Deep-sea mining system mine car out-of-boundary early warning method

Abstract

The invention discloses a deep-sea mining system mine car out-of-limit early warning method, which realizes synchronous real-time acquisition of information such as position movement of a mining car and a support ship through cooperative positioning of an ultra-short baseline (USBL), a GNSS (Global Navigation Satellite System), a gyrocompass and an INS (Inertial Navigation Satellite System); meanwhile, based on a multi-parameter constraint model of umbilical cable tension, curvature and mine car upsetting moment, a mining vehicle safety operation area is established; a safe operation area of a mining vehicle is built in a system early warning program to define the safe operation area, and real-time evaluation and analysis are carried out on movement position information of the mining vehicle and a support ship obtained by multi-source cooperative positioning and the safe operation area, so that visual evaluation and visual early warning of the safe state of the mining vehicle in deep-sea mining operation are realized. And in combination with a high-frequency data refreshing mechanism, the mine car out-of-limit risk is quickly early warned, and the release length of the umbilical cable and the movement of the mining vehicle are dynamically regulated in an auxiliary manner, so that the efficient and safe management and control target of deep-sea mineral mining is achieved, and the accident probability is remarkably reduced.

Description

Technical Field

[0001] This invention relates to the field of mining truck out-of-bounds early warning technology, specifically to a method for mining truck out-of-bounds early warning in a deep-sea mining system. Background Technology

[0002] With increasing global attention to deep-sea resources, deep-sea mining has become an important area of ​​marine resource development and a research hotspot. The deep-sea mining in-situ test mining system is a type of equipment specifically developed for deep-sea mineral resources (such as polymetallic nodules, sulfides, cobalt crusts, etc.). Its core objective is to achieve in-situ collection, preliminary processing, and transportation of ore in extreme seabed environments thousands of meters deep, while also taking into account environmental friendliness and operational efficiency.

[0003] In deep-sea mining operations, mining trucks are dynamically connected to the mother ship via umbilical cables. The movement of the trucks and the length control of the umbilical cables must be coordinated. When the distance between the mining truck and the ship is too far, a shorter umbilical cable will exert too much tension on the truck, causing it to tip over. On the other hand, if the umbilical cable is released too far, it will touch the seabed and cause friction damage.

[0004] Therefore, it is necessary to design and modify the early warning method for mine cars exceeding the boundary in the in-situ test mining system for deep-sea mining. Summary of the Invention

[0005] To address the problems mentioned in the background art, the present invention aims to provide a method for early warning of mine car over-boundary in deep-sea mining systems. This method has the advantage of accurately judging and warning of the distance between the ship and the mine car, and solves the technical contradiction of controlling the length of the umbilical cable in deep-sea mining operations: when the distance between the mine car and the mother ship increases, if the cable is too short, it will easily cause dynamic tension imbalance and lead to instability of the mine car's attitude; if the cable is released too much, it will cause dragging friction on the seabed and cause structural damage.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a method for early warning of mine truck exceeding boundaries in a deep-sea mining system, comprising the following steps:

[0007] S1: Real-time location determination and information transmission network establishment. Ultra-short baseline beacons and GNSS antennas are installed on the mining vehicle and support vessel respectively, and the vessel is equipped with an electric compass, supplemented by inertial navigation, to establish an information transmission network for real-time acquisition of the mining vehicle and support vessel's location information and real-time monitoring of the vessel's heading;

[0008] S2: The collected real-time latitude and longitude information of the ship and vehicle is transformed from the geodetic coordinate system to the ship and vehicle coordinate system;

[0009] S3: Perform safety domain calculations for the mining vehicle to determine the safety domain boundary of the mining vehicle in the ship-vehicle coordinate system;

[0010] S4: The safe operating zone of the mining vehicle is built into the system early warning program. The monitoring data is read every 10 seconds, and the location information of the mining vehicle is read in real time. The system determines whether the movement of the mining vehicle exceeds the boundary based on the safe operating zone of the mining vehicle. If the mining vehicle exceeds the boundary, the system will issue an early warning.

