Environment-friendly composite drive mine collecting system based on environment recognition and suitable for deepwater condition

Abstract

The invention provides an environment recognition-based environment-friendly composite drive mine collecting system suitable for deepwater conditions, which comprises a main body frame, a low-noise drive device and a sliding system, the low-noise drive device is arranged at the lower part of the main body frame, and the sliding system is arranged at the upper part of the main body frame; the low-noise driving device comprises a driving wheel, a guide wheel, a riding wheel, a riding wheel bracket, a thrust wheel, a trolley frame, a tension spring and a special tooth-shaped double-rib caterpillar band tooth unit; with the direction of the vehicle head as the front, the driving wheel is arranged at the front part of the low-noise driving device, the guide wheel is arranged at the rear part of the low-noise driving device, and the driving wheel and the guide wheel are meshed with the external special tooth-shaped double-rib crawler tooth unit; the trolley frame is arranged between the driving wheel and the guide wheel, and the guide wheel is connected with the rear portion of the tensioning spring. Application of the method includes but is not limited to scenes such as obstacle avoidance and mining area replacement, and operation flexibility and mining operation efficiency are remarkably improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of deepwater mining, in particular, especially relates to an environmental protection composite driving mining system based on environmental identification suitable for deepwater conditions. BACKGROUND

[0002] In the field of deep-sea resource development, a deepwater mining vehicle is a key operation equipment. It is mainly used for collecting and transporting seabed mineral resources in deepwater environment. The deepwater mining vehicle usually has a powerful power system and advanced control device to cope with the complex and harsh environment of high pressure and low temperature in deepwater area. Its body design is compact and solid, which can stably travel on the rugged terrain of the seabed, and is equipped with efficient mining device to collect and temporarily store the seabed resources such as ore in the vehicle or directly transport to the transport ship carrier. It has important significance for promoting the development and utilization of deep-sea mineral resources, and is an important part of the sustainable development strategy of marine resources.

[0003] At present, the optimization method of the mining vehicle mainly focuses on optimizing part of the structure of a certain type of mining vehicle. For example, the collection method of polymetallic nodule mining vehicle is optimized, such as using rake structure and other mechanical equipment to realize the acquisition of ore. Some technologies focus on optimizing the track structure of the mining vehicle, and optimize the parameters of the track to reduce the environmental impact. The existing mining vehicle mainly uses track walking mechanism to move, and moves slowly and clumsily, and has low flexibility. In the polymetallic nodule occurrence terrain, due to the nature of seabed sediments, the mining vehicle needs to maintain a certain turning radius during turning, otherwise it is easy to slip and stall, and other adverse effects. In the cobalt-rich crust occurrence terrain, the mining vehicle needs to maintain good grip during the whole walking process to prevent the vehicle from being stuck and other adverse situations.

[0004] The current deep-sea polymetallic nodule detection and automatic control technology has significant limitations: (1) It mainly relies on a single optical sensor carried by a deep-sea submersible to collect seabed images. The existing mining vehicle sensing system lacks the cooperation and fusion of multi-sensor devices, and cannot construct a three-dimensional environment model, which makes the mining vehicle unable to real-time perceive the spatial distribution characteristics of the nodule and the mine environment information. (2) The current technology fails to establish a dynamic control system of sensor data and vehicle control parameters, and the key parameters such as driving speed still rely on preset threshold, which has high response delay in complex terrain and serious safety hazards. SUMMARY

[0005] To address the aforementioned technical problem of existing deep-water ore collection vehicles lacking the collaborative fusion of multi-sensor equipment, this invention provides an environmentally friendly, composite-drive ore collection system based on environmental recognition, suitable for deep-water conditions. This invention can efficiently identify surrounding terrain information and adjust the ore collection vehicle's driving parameters according to the identification results, achieving path switching in a shorter time and over a shorter distance.

