Example 2: Digital Twin and Emergency Response Supporting Security Systems

[0119] Application scenario: In a 4,000-meter water depth operation area, an unmanned vehicle suddenly experiences a propulsion system failure while performing a mineral transportation task, verifying the support and guarantee system's response capability to extreme working conditions.

[0120] The energy supply and status monitoring architecture in this embodiment includes:

[0121] Continuous nuclear power supply: using small isotope batteries (see...) Figure 9 The "energy supply system" optimizes energy consumption allocation through an intelligent energy management module, which can meet the power needs of deep-sea operations for more than 30 consecutive days, avoiding rescue delays caused by the limitations of traditional battery endurance.

[0122] Multi-source sensor fusion monitoring: Inertial sensors (monitoring roll angle and acceleration) and acoustic sensors (detecting mechanical noises) collect data in real time and transmit it to the "condition monitoring module" supporting the support system (see...). Figure 9 ), to construct a multi-dimensional profile of device operation.

[0123] Level 3 Emergency Node Deployment and Rescue Equipment (Surface-Underwater-Seabed Integrated Response Network): Surface Emergency Control Center (see...) Figure 11 (Surface Emergency Control): Coordinates mother ship and shore-based support forces via satellite communication; underwater emergency submersible (see...) Figure 11 (Underwater Emergency Control): Equipped with a USBL ultra-short baseline positioning system and lidar, along with a robotic arm and cable towing device, it can perform precise search and physical rescue operations; seabed emergency control node (see...) Figure 11 The "Undersea Emergency Control" system is deployed at mining base stations, integrating backup power and communication relay modules to ensure that data links can be maintained even after a failed vehicle loses power.

[0124] Digital twin-driven fault early warning and decision-making: Virtual simulation system: based on vehicle physical model and historical operation data (see...) Figure 11 The system utilizes "digital twin simulation" to establish a predictive model of equipment health status through time-series analysis algorithms, calculating the remaining lifespan of components in real time. It also features a combined audio-visual early warning system: when the inertial sensor detects a roll angle exceeding 15° and the acoustic sensor captures abnormal vibration, the system triggers an alarm. Figure 11 The "visual panel" in the middle triggered a red alert and simultaneously sent a fault code to the dispatch control center.

[0125] The emergency operation procedure in this embodiment is as follows:

[0126] (1) Fault detection and early warning (see Figure 11 Step 1): Vehicle attitude sensor (see Figure 9 The "inertial navigation module" and the thruster acoustic monitoring device (see...) Figure 9 The system uses an acoustic sensor to simultaneously capture abnormal data, which is then determined by a data fusion algorithm to be a gearbox mechanical fault, with a remaining safe operating time of less than 2 hours. (See Digital Twin System) Figure 11 The system uses "3D dynamic modeling" to render abnormal vehicle states in real time, and visually displays fault risks through color coding and parameter fluctuations, triggering a Level 1 emergency response.

[0127] (2) Emergency vehicle dispatching and path planning (see Figure 11 Step 2): Dispatch and Control Center (see...) Figure 7 ) via laser emergency link (see Figure 5 The "laser communication terminal" sends a "hover and standby" command to the vehicle, while simultaneously activating the emergency submersible permanently stationed at the seabed base station (see...). Figure 11 The "forward deployment mode" in China. Emergency vehicles utilize lidar (see...). Figure 11 The "search path planning" system scans the surrounding ocean currents and topography, uses dynamic path planning algorithms to avoid areas with strong currents, reaches the fault point within 5 minutes, and simultaneously transmits 3D environmental modeling data back to the digital twin system.

[0128] (3) Multi-submarine cooperative capture operations (see...) Figure 11 Step 3): The emergency submersible uses a robotic arm (see...) Figure 11 In the "capture operation," the submersible precisely grasps the docking ring of the vehicle, establishing a physical cable connection. Another submersible provides buoyancy compensation to offset the loss of propulsion due to the vehicle's malfunction, preventing it from sinking. (See seabed emergency control node). Figure 11 The "submarine emergency control" system activated its backup power supply and transported minerals via the mineral pipeline route (see...). Figure 1 The "Mineral Pipeline Transportation and Power Transmission" system provides temporary power to malfunctioning vehicles to maintain communication and sensor operation.