[0011] As a preferred embodiment of the present invention, S1-1: an ultra-short baseline beacon is installed on the mining vehicle, and the real-time position monitoring of the mining vehicle is realized through ranging and direction finding of acoustic signals. The ultra-short baseline beacon system interacts with the mining vehicle over-boundary warning system through the API protocol and receives the real-time latitude and longitude information of the mining vehicle, the unit of which is degrees (°).

[0012] S1-2: Install a GNSS antenna on the support vessel to determine the vessel's real-time position by receiving satellite signals. Use the TCP protocol to receive GNSS antenna signals and obtain the vessel's real-time latitude and longitude information, in degrees (°).

[0013] S1-3: Connect the ship's gyrocompass and use the NEMA0183 protocol to achieve real-time access to the ship's heading. The real-time heading of the ship is the direction the bow is pointing, starting from north and rotating counterclockwise, with the unit being degrees (°).

[0014] S1-4: A small local area network is built using a GNSS antenna, an ultra-short baseline beacon, a gyrocompass, and a computer terminal to achieve stable data transmission.

[0015] As a preferred embodiment of the present invention, S2-1: establish a ship-vehicle coordinate system, define the position of the ship's GNSS antenna as the origin of the coordinate system, the ship's bow direction as the X-axis of the ship-vehicle coordinate system, and the counterclockwise direction perpendicular to the X-axis as the Y-axis;

[0016] S2-2: Convert the latitude and longitude data of ships and mining vehicles into meters in real time. The conversion formula is as follows:

[0017] (1) Longitude difference in meters:

[0018] Formula: Δmeter = (πR / 180) x Δlongitude;

[0019] Where R is the Earth's radius (approximately 6371 km or 6371000 m), π is the ratio of pi to longitude, and Δ longitude is the difference in longitude.

[0020] (2) Latitude difference in meters:

[0021] Formula: △meter = (πRcos(latitude) / 180) x △latitude;

[0022] Where R is the Earth's radius, π is pi, Δlongitude is the difference between latitudes, and cos(latitude) is the cosine value corresponding to the latitude.

[0023] S2-3: Calculate the distance d3 between the mining vehicle (point B) and the top suspension point of the umbilical cable (point A) on the xoy plane.

[0024] As a preferred embodiment of the present invention, S3-1: defining the safety zone. The safety zone of the mining vehicle needs to consider the stress on the umbilical cable, especially the force at the connection point, which must be within a reasonable range to ensure the normal operation of the mining vehicle. At the same time, it is necessary to ensure the optimal underwater morphology of the umbilical cable. This requires that the horizontal distance between the mining vehicle and the support vessel be moderate. The safety zone of the mining vehicle is first constrained by a ring with the mining vehicle as the center. The inner and outer radii R1 and R2 correspond to the closest and farthest horizontal distances between the mining vehicle and the support vessel, respectively. Since the mining vehicle moves on one side of the support vessel, it is a 120° fan-shaped area. If the mining vehicle exceeds the safety zone, the monitoring center will issue an alarm. The area outside the alarm zone is the danger zone.

[0025] S3-2: Set the control conditions for safety domain calculation. The umbilical cable and mining car are subject to the following control conditions, which are set according to the actual engineering situation. The design adopts the tension, curvature and overturning moment of the umbilical cable. The definition and acquisition method of tension, curvature and overturning moment of the mining car are as follows: (1) The safety limit tension of the umbilical cable obtained from the umbilical cable tension test is used as the tension threshold for calculating the super-boundary safety domain; (2) The safety limit bending moment of the umbilical cable obtained from the umbilical cable bending test is used as the curvature threshold for calculating the super-boundary safety domain; (3) The overturning moment obtained from the mining car overturning test is used as the curvature threshold for calculating the super-boundary safety domain. When the umbilical cable and mining car meet the above control conditions, it can be determined that the mining car meets the safety operation standard.