[0006] The technical means employed in this invention are as follows: An environmentally friendly composite-driven ore collection system based on environmental identification suitable for deep-water conditions includes a main frame, a low-noise drive device, and a sliding system. The low-noise drive device is located at the lower part of the main frame, and the sliding system is located at the upper part of the main frame. The low-noise drive device includes a drive wheel, a guide wheel, a support roller, a chain roller bracket, a support roller, a trolley frame, a tension spring, and a special toothed double-ribbed track unit. With the front of the vehicle as the front, the drive wheel is located at the front of the low-noise drive device, and the guide wheel is located at the rear of the low-noise drive device. The drive wheel and guide wheel mesh with the external special toothed double-ribbed track unit. The trolley frame is located between the drive wheel and the guide wheel. The guide wheel is connected to the rear of the tension spring, and the front of the tension spring is connected to the trolley frame. A chain roller bracket is longitudinally arranged on the trolley frame, and a support roller is arranged on the chain roller bracket. The support roller contacts the upper special toothed double-ribbed track unit. Several support rollers are arranged on the trolley frame, and the support rollers contact the lower special toothed double-ribbed track unit. The taxiing system includes a taxiing cabin, a taxiing mechanism, and a rotating mechanism. The taxiing mechanism is arranged on the left and right sides and the rear of the taxiing cabin, and the taxiing mechanism is connected to the taxiing cabin through the rotating mechanism. A speed sensor is installed inside the taxiing mechanism. The speed sensor monitors the speed of the taxiing mechanism and generates a speed signal, which is sent to the central control unit.

[0007] Furthermore, it also includes: Side buoyancy chambers are located on the left and right sides inside the main frame; The ore collecting device, installed at the front of the ore collecting car, is used to collect seabed ore particles and transport them to the storage bin. The conveying pipe is installed above the ore collection car and is connected to the storage bin. Ore particles will enter the transportation pipeline system through the conveying pipe and be transported to ships on the water.

[0008] An image recognition unit is located on the front and rear sides of the main frame. The image recognition unit recognizes the distribution of polymetallic nodules on the seabed and the terrain around the mining car and generates a recognition signal to send to the central control unit. A sonar system is arranged on the top of the taxi cabin, which monitors the distance features of the environment around the mine car in real time and generates distance signals to the central control unit; A central control unit is arranged between the left and right side buoyancy tanks; A storage bin is arranged above the central control unit.

[0009] Further, the special tooth-shaped double-rivet grousers include a plurality of track links fixed to the track base plate, the track link includes a middle rectangular portion and a semicircular portion extending forward and backward from the rectangular portion, and the outer portion of the track link is connected to the connecting plate; the front portion of the connecting plate corresponds to the front semicircular portion of the track link and is attached to the front semicircular portion of the track link; the middle portion of the connecting plate is a straight plate corresponding to the middle rectangular portion of the track link and attached to the rectangular portion; the rear portion of the connecting plate corresponds to the rear semicircular portion of the track link, the rear portion of the connecting plate is raised outward, and the inner side of the rear portion of the connecting plate is recessed outward. The outer surface of the middle portion of the connecting plate is provided with a main tooth, and the outer surface of the rear portion of the connecting plate is provided with a secondary tooth.

[0010] Further, the cross section of the main tooth is trapezoidal, and the included angle between the side of the main tooth and the horizontal plane is 75°; the tooth height of the secondary tooth is 0.6-0.8 times that of the main tooth, and the cross section of the secondary tooth is trapezoidal.

[0011] Further, the central control unit includes an image recognition module, a sonar module, a central system module, and a taxiing and walking module. The image recognition module is used to process the input image of the image recognition unit. The sonar receiver is used to process the sonar echo, convert the sound wave signal into an electric signal, and amplify and process it. The central system module is used to accept the input data information of the image recognition module and the sonar receiver and the sensor system, and transmit the instructions to the taxiing and walking module as the instruction transmission base station. The taxiing and walking module is used to accept the instructions transmitted by the central system module and control the operation mode of the taxiing system and the low-noise driving device.

[0012] The application also provides a control method for an environmental protection composite driving ore collection system based on environmental recognition under deep water conditions, which is based on any one of the above-mentioned environmental protection composite driving ore collection systems based on environmental recognition under deep water conditions. S1, the image recognition unit determines that an obstacle appears in front; S2, the distance L of the front obstacle from the ore collecting vehicle is detected by using the sonar system, the distance L is processed through the sonar receiver and uploaded to the central system module; S3, the central system module determines the movement of the ore collecting vehicle according to the pre-set safety distance value L s ; when L=L s , the central system module applies instructions to the sliding and walking module, and the low-noise driving device stops running; S4, the central system module applies instructions to the sliding and walking module, the sliding mechanism speed is increased, the ore collecting vehicle starts to vertically rise, and the speed information is transmitted to the central system module through the speed sensor; S5, the front environment of the ore collecting vehicle is monitored in real time through the sonar system during the vertical rising process, when it is determined through the central system module that there is no obstacle in front, instructions are transmitted to the sliding and walking module, the sliding mechanism speed remains unchanged, and the ore collecting vehicle is in a suspended state; S6, the central system module applies instructions to the sliding and walking module to adjust the speed of the sliding mechanism on both sides, so as to make the ore collecting vehicle slide forward; S7, the image transmitted by the image recognition unit at the rear end of the ore collecting vehicle is processed by using the image recognition module, whether the ore collecting vehicle is away from the obstacle is judged through the central system module, after it is determined that the ore collecting vehicle is away from the obstacle, instructions are applied through the central system module to reduce the speed of the sliding mechanism, and the distance between the ore collecting vehicle and the seabed is monitored in real time through the sonar system; S8, the distance data processed by the sonar receiver is collected through the central system module, instructions are transmitted to the sliding and walking module after the ore collecting vehicle lands, the sliding system stops running, the low-noise driving device starts running, and the ore collecting vehicle starts to walk.