[0129] (4) Mothership support and maintenance (see Figure 11 Step 4): The mother ship passes through the wave compensation device (see...) Figure 1 The "underwater docking mechanism" of the mother ship dynamically docks with the carrier, utilizing a containerized transfer device (see...). Figure 1 The "box-style reloading" method recovers the faulty vehicle to the deck. The digital twin system generates a gearbox replacement plan based on historical maintenance data (see...). Figure 9 The "Intelligent Operation and Maintenance Module" allows operators to use an AR remote guidance system (see...). Figure 9 The system uses "AR remote guidance" to provide visualized repair steps, enabling component replacement and functional testing to be completed within 2 hours.

[0130] The effectiveness of this embodiment has been verified: Response efficiency: From fault detection to the arrival of the emergency vehicle on site, it only takes 5 minutes, which is 80% shorter than the traditional manual intervention mode (see...). Figure 11 (Note: "Response time < 5 min" is marked in the text); Reliability assurance: The digital twin system provides a 2-hour advance warning of failures to avoid the risk of vehicle sinking due to sudden shutdowns; The multi-submarine collaborative rescue mechanism ensures a 100% rescue success rate (see...). Figure 11 China's "Emergency Decision-Making System" closed-loop process; Optimized operation and maintenance costs: Predictive maintenance reduces unplanned downtime losses by 90%, and AR remote guidance improves maintenance efficiency by 50% (see...). Figure 9(Verification of the "Intelligent System Operation and Maintenance" function in China).

[0131] This embodiment is illustrated by... Figure 9 Energy and monitoring architecture in China Figure 11 The three-level emergency nodes and digital twin system in the invention realize the "support and guarantee system integration digital twin monitoring and emergency response mechanism" of the invention, and verify the high reliability and rapid recovery capability of the system in extreme environments.

Claims

1. A deep sea mineral lift unmanned transport system characterized by: The unmanned mineral transportation in deep sea is realized by four modules, which are: Unmanned carrying equipment: including carrier, container carrying unit, mining equipment docking device and mother ship docking device; the unmanned carrying equipment controls the navigation of the carrier, completes the loading and unloading of minerals, realizes the docking with the underwater base station and the mother ship, realizes the upwelling and diving of the carrier through the buoyancy adjustment, realizes the mineral transportation from the seabed to the sea surface based on the buoyancy driving; Communication network system: including underwater acoustic base station, mobile relay node, buoy system and high-precision positioning module; realizing the positioning of the unmanned underwater carrier, high-reliability communication and centimeter-level positioning between the scheduling control center, underwater base station and beacon; Scheduling control center: realizing the task allocation and management of the carrier, adjusting the navigation strategy of the carrier, planning the navigation track of the carrier, environmental perception and collision avoidance, emergency takeover and support control, realizing the efficient transportation of deep sea resources; Supporting system: including energy supply, state monitoring, intelligent operation and maintenance and emergency processing module, realizing system reliability evaluation and fault prediction by using digital twin technology; The four modules realize the hybrid control mode, and the operation process is as follows: (1) ballast diving and layered speed regulation: in the ballast diving and layered speed regulation stage, the scheduling control center plans the diving task of the carrier through the pre-set layered speed control algorithm and sends the instruction to the unmanned carrying equipment; the unmanned carrying equipment receives the instruction, controls the ballast system to actively increase the weight, and adjusts the descending speed in stages according to the algorithm; the communication network system transmits the position information of the carrier to the scheduling control center in real time, the supporting system monitors the state of the carrier to ensure the safety and stability of the diving process, and finally realizes the accurate positioning of the carrier to the deep sea mining base station operation area; (2) acoustic-optical cooperative precise docking: in the acoustic-optical cooperative precise docking stage, the communication network system uses the acoustic beacon for long-distance positioning guidance, and transmits the relative position information of the carrier and the underwater base station to the scheduling control center, so that the scheduling control center adjusts the docking strategy of the unmanned carrying equipment; The unmanned carrying equipment carries out near-distance calibration through the optical near-distance accurate guidance system, completes the centimeter-level precision docking with the underwater base station, and realizes the rigid connection through the mechanical locking mechanism; the supporting system monitors the state of the docking process to ensure the stability of the mineral docking and loading process; (3) buoyancy regulation and controllable upwelling: in the buoyancy regulation and controllable upwelling stage, after the unmanned carrying equipment is loaded, the drainage system is started to form positive buoyancy; the scheduling control center formulates the layered speed control strategy according to the marine environment information fed back by the supporting system and sends it to the unmanned carrying equipment; the unmanned carrying equipment avoids the shallow turbulent disturbance in the gradual acceleration mode and upwells to the near-surface area; the communication network system continuously transmits the position and state information of the carrier, and the supporting system monitors the energy supply state in real time to ensure the safety of the upwelling process; (4) dynamic docking and unloading of mother ship: in the dynamic docking and unloading stage of the mother ship, the scheduling control center coordinates the carrier and the deck guide device of the mother ship, the communication network system ensures the real-time interaction of information, the unmanned carrying equipment completes the dynamic docking with the mother ship under the wave compensation, and the minerals are unloaded through the closed transmission system. After unloading, the unmanned carrier equipment separates from the mother ship and resets the ballast state, entering the next operation cycle; The support system monitors the status of each link of the operation process to ensure efficient transportation and scheduling control of the unmanned autonomous operation. The remote monitoring of the control center can take over in case of failure.