[0026] S3-3: Calculate the safe operating range of the mining vehicle. Based on the above control conditions for the umbilical cable and the mining vehicle, an overall coupled model of "mining vehicle-umbilical cable-surface support vessel" is established using OrcaFlex software. The distance between the vessel and the vehicle is calculated for different vessel-vehicle angles and wind, wave and current conditions to determine a suitable safe distance.

[0027] As a preferred embodiment of the present invention, S4-1: The calculated safe operating domain of the mining vehicle is built into the Python program. In the Python program, monitoring data is read every 10 seconds to obtain the location information of the ship and the mining vehicle, etc.

[0028] S4-2: Perform coordinate transformation. Calculate the distance d3 between the top suspension point (point A) of the umbilical cable and the mining vehicle (point B) in the horizontal plane (XOY plane) of the ship-vehicle coordinate system. The suspension point (point A) is located at the stern of the support vessel, and its coordinates are determined by the hull size and GNSS antenna position. The mining vehicle (point B) obtains its real-time position through the ultra-short baseline beacon and coordinate transformation. The origin O is the position of the GNSS antenna on the support vessel, i.e., the origin of the ship-vehicle coordinate system.

[0029] S4-3: Based on the built-in mining vehicle operation safety domain, it makes early warning judgments and outputs the mining vehicle operation status (safe or dangerous).

[0030] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0031] 1. This invention achieves real-time position synchronization between the mining vehicle and the support vessel through collaborative positioning using ultra-short baseline (USBL), GNSS, and gyrocompass. Simultaneously, based on a multi-parameter constraint model of umbilical cable tension, curvature, and the overturning moment of the mining vehicle, the safe operating domain of the mining vehicle is integrated into the system's early warning program to calculate the boundary of the safe domain and define the safe operating area. This prevents operational risks caused by excessive umbilical cable tension due to close proximity leading to overturning of the mining vehicle, or by excessive distance causing friction damage to the umbilical cable upon contact with the bottom. It enables real-time and intuitive assessment of the safety status of the in-situ trial mining system. By using multi-source collaborative positioning and multi-parameter models to assess the safety status of the mining vehicle in real time, combined with visual early warning and operational guidance, it achieves efficient and safe management of deep-sea mining operations.

[0032] 2. This invention utilizes the strong anti-interference capability of acoustic signals through USBL beacons, making it suitable for deep-sea environments and compensating for the inability of satellite signals to penetrate water. GNSS provides the absolute position of the ship, and the gyrocompass provides the heading angle. Combined with USBL, it achieves high-precision calculation of the ship-vehicle relative position. Different devices are integrated through API, TCP, and NMEA0183 protocols to ensure real-time interaction of heterogeneous data sources. The small local area network reduces data transmission latency and packet loss risk, ensuring reliable transmission of critical commands in deep-sea operations.

[0033] 3. This invention uses the ship as a reference frame to directly reflect the real-time position of the mining vehicle relative to the ship, which facilitates the determination of the safety domain boundary. It reduces coordinate system transformation errors (especially in deep-sea long-distance scenarios) by using precise formulas for calculating the Earth's radius and the difference between latitude and longitude. Combined with the distance from the GNSS antenna to the umbilical cable suspension point A and the heading angle, it calculates the plane distance (d3) between the mining vehicle and the suspension point in real time, providing key input for the stress analysis of the umbilical cable. The ship-vehicle coordinate system avoids the frequent global coordinate update errors under the geodetic coordinate system, improving the stability of local positioning.

[0034] 4. This invention avoids misjudgments caused by a single threshold by comprehensively considering the mechanical properties of the umbilical cable (tension, curvature) and the stability of the mining vehicle (overturning moment). It limits the operating sector to 120°, which meets the actual needs of the mining vehicle operating on one side of the stern, reduces the invalid monitoring range, and optimizes the boundary parameters of the safety domain (such as R1 and R2) by simulating the influence of wind, waves and current through the OrcaFlex coupling model, ensuring that theoretical calculations match actual working conditions. The threshold is set based on experimental data (tension, bending and overturning experiments), which improves the scientificity and reliability of the safety domain.