[0013] The application also provides a control method for replacing a mining area of an environmental protection composite driving ore collecting system based on environmental recognition under deep water conditions, and is based on any one of the above-mentioned environmental protection composite driving ore collecting systems based on environmental recognition under deep water conditions. T1, the image data of the current position of the ore distribution is obtained by the image recognition unit at the front end of the ore collecting vehicle, the ore distribution abundance A is determined through the image recognition module, and the data is uploaded to the central system module; T2, the central system module determines the abundance according to the pre-set ore abundance threshold A d ; when the actual abundance value A is less than A d / 3, the central system module sends instructions to the sliding and walking module to make the low-noise driving device stop running; T3, the central system module applies instructions to the sliding and walking module, the sliding mechanism speed increases, and the sonar receiver input mine car off the ground height data H is compared with the preset sliding height H d Comparison is made; T4, when H=Hd, the central system module applies instructions to the sliding and walking module, the sliding mechanism speed is unchanged, and the mine car remains in a suspended state; T5, the speed of the sliding mechanism is adjusted by the PID control module in the central system module, so that it slowly slides along the seabed while ensuring that H=H d ; T6, the snapshot input by the image recognition unit 8 is processed in real time by the image recognition module to obtain seabed ore particle abundance data A', and is transmitted to the central system module and compared with the preset abundance value A d Comparison is made; T7, when A'>2 / 3 A d , the central system module applies instructions to the sliding and walking module to stop the mine car from sliding and keep it in a suspended state; T8, the central system module applies instructions to slowly reduce the speed of the sliding mechanism, and the distance of the mine car from the seabed is monitored in real time by the sonar system; T9, the central system module collects distance data processed by the sonar receiver, determines when the mine car lands, transmits instructions to the sliding and walking module, the sliding mechanism stops running, the low-noise driving device starts running, and the mine car starts walking.

[0014] Compared with the prior art, the present application has the following advantages: The present application proposes a new type of sliding and walking integrated mine car mining system. The system can make the mine car float in the deep sea environment, improve the flexibility of the mine car, realize path adjustment in a short distance and short time, and realize obstacle avoidance and mine area replacement.

[0015] The present application proposes an environment perception method based on the fusion of an image recognition unit suitable for deep water environment and a sonar system. The method can comprehensively analyze the ore distribution characteristics and mine area topographic features, and realize three-dimensional perception of the deep sea environment.

[0016] The present application proposes a path adjustment control method based on environment recognition. The control system can perceive the environment around the mine car and adjust the travel mode of the mine car in real time, improve the safety of mining operation, shorten the time required for obstacle avoidance, and improve the efficiency of mining. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0018] Figure 1 is a schematic diagram of a mining vehicle for deep-sea mining provided by the present application; Figure 2 is a side view of a ring mining vehicle for deep-sea mining provided by the present application; Figure 3 is a schematic diagram of a sliding system provided by the present application; Figure 4 is a schematic diagram of a low-noise driving device provided by the present application; Figure 5 is a schematic diagram of a special tooth-shaped double-rib grousing unit structure provided by the present application; Figure 6 is a flow chart of a control method when encountering obstacles provided by the present application; Figure 7 is a flow chart of a control method when changing mining areas provided by the present application.