2. The system of claim 1, wherein: The unmanned carrier equipment uses a vertical motion mode with weak positive buoyancy for floating and weak negative buoyancy for diving. The net buoyancy is adjusted by ballast water, and the horizontal maneuverability is achieved by vector side thrust, supporting conventional drainage pumps with a water depth of ≤1000 meters and customized ultra-high pressure drainage pumps for deep water.

3. The system of claim 2, wherein: The backbone communication layer of the communication network system uses underwater acoustic OFDM technology to support multi-node access and data relay. The emergency link layer uses blue-green laser communication to provide high-speed communication of more than 1Gbps within a range of 100 meters. The positioning and navigation layer integrates underwater acoustic ranging, inertial navigation INS, and acoustic beacon networks to achieve three-dimensional dynamic positioning.

4. The system of claim 3, wherein: The energy supply module of the support system supports multiple modes of energy supply such as lithium polymer batteries, fuel cells, and nuclear power. The intelligent energy management module optimizes charging efficiency. The state monitoring module integrates acoustic, optical, and inertial sensors to build a reliability evaluation model based on multi-source data fusion.

5. The system of claim 4, wherein: The intelligent operation and maintenance module of the support system builds a virtual deduction system based on digital twin technology and combines AI algorithms to realize fault self-diagnosis and residual life prediction. The emergency handling module deploys three-level emergency control nodes on the water surface, underwater, and seabed to support autonomous navigation of emergency submersibles and collaborative rescue of multiple submersibles.

6. A method for unmanned transport of deep-sea mineral extraction, applied to the system of any one of claims 1-5, characterized in that: The method comprises the following steps: S1: The unmanned carrier increases weight through the ballast system and dives to the deep-sea mining base station using layered speed control; S2: The carrier and the base station are connected at the centimeter level through acoustic beacons and optical guidance to complete mineral loading; S3: The carrier forms positive buoyancy by draining water and floats to the near-surface area using layered speed control; S4: The mother ship connects with the carrier dynamically through the wave compensation device and resets the carrier ballast state after unloading to enter the next cycle.

7. The method of claim 6, wherein: In step S2, the docking process uses a mechanical locking mechanism to ensure stability during loading; In step S3, the controllable floating is achieved by a layered speed control strategy that avoids shallow turbulent flow.

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