[0035] 5. This invention facilitates the integration of multi-source data (such as sensor and model outputs) through the Python language, supports rapid algorithm iteration, reduces manual intervention through periodic data reading and status judgment, improves response speed (such as second-level alarm after exceeding the limit), provides operators with intuitive decision-making basis through status output (safe / dangerous), reduces the risk of misoperation, and the 10-second interval balances the computational load and real-time requirements, making it suitable for the limited hardware resources in deep-sea operations. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of the hardware system transmission architecture of the present invention;

[0037] Figure 2 This is a definition diagram of the ship-vehicle coordinate system of the present invention;

[0038] Figure 3 This is a variable transformation diagram within the ship-vehicle coordinate system of the present invention;

[0039] Figure 4 This is a schematic diagram of the security domain of the present invention. Detailed Implementation

[0040] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0041] like Figures 1 to 4 As shown, the present invention provides a method for early warning of mine truck exceeding boundaries in a deep-sea mining system, comprising the following steps:

[0042] S1: Real-time location determination and information transmission network establishment. Ultra-short baseline beacons and GNSS antennas are installed on the mining vehicle and support vessel respectively, and the vessel is equipped with an electric compass, supplemented by inertial navigation, to establish an information transmission network for real-time acquisition of the mining vehicle and support vessel's location information and real-time monitoring of the vessel's heading;

[0043] S2: The collected real-time latitude and longitude information of the ship and vehicle is transformed from the geodetic coordinate system to the ship and vehicle coordinate system;

[0044] S3: Perform safety domain calculations for the mining vehicle to determine the safety domain boundary of the mining vehicle in the ship-vehicle coordinate system;

[0045] S4: The safe operating zone of the mining vehicle is built into the system early warning program. The monitoring data is read every 10 seconds, and the location information of the mining vehicle is read in real time. The system determines whether the movement of the mining vehicle exceeds the boundary based on the safe operating zone of the mining vehicle. If the mining vehicle exceeds the boundary, the system will issue an early warning.

[0046] refer to Figure 1 S1-1: Install an ultra-short baseline beacon on the mining vehicle to achieve real-time monitoring of the mining vehicle's position through ranging and direction finding using acoustic signals. The ultra-short baseline beacon system interacts with the mining vehicle's out-of-bounds early warning system via the API protocol and receives the mining vehicle's real-time latitude and longitude information, which is in degrees (°).

[0047] S1-2: Install a GNSS antenna on the support vessel to determine the vessel's real-time position by receiving satellite signals. Use the TCP protocol to receive GNSS antenna signals and obtain the vessel's real-time latitude and longitude information, in degrees (°).

[0048] S1-3: Connect the ship's gyrocompass and use the NEMA0183 protocol to achieve real-time access to the ship's heading. The real-time heading of the ship is the direction the bow is pointing, starting from north and rotating counterclockwise, with the unit being degrees (°).

[0049] S1-4: A small local area network is built using a GNSS antenna, an ultra-short baseline beacon, a gyrocompass, and a computer terminal to achieve stable data transmission.

[0050] refer to Figure 2-3 S2-1: Establish the ship-vehicle coordinate system, define the position of the ship's GNSS antenna as the origin, the ship's bow direction as the X-axis of the ship-vehicle coordinate system, and the counterclockwise direction perpendicular to the X-axis as the Y-axis;

[0051] S2-2: Convert the latitude and longitude data of ships and mining vehicles into meters in real time. The conversion formula is as follows:

[0052] (1) Longitude difference in meters:

[0053] Formula: Δmeter = (πR / 180) x Δlongitude;

[0054] Where R is the Earth's radius (approximately 6371 km or 6371000 m), π is the ratio of pi to longitude, and Δ longitude is the difference in longitude.