[0019] In the figure: 1, main frame; 2, mining device; 3, low-noise driving device; 31, driving wheel; 32, guide wheel; 33, carrier wheel; 34, carrier sprocket support; 35, supporting wheel; 36, trolley frame; 37, tension spring; 38, special tooth-shaped double-rib grousing unit; 371, track pin; 381, main tooth; 382, secondary tooth; 383, track link; 4, sliding system; 41, sliding cabin body; 42, sliding mechanism; 43, rotating mechanism; 5, central control unit; 6, storage bin; 7, side buoyancy cabin; 8, image recognition unit; 9, sonar system; 10, material conveying pipe. DETAILED DESCRIPTION

[0020] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The present application will be described in detail below with reference to the drawings and in combination with the embodiments.

[0021] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all embodiments of the present application. The following description of at least one example embodiment is merely illustrative in nature and is in no way limiting on the application or its applications or uses. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0022] It should be noted that the terminology used herein is for the purpose of describing specific embodiments only and is not intended to limit exemplary embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, steps, operations, elements, components, and / or groups thereof, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or groups thereof.

[0023] The relative arrangement of components and steps, numerical expressions, and numerical values set forth in the embodiments are not intended to limit the scope of the present application unless specifically stated otherwise. It should be clear that the sizes of the various portions shown in the drawings are not drawn to scale for ease of description. Techniques, methods, and devices known to those of ordinary skill in the relevant art can not be discussed in detail, but should be considered as part of the specification where appropriate. In all examples shown and discussed herein, any specific value should be interpreted as merely exemplary, and not as a limitation. Thus, other examples of the exemplary embodiments can have different values. It should be noted that like reference numerals and letters refer to like items in the following drawings, and thus, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0024] In the description of the present application, it should be understood that the orientation words such as "front, back, up, down, left, right", "horizontal, vertical, perpendicular, horizontal" and "top, bottom" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate and imply that the indicated device or element must have a particular orientation or be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the scope of protection of the present application: the orientation words "inner, outer" refer to the inner and outer relative to the contour of each component.

[0025] For ease of description, spatial relative terms such as "above," "over," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation besides the orientation of the device as described in the figures. For example, if the device in the figures is inverted, a device described as "above" or "above" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0026] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0027] like Figure 1 and Figure 2 As shown, the present invention provides an environmentally friendly composite drive ore collection system based on environmental identification suitable for deep-water conditions, including a main frame 1, a low-noise drive device 3, a sliding system 4, a side buoyancy chamber 7, an image recognition unit 8, a sonar system 9, a central control unit 5, and a storage bin 6. The low-noise drive device 3 is located at the lower part of the main frame 1, and the sliding system 4 is located at the upper part of the main frame 1. like Figure 4 and Figure 5 As shown, the low-noise drive device 3 includes a drive wheel 31, a guide wheel 32, a support roller 33, a chain roller bracket 34, a support roller 35, a trolley frame 36, a tension spring 37, and a special toothed double-ribbed track unit 38. With the front of the vehicle as the front, the drive wheel 31 is located at the front of the low-noise drive device 3, and the guide wheel 32 is located at the rear of the low-noise drive device 3. The drive wheel 31 and the guide wheel 32 mesh with the external special toothed double-ribbed track unit 38. The trolley frame 36 is configured with… Between the drive wheel 31 and the guide wheel 32, the guide wheel 32 is connected to the rear of the tension spring 37, the front of the tension spring 37 is connected to the trolley frame 36, the trolley frame 36 is longitudinally provided with a chain roller bracket 34, the chain roller bracket 34 is provided with a support roller 33, the support roller 33 is in contact with the upper special toothed double rib track unit 38, and the trolley frame 36 is provided with a plurality of support rollers 35, the support rollers 35 are in contact with the lower special toothed double rib track unit 38; The special tooth-shaped double-rib grousing unit 38 comprises a plurality of track links 383 fixed on the track base plate, the track links 383 comprising a middle rectangular part and a semicircular part extending forward and backward from the rectangular part, and the outer part of the track links 383 being connected with the connecting plate; the front part of the connecting plate corresponds to the front semicircular part of the track link 383 and is fitted to the front semicircular part of the track link 383; the middle part of the connecting plate is a straight plate corresponding to and fitted to the middle rectangular part of the track link 383; the rear part of the connecting plate corresponds to the rear semicircular part of the track link 383, the rear part of the connecting plate is raised outward, and the inner side of the rear part of the connecting plate is recessed outward; the outer surface of the middle part of the connecting plate is provided with the main tooth 381, and the outer surface of the rear part of the connecting plate is provided with the secondary tooth 382.

[0028] The sliding system 4 comprises a sliding cabin 41, sliding mechanisms 42 arranged on the left and right sides and the tail of the sliding cabin 41, and a rotating mechanism 43 connecting the sliding mechanisms 42 and the sliding cabin 41; the sliding mechanisms 42 are internally provided with a rotating speed sensor that monitors the rotating speed of the sliding mechanisms 42 and generates a rotating speed signal sent to the central control unit 5.

[0029] The side buoyancy tanks 7 are arranged on the left and right sides inside the main body frame 1. The image recognition unit 8 is arranged on the front and rear sides outside the main body frame 1, the image recognition unit 8 recognizes the distribution of seafloor polymetallic nodules and the terrain around the mine car and generates image information sent to the central control unit 5. The sonar system 9 is arranged on the top of the sliding cabin 41, the sonar system 9 monitors the distance features of the environment around the mine car in real time and generates a distance signal sent to the central control unit 5. The central control unit 5 is arranged between the left and right side buoyancy tanks 7. The storage bin 6 is arranged above the central control unit 5.

[0030] The ore collecting device 2 is installed at the front end of the ore collecting vehicle, used for collecting seafloor ore particles and transporting them to the storage cabin 6. The material conveying pipe 10 is installed above the ore collecting vehicle and communicates with the storage bin 6, the ore particles will enter the conveying pipe system through the material conveying pipe and be transported to the water surface ship.

[0031] In this invention: the drive wheel 31 meshes with the output shaft of the hydraulic motor via an involute spline. When the hydraulic motor rotates, the tooth groove of the drive wheel pushes the pin sleeve of the track link 383, which is converted into the movement of the track link. The guide wheel 32 is connected to the tension spring 37 to form a closed-loop adjustment system. The spring has a certain initial pre-compression amount, which can drive the guide wheel to push the tension shaft to slide in the bushing through the extension or compression of the track. This is used to dynamically adjust the track tension while absorbing impact. The extreme position is rigidly limited by the welded stop block. The carrier roller 33 and the carrier roller bracket 34 are installed and fixed on the trolley frame 36 through a hinged bracket to support the middle of the track. The support rollers 35 are evenly distributed in 6 sets along the longitudinal direction of the trolley frame 36 to transfer the vehicle load to the track.

[0032] Optionally, the tension spring 37 reduces the wear of track pins 371, bushings and other moving parts during use by adjusting the track tension, and also has a certain buffering effect; Optionally, the special toothed double-ribbed track tooth unit 38 is composed of a main tooth 381, a secondary tooth 382, ​​and a track link 383. The track link 383 is fixed to the track base plate by four high-strength bolts, and the main tooth 381 and the secondary tooth 382 are welded to the base plate and arranged in an alternating manner. Optionally, the main tooth 381 has a trapezoidal cross-section with an angle of 75° to the horizontal plane; the auxiliary tooth 382 has a tooth height 0.6-0.8 times that of the main tooth 381, and a trapezoidal cross-section. A sludge removal hole is provided between the main and auxiliary teeth to reduce sediment adhesion and avoid stress concentration. Optionally, the tension spring 37 is integrated between the guide wheel 32 and the trolley frame 36. By dynamically adjusting the track tension, it limits the stress fluctuation between the sprocket and the tensioning device. At the same time, a rubber sealing ring and a lubricating layer are provided between the track pin 371 and the pin sleeve. The vibration suppression of the tension spring 37 reduces the wear rate of the track pin 371 and the pin sleeve. like Figure 3 As shown, the sliding system 4 includes a sliding cabin 41, a sliding mechanism 42, and a rotating mechanism 43, arranged on the upper part of the main frame 1. The sliding mechanism 42 is arranged on the left and right sides and the rear of the sliding cabin 41. The sliding mechanism 42 is equipped with a speed sensor to monitor its rotational speed. The rotating mechanism 43 allows the sliding mechanism 42 to rotate 360° in all directions. By employing the sliding system 4, the mining truck can perform various flexible movement operations such as levitation and sliding on the seabed, significantly improving its maneuverability in complex seabed terrain.

[0033] The side buoyancy chamber 7 is installed inside the main frame 1. There is a side buoyancy chamber 7 on each of the left and right sides of the ore collecting car, which is used to adjust the buoyancy when the ore collecting car is lowered and raised. The image recognition unit 8 is installed at the front and rear ends of the collecting vehicle, is installed on the main body frame, and is used for recognizing the seafloor polymetallic nodule distribution and the terrain around the collecting vehicle. The sonar system 9 is installed on the top of the sliding cabin body 41, and mainly functions to monitor the distance features of the environment around the collecting vehicle in real time, including but not limited to the undulations of the seafloor terrain, the positions of obstacles, and key information such as the distance of the collecting vehicle from the seafloor, to provide important data support for the navigation and path planning of the collecting vehicle.