[0055] (2) Latitude difference in meters:

[0056] Formula: △meter = (πRcos(latitude) / 180) x △latitude;

[0057] Where R is the Earth's radius, π is pi, Δlongitude is the difference between latitudes, and cos(latitude) is the cosine value corresponding to the latitude.

[0058] S2-3: Calculate the distance d3 between the mining vehicle (point B) and the top suspension point of the umbilical cable (point A) on the xoy plane.

[0059] The calculation steps are as follows:

[0060] The origin O is the position of the ship's GNSS antenna, point A is the suspension point of the umbilical cable at the stern, and point B is the position of the mining vehicle.

[0061] d1 is defined as the distance from the GNSS antenna to the umbilical cable suspension point A, in meters (m), which is obtained directly through measurement and can be regarded as a constant.

[0062] Define d2 as the distance between the ship and the vehicle, that is, the distance from point B to the origin. After converting the collected latitude and longitude data of the ship and the vehicle into data in meters using a formula, the coordinates (x, y, y) of points O and B can be calculated. O x O ), (x B ,y B The relative distance between the mining vehicle and the ship is the difference between the coordinates of B and O (x). B -x O ,y B -y O ), represented as (x car ,y car If ), then d2 is:

[0063]

[0064] Based on the known d1, the heading θ of the supporting vessel... vessel The coordinates of the suspension point A in the geodetic coordinate system can then be calculated as (x... A ,y A )

[0065] x A =d1cosθ vessel

[0066] x B =d1sinθ vessel

[0067] achievable

[0068] refer to Figure 4 S3-1: Define the safety zone. The safety zone of the mining vehicle needs to consider the stress on the umbilical cable, especially the force at the connection point, which must be within a reasonable range to ensure the normal operation of the mining vehicle. At the same time, it is necessary to ensure the optimal underwater morphology of the umbilical cable. This requires that the horizontal distance between the mining vehicle and the support vessel be moderate. The safety zone of the mining vehicle is first constrained by a ring with the mining vehicle as the center. The inner and outer radii R1 and R2 correspond to the closest and farthest horizontal distances between the mining vehicle and the support vessel, respectively. Since the mining vehicle moves on one side of the support vessel, it is a 120° sector area. If the mining vehicle exceeds the safety zone, the monitoring center will alarm. The area outside the alarm zone is the danger zone.

[0069] S3-2: Set the control conditions for the safety domain calculation. The umbilical cable and mining car have the following control conditions set according to the actual situation of the project. The design adopts the tension, curvature of the umbilical cable and the overturning moment of the mining car. The definition and acquisition method of tension, curvature and overturning moment of the mining car are as follows: (1) The safety limit tension of the umbilical cable obtained from the umbilical cable tension test is used as the tension threshold for the calculation of the super-boundary safety domain; (2) The safety limit bending moment of the umbilical cable obtained from the umbilical cable bending test is used as the curvature threshold for the calculation of the super-boundary safety domain.

[0070] (3) The overturning moment obtained from the overturning test of the mining car is used as the curvature threshold for calculating the super-boundary safety domain. When the umbilical cable and the mining car meet the above control conditions, it can be determined that the mining car has reached the safe operation standard.

[0071] S3-3: Calculate the safe operating range of the mining vehicle. Based on the above control conditions for the umbilical cable and the mining vehicle, an overall coupled model of "mining vehicle-umbilical cable-surface support vessel" is established using OrcaFlex software. The distance between the vessel and the vehicle is calculated for different vessel-vehicle angles and wind, wave and current conditions to determine a suitable safe distance.

[0072] refer to Figure 3 S4-1: The calculated safe operating domain of the mining vehicle is built into the Python program. In the Python program, monitoring data is read every 10 seconds to obtain the location information of the ship and the mining vehicle, etc.

[0073] S4-2: Perform coordinate transformation. Calculate the distance d3 between the top suspension point (point A) of the umbilical cable and the mining vehicle (point B) in the horizontal plane (XOY plane) of the ship-vehicle coordinate system. The suspension point (point A) is located at the stern of the support vessel, and its coordinates are determined by the hull size and GNSS antenna position. The mining vehicle (point B) obtains its real-time position through the ultra-short baseline beacon and coordinate transformation. The origin O is the position of the GNSS antenna on the support vessel, i.e., the origin of the ship-vehicle coordinate system.