[0034] The central control unit 5 is installed inside the main body frame 1, between the two side buoyancy cabins 7, and below the storage bin 6. As shown in the accompanying drawings, Figure 6 The present application also provides a control method of the environment recognition-based collecting system, the central control unit 5 comprises an image recognition module, a sonar module, a central system module, and a sliding and walking module. The image recognition module is used for processing the input images of the image recognition unit; The sonar receiver is used for processing the sonar echoes, converting the sound wave signals into electrical signals, and amplifying and processing; The central system module is used for accepting the input data information of the above-mentioned modules and sensor system, and transmitting instructions to the sliding and walking module as a base station; The sliding and walking module is used for accepting the instructions transmitted by the central system module, and controlling the operation mode of the sliding system and the low-noise driving device; As shown in the accompanying drawings, Figure 7 The present application also provides a control method of the environment recognition-based collecting system suitable for deep water conditions, when encountering obstacles, the control method comprises the following control steps: S1, determining that an obstacle appears in front via the image recognition unit 8; S2, detecting the distance L between the front obstacle and the collecting vehicle by using the sonar system 9, processing the data via the sonar receiver, and uploading to the central system module; S3, according to the pre-set safety distance value L s , the central system module is used for judging the movement of the collecting vehicle, when L=L s , the central system module applies instructions to the sliding and walking module to stop the operation of the low-noise driving device 3; S4, the central system module applies instructions to the sliding and walking module, the sliding mechanism 42 gradually increases the rotation speed, the collecting vehicle starts to vertically ascend, and the rotation speed information is transmitted to the central system module via the rotation speed sensor. S5, real-time monitoring the environment in front of the ore collection vehicle during the ascending process through the sonar system 9, when determining that there is no obstacle in front of the vehicle through the central system module, transmitting instructions to the sliding and walking module, keeping the rotating speed of the sliding mechanism 42 unchanged, and the ore collection vehicle is in a suspended state; S6, further transmitting instructions to the sliding and walking module through the central system module, adjusting the rotating speed of the sliding mechanism 42 on both sides, and promoting the ore collection vehicle to slide forward; S7, processing the image transmitted by the image recognition unit 8 at the rear end of the ore collection vehicle through the image recognition module, determining whether the ore collection vehicle is away from the obstacle through the central system module, and after determining that the ore collection vehicle is away from the obstacle, transmitting instructions to reduce the rotating speed of the sliding mechanism 42 through the central system module, and real-time monitoring the distance between the ore collection vehicle and the seabed through the sonar system 9; S8, collecting the distance data processed by the sonar receiver through the central system module, determining that the ore collection vehicle lands, transmitting instructions to the sliding and walking module, stopping the operation of the sliding system 4, starting the operation of the low-noise driving device 3, and starting the walking of the ore collection vehicle.

[0035] The application also provides a control method for replacing the mining area of the environment-recognized environmentally-friendly composite driving ore collection system under deep water conditions, when the mining area is to be replaced, the control method comprises the following control steps: T1, obtaining the current position ore distribution image data by the image recognition unit 8 located at the front end of the ore collection vehicle, determining the ore distribution abundance A through the image recognition module, and uploading the data to the central system module; T2, according to the preset ore abundance threshold A d , the central system module judges the abundance. When the actual abundance value A is less than A d / 3, the central system module sends instructions to the sliding and walking module to stop the operation of the low-noise driving device 3; T3, transmitting instructions to the sliding and walking module through the central system module, gradually increasing the rotating speed of the sliding mechanism 42, and comparing the ore collection vehicle height data H input by the sonar receiver with the preset sliding height H d ; T4, when H=H d , transmitting instructions to the sliding and walking module through the central system module, keeping the rotating speed of the sliding mechanism 42 unchanged, and keeping the ore collection vehicle in a suspended state; T5, adjusting the rotating speed of the sliding mechanism 42 through the PID control module in the central system module, so that the ore collection vehicle slowly slides along the seabed while ensuring that H=Hd; T6, real-time processing the snapshot input by the image recognition unit 8 through the image recognition module to obtain the seabed ore particle abundance data A', and comparing the data with the preset abundance value A d ; T7, when A' > 2 / 3A d T7, when A' > 2 / 3A T8, via the central system module, transmit instructions to slow down the rotation speed of the sliding mechanism 42, and at the same time, monitor the distance between the mining vehicle and the seabed in real time through the sonar system 9; T9, via the central system module, collect the distance data processed by the sonar receiver, determine when the mining vehicle lands, and then transmit instructions to the sliding and walking modules, so that the sliding mechanism 42 stops running, the low-noise driving device 3 starts running, and the mining vehicle starts walking.

[0036] Finally, it should be pointed out that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. An environmentally friendly composite-driven mineral collection system based on environmental identification suitable for deep-water conditions, characterized in that: It includes a main frame, a low-noise drive device, and a sliding system. The low-noise drive device is located at the lower part of the main frame, and the sliding system is located at the upper part of the main frame. The low-noise drive device includes a drive wheel, a guide wheel, a support roller, a chain roller bracket, a support roller, a trolley frame, a tension spring, and a special toothed double-ribbed track unit. With the front of the vehicle as the front, the drive wheel is located at the front of the low-noise drive device, and the guide wheel is located at the rear of the low-noise drive device. The drive wheel and guide wheel mesh with the external special toothed double-ribbed track unit. The trolley frame is located between the drive wheel and the guide wheel. The guide wheel is connected to the rear of the tension spring, and the front of the tension spring is connected to the trolley frame. A chain roller bracket is longitudinally arranged on the trolley frame, and a support roller is arranged on the chain roller bracket. The support roller contacts the upper special toothed double-ribbed track unit. Several support rollers are arranged on the trolley frame, and the support rollers contact the lower special toothed double-ribbed track unit. The taxiing system includes a taxiing cabin, a taxiing mechanism, and a rotating mechanism. The taxiing mechanism is arranged on the left and right sides and the rear of the taxiing cabin, and is connected to the taxiing cabin through the rotating mechanism. A speed sensor is installed inside the taxiing mechanism, which monitors the speed of the taxiing mechanism and generates a speed signal that is sent to the central control unit.

2. The environmentally friendly composite-driven mineral collection system based on environmental identification suitable for deep-water conditions according to claim 1, characterized in that, Also includes: Side buoyancy chambers are located on the left and right sides inside the main frame; An image recognition unit is located on the front and rear sides of the main frame. The image recognition unit identifies the distribution of polymetallic nodules on the seabed and the terrain around the mining car and generates image information which is then sent to the central control unit. The ore collecting device, installed at the front of the ore collecting car, is used to collect seabed ore particles and transport them to the storage bin. The conveying pipe is installed above the ore collection car and is connected to the storage bin. Ore particles enter the transportation pipeline system through the conveying pipe and are transported to ships on the water. A sonar system is installed on the top of the sliding cabin. The sonar system monitors the distance characteristics of the environment around the mining truck in real time and generates distance signals to send to the central control unit. A central control unit is located between the left and right side buoyancy chambers; A storage bin is located above the central control unit.

3. The environmentally friendly composite-driven mineral collection system based on environmental identification suitable for deep-water conditions according to claim 1, characterized in that, The special toothed double-ribbed track unit includes several track links, which are fixed to the track base plate. Each track link includes a central rectangular portion and a semi-circular portion extending from the rectangular portion in a forward-backward direction. The track link is externally connected to a connecting plate. The front part of the connecting plate corresponds to the front semi-circular portion of the track link and fits against it. The middle part of the connecting plate is a straight plate, corresponding to and fitting against the central rectangular portion of the track link. The rear part of the connecting plate corresponds to the rear semi-circular portion of the track link, and the rear part of the connecting plate curves outward, while the inner rear part of the connecting plate forms a recess in the outward direction. The connecting plate has main teeth on its middle outer surface and auxiliary teeth on its rear outer surface.

4. The environmentally friendly composite-driven mineral collection system based on environmental identification suitable for deep-water conditions according to claim 3, characterized in that, The main tooth has a trapezoidal cross-section, and the side of the main tooth makes an angle of 75° with the horizontal plane; the auxiliary tooth has a tooth height of 0.6-0.8 times that of the main tooth, and the auxiliary tooth has a trapezoidal cross-section.