[0074] S4-3: Based on the built-in mining vehicle operation safety domain, it makes early warning judgments and outputs the mining vehicle operation status (safe or dangerous).

[0075] In summary, this deep-sea mining system's out-of-bounds early warning method, based on the OrcaFlex-Python-Unity3D real-time human-computer interaction architecture, pioneers a state-aware, multi-scenario adaptive real-time prediction technology for the dynamic configuration of ultra-thin and long cables, and a multi-body, multi-index real-time decision-making and early warning technology for nonlinear motion systems. It also proposes key technologies for modular integration and real-time transmission of multi-source heterogeneous sensors. This enables real-time monitoring of the environment, motion, and mechanical response of the deep-sea mining vessel-cable-car system, real-time prediction of the spatial configuration and key mechanical response indicators of the umbilical cable, and multi-index early warning under multi-body coupling conditions of the nonlinear motion system. It provides "digital eyes" for the mining vehicle and umbilical cable underwater operations, effectively supporting the large-scale movement and safe deployment and retrieval of the mining vehicle. Furthermore, it offers a solution for digitalizing the operation process, making mechanical response transparent, and providing intelligent operational assistance for deep-sea mining engineering demonstration operations, effectively contributing to the digital and intelligent development of deep-sea mining system equipment.

[0076] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0077] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A method for early warning of mine truck exceeding boundaries in a deep-sea mining system, characterized in that: Includes the following steps: S1: Real-time location determination and information transmission network establishment. Ultra-short baseline beacons and GNSS antennas are installed on the mining vehicle and support vessel respectively, and the vessel is equipped with an electric compass, supplemented by inertial navigation, to establish an information transmission network for real-time acquisition of the mining vehicle and support vessel's location information and real-time monitoring of the vessel's heading; S2: The collected real-time latitude and longitude information of the ship and vehicle is transformed from the geodetic coordinate system to the ship and vehicle coordinate system; S3: Perform safety domain calculations for the mining vehicle to determine the safety domain boundary of the mining vehicle in the ship-vehicle coordinate system; S4: The safe operating zone of the mining vehicle is built into the system's early warning program. The monitoring data is read every 10 seconds, and the location information of the mining vehicle is read in real time. The system determines whether the movement of the mining vehicle exceeds the boundary based on the safe operating zone of the mining vehicle. If a mining truck exceeds the boundary, a system warning will be issued.

2. The method for early warning of mine truck exceeding boundaries in a deep-sea mining system according to claim 1, characterized in that: S1-1: Install an ultra-short baseline beacon on the mining vehicle to achieve real-time monitoring of the vehicle's position through ranging and direction finding using acoustic signals. The ultra-short baseline beacon system interacts with the mining vehicle out-of-bounds early warning system via the API protocol and receives the real-time latitude and longitude information of the mining vehicle, with the unit being degrees (°). S1-2: Install a GNSS antenna on the support vessel to determine the vessel's real-time position by receiving satellite signals. Use the TCP protocol to receive GNSS antenna signals and obtain the vessel's real-time latitude and longitude information, in degrees (°). S1-3: Connect the ship's gyrocompass and use the NEMA0183 protocol to achieve real-time access to the ship's heading. The real-time heading of the ship is the direction the bow is pointing, starting from north and rotating counterclockwise, with the unit being degrees (°). S1-4: A small local area network is built using a GNSS antenna, an ultra-short baseline beacon, a gyrocompass, and a computer terminal to achieve stable data transmission.

3. The method for early warning of mine truck exceeding boundaries in a deep-sea mining system according to claim 1, characterized in that: The S2-1: Establish a ship-vehicle coordinate system, define the ship's GNSS antenna position as the origin, the ship's bow direction as the X-axis of the ship-vehicle coordinate system, and the counterclockwise direction perpendicular to the X-axis as the Y-axis; S2-2: Convert the latitude and longitude data of ships and mining vehicles into meters in real time. The conversion formula is as follows: (1) Longitude difference in meters: Formula: Δmeter = (πR / 180) x Δlongitude; Where R is the Earth's radius (approximately 6371 km or 6371000 m), π is the ratio of pi to longitude, and Δ longitude is the difference in longitude. (2) Latitude difference in meters: Formula: △meter = (πRcos(latitude) / 180) x △latitude; Where R is the Earth's radius, π is pi, Δlongitude is the difference between latitudes, and cos(latitude) is the cosine value corresponding to the latitude. S2-3: Perform coordinate transformation and calculate the horizontal distance d3 between the umbilical cable top suspension point (point A) and the mining vehicle (point B) in the ship-vehicle coordinate system (XOY plane). The suspension point (point A) is located at the stern of the support vessel, and its coordinates are determined by the vessel's dimensions and the position of the GNSS antenna. The mining vehicle (point B) obtains its real-time position through an ultra-short baseline beacon and coordinate transformation. The origin O is the position of the support vessel's GNSS antenna, i.e., the origin of the ship-vehicle coordinate system.

4. The method for early warning of mine truck exceeding boundaries in a deep-sea mining system according to claim 1, characterized in that: S3-1: Define the safety zone. The safety zone of the mining vehicle needs to consider the stress on the umbilical cable, especially the force at the connection point, which must be within a reasonable range to ensure the normal operation of the mining vehicle. At the same time, it is necessary to ensure the optimal underwater morphology of the umbilical cable. This requires that the horizontal distance between the mining vehicle and the support vessel be moderate. The safety zone of the mining vehicle is first constrained by a ring with the mining vehicle as the center. The inner and outer radii R1 and R2 correspond to the closest and farthest horizontal distances between the mining vehicle and the support vessel, respectively. Since the mining vehicle moves on one side of the support vessel, it is a 120° sector area. If the mining vehicle exceeds the safety zone, the monitoring center will alarm. The area outside the alarm zone is the danger zone. S3-2: Set the control conditions for the safety domain calculation. The umbilical cable and mining car have the following control conditions set according to the actual situation of the project. The design adopts the tension, curvature of the umbilical cable and the overturning moment of the mining car. The definition and acquisition method of tension, curvature and overturning moment of the mining car are as follows: (1) The safety limit tension of the umbilical cable obtained from the umbilical cable tension test is used as the tension threshold for the calculation of the super-boundary safety domain; (2) The safety limit bending moment of the umbilical cable obtained from the umbilical cable bending test is used as the curvature threshold for the calculation of the super-boundary safety domain. (3) The overturning moment obtained from the overturning test of the mining car is used as the curvature threshold for calculating the super-boundary safety domain. When the umbilical cable and the mining car meet the above control conditions, it can be determined that the mining car has reached the safe operation standard. S3-3: Calculate the safe operating range of the mining vehicle. Based on the above control conditions for the umbilical cable and the mining vehicle, an overall coupled model of "mining vehicle-umbilical cable-surface support vessel" is established using OrcaFlex software. The distance between the vessel and the vehicle is calculated for different vessel-vehicle angles and wind, wave and current conditions to determine a suitable safe distance between the vessel and the vehicle.

5. The method for early warning of mine truck exceeding boundaries in a deep-sea mining system according to claim 1, characterized in that: S4-1: The calculated safe operating domain of the mining vehicle is built into the Python program. In the Python program, monitoring data is read every 10 seconds to obtain the location information of the ship and the mining vehicle, etc. S4-2: Real-time calculation of the horizontal distance d3 between the mining vehicle (point B) and the top suspension point of the umbilical cable (point A) on the xoy plane. S4-3: Based on the relative range and distance of the built-in mining vehicle operation safety zone, it makes an early warning judgment and outputs the mining vehicle operation status (safe or dangerous).

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