5. The environmentally friendly composite-driven mineral collection system based on environmental identification suitable for deep-water conditions according to claim 2, characterized in that, The central control unit includes an image perception and recognition module, a sonar receiver, a central system module, and a gliding and walking module; The image perception and recognition module is used to process the input image of the image recognition unit; The sonar receiver is used to process sonar echoes, converting acoustic signals into electrical signals, and amplifying and processing them. The central system module is used to receive input data from the image perception and recognition module, the sonar receiver, and the sensor system, and as an instruction transmission base station, it transmits instructions to the gliding and walking module. The gliding and walking module is used to receive instructions transmitted from the central system module and control the operation mode of the gliding system and the low-noise drive device.

6. A control method for an environmentally friendly composite-driven mineral collection system based on environmental recognition in deep water conditions when encountering obstacles, implemented based on the environmentally friendly composite-driven mineral collection system based on environmental recognition in deep water conditions as described in any one of claims 1-5, characterized in that, When encountering an obstacle, the control method includes the following steps: S1. The image recognition unit determines that an obstacle has appeared in front; S2. The distance L between the obstacle in front and the ore collection vehicle is detected by the sonar system. The distance L is processed by the sonar receiver and uploaded to the central system module. S3, The central system module operates based on a pre-set safety distance value L. s To determine the movement of the ore collection car, when L=L s At this time, the central system module sends a command to the gliding and walking module to stop the low-noise drive device from operating; S4. The central system module sends a command to the sliding and traveling module, the speed of the sliding mechanism increases, the ore collection car begins to rise vertically, and the speed information is transmitted to the central system module via the speed sensor. S5. During the vertical ascent, the environment in front of the ore collecting vehicle is monitored in real time by the sonar system. When the central system module determines that there are no obstacles in front, it transmits instructions to the sliding and walking modules. The speed of the sliding mechanism remains unchanged and the ore collecting vehicle is in a suspended state. S6. The central system module issues commands to the sliding and traveling modules to adjust the speed of the sliding mechanisms on both sides, causing the ore collection car to slide forward. S7. The image perception and recognition module processes the image transmitted by the image recognition unit at the rear of the ore collecting car. The central system module determines whether the ore collecting car is far away from the obstacle. After determining that it is far away from the obstacle, the central system module issues an instruction to reduce the speed of the sliding mechanism. At the same time, the sonar system monitors the distance between the ore collecting car and the seabed in real time. S8. After the distance data processed by the sonar receiver is collected by the central system module, it is determined that the ore collection car has landed. Then, the gliding and walking modules are transmitted with the command, the gliding system stops running, the low-noise drive device starts running, and the ore collection car starts to move.

7. A control method for changing mining areas in an environmentally friendly composite-driven ore collection system based on environmental identification under deep-water conditions, implemented based on the environmentally friendly composite-driven ore collection system based on environmental identification under deep-water conditions as described in any one of claims 1-5, characterized in that... When it is necessary to change the mining area, the control methods include the following steps: T1. The image recognition unit located at the front end of the ore collection car obtains the ore distribution image data at the current location, determines the ore distribution abundance A through the image perception and recognition module, and uploads the data to the central system module. T2. Based on the preset ore abundance threshold A d The central system module performs abundance determination; when the actual abundance value A is less than A... d At 3 o'clock, the central system module will send a command to the gliding and walking module to stop the low-noise drive device from operating; T3. Commands are sent from the central system module to the sliding and traveling modules, increasing the rotation speed of the sliding mechanism. Simultaneously, the data on the mine car's ground clearance H input from the sonar receiver is compared with the preset sliding height H. d Compare; T4. When H=Hd, commands are issued to the sliding and traveling modules via the central system module. The speed of the sliding mechanism remains unchanged, and the ore collection car remains suspended. T5. The PID control module in the central system module adjusts the rotational speed of the sliding mechanism, ensuring that it slides slowly along the seabed while maintaining H=H. d ; The snapshots input by T6 and image recognition unit 8 are processed in real time by the image perception and recognition module to obtain seabed mineral particle abundance data A', and then transmitted to the central system module along with the preset abundance value A. d Compare; T7. When A'>2 / 3 A d At that time, the central system module issues commands to the sliding and walking modules to stop the ore collection car from sliding and keep it suspended. T8. The central system module issues commands to slowly reduce the speed of the sliding mechanism, while the sonar system monitors the distance between the ore collection vehicle and the seabed in real time. T9. After the distance data processed by the sonar receiver is collected by the central system module, it is determined that the ore collection car has landed. Then, the gliding and walking modules are sent with instructions. The gliding mechanism stops running, the low-noise drive device starts running, and the ore collection car starts to move.

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