Road paving and using method of geocell special for submarine mining robot

Abstract

The invention discloses a special geocell road paving and using method for a submarine mining robot. Relates to the technical field of seabed mineral resource exploitation. A geocell main body is matched with a counterweight block and a counterweight rope to form a geocell road; during laying, the collecting ship is moved to a seabed mining area, the earthwork standard room road is released to sink into the seabed, and pores of the earthwork standard room are filled with soil particles by means of ocean current; releasing the mining robot to enable the mining robot to be in contact with the earthwork standard room road; in the working process, the geocell limits lateral deformation of pore soil particles by generating lateral resistance and frictional resistance, and the vertical bearing capacity is improved; the robot sucks mineral crystals, filters the mineral crystals and conveys the mineral crystals to the collection ship; the submarine sediment bearing capacity is improved, continuous and stable mining operation is guaranteed, and the mining efficiency is improved; and meanwhile, the contact area of the robot and the seabed is reduced, precise planning and intelligent scheduling of robot paths are facilitated, and a foundation is laid for large-scale and intelligent mining of seabed mineral resources.

Description

Technical Field

[0001] This invention belongs to the field of seabed mining and relates to a method for laying and using geocell roads specifically for seabed mining robots. Background Technology

[0002] Oceans cover 71% of the Earth's surface, and the seabed contains extremely rich mineral resources, including polymetallic nodules, cobalt-rich crusts, and hydrothermal sulfides. These resources contain metallic elements such as nickel, cobalt, manganese, and copper, which are indispensable key raw materials for strategic emerging industries such as new energy batteries and high-end manufacturing. With the increasing depletion of global land-based mineral reserves and the continuous rise in mining costs, seabed mineral resources have become a strategic resource focus of competition among nations. Developing and utilizing seabed mineral resources is of great significance for ensuring national resource security and promoting industrial upgrading.

[0003] Subsea mining robots are core equipment for large-scale mining of seabed mineral resources. Their operational efficiency, movement stability, and safety directly determine the success or failure of mining projects. However, the extremely complex seabed environment presents several prominent challenges that severely restrict the efficient operation of mining robots: 1. The seabed terrain is rugged, with numerous gullies, slopes, and reefs, making robots prone to bumps, tipping over, or getting stuck; 2. Seabed sediments are mainly soft silt and sandy clay, with extremely low bearing capacity, causing robots to easily sink, leading to power system overload, track or wheel slippage, and significantly reducing operational efficiency; 3. Seabed currents, tides, and sediment disturbances alter the surface morphology, further exacerbating the uncertainty of the robot's operating environment; 4. In traditional roadless operation modes, the robot's trajectory is chaotic, easily resulting in repeated trampling of areas, wasting resources, and increasing equipment wear and tear and the risk of failure. Summary of the Invention

[0004] Purpose of the invention: The purpose of this invention is to provide a method for laying and using geocell roads specifically for seabed mining robots. This method involves designing a dedicated geocell road structure and a supporting operational process to create a stable and safe operating channel for seabed mining robots, enabling efficient, environmentally friendly, and large-scale mining of seabed mineral resources. It can also solve problems such as poor robot stability and easy sinking in complex seabed terrain and soft sediment environments.

[0005] Technical solution: The present invention provides a method for laying and using geocell roads specifically for seabed mining robots, comprising the following steps: Step (1): Place the collection tube, the mining robot, and the geocell road inside the collection vessel and float the collection vessel above the sea level. Step (2): Move the collection vessel directly above the seabed mining area; Step (3): Release the geocell road and sink it to the seabed for paving; Step (4): Release the collection pipe, the mining pipe, and the mining robot; Step (5): Start the mining robot to suck up mineral crystals, filter them, and then transport them to the collection vessel.

[0006] Furthermore, in step (2), mineral crystals are distributed in the seabed mining area, and the two are in contact but not fixed relationship.

[0007] Furthermore, the geocell road described in step (3) is the core structure that ensures the stable operation of the mining robot, including the geocell body, counterweight blocks and counterweight ropes; A geocell pore is pre-reserved in the middle of the geocell body, and the counterweight is fixed to the geocell body by a counterweight rope.

[0008] Furthermore, the geocell road is lowered into the seabed by a counterweight.

[0009] Furthermore, the sampling vessel was kept moving continuously during the geocell road laying process to ensure that the geocell roads were laid without overlap.

[0010] Furthermore, the main body of the geocell is made of PE material; The geocell pores are automatically filled with soil particles under the action of ocean currents. The counterweight is made of concrete blocks.

[0011] Furthermore, the upper end of the collection tube released in step (4) is welded and fixed to the collection vessel, and the lower end is welded and fixed to the mining robot.

[0012] Furthermore, the mining robot includes a main body with a fixed receiving and collecting pipe, and a collecting pipe and four mining robot tires are also fixedly mounted on the main body.

[0013] Furthermore, the geocell road is located at the lower end of the four mining robot tires, and the connection between them is non-fixed.

[0014] Further, step (5) specifically involves activating the main body of the mining robot, sucking in mineral crystals from the seabed mining area through the collection pipe, filtering them through the main body of the mining robot, and then transporting the filtered mineral crystals to the collection vessel through the collection pipe.

[0015] Specifically, geocells are three-dimensional grid structure materials made of high-molecular polymers through special processes. When unfolded, they are honeycomb or grid-like and have the characteristics of being lightweight, high-strength, corrosion-resistant, and durable. In roadbed reinforcement, they are laid out and filled with fillers such as sand, gravel, and soil. The lateral constraint of the grid restricts the displacement of the filler, significantly improving the bearing capacity and overall stability of the roadbed and effectively reducing the risk of uneven settlement and pavement cracking.

[0016] The dedicated road for seabed mining robots in this invention enhances load-bearing capacity and standardizes travel trajectories by using geocells to constrain the soil, providing a stable and safe working path for the robot. This improves the robot's motion stability and avoids losses caused by problems such as sinking and slipping. It also shortens the robot's travel time, improving the efficiency of mineral resource extraction and transportation; reduces the robot's disturbance to the original seabed topography, lowering the impact on the ecological environment; and facilitates precise planning and intelligent scheduling of the robot's travel path, laying the foundation for large-scale and intelligent mining operations.

[0017] Beneficial Effects: Compared with existing technologies, this invention has the following significant advantages: 1. Improved operational stability and efficiency: Through the structural design and load-bearing reinforcement of geocell roads, the risks of bumps, overturning, subsidence, and jamming during mining robot operations are effectively avoided, ensuring continuous and stable mining operations. Simultaneously, the regular geocell roads regulate the robot's trajectory, avoiding repeated compaction, shortening robot travel time, significantly improving the efficiency of mineral resource extraction and transportation, and reducing equipment wear and tear and the risk of malfunction. 2. Reduced ecological and environmental impact: Geocell roads can reduce the direct disturbance of the mining robot to the original seabed topography, avoiding excessive damage to seabed sediments by robot tracks or wheels; and the PE used... The materials and concrete counterweights are all environmentally friendly and pollution-free, and will not harm the seabed water and biological ecosystem, meeting the development needs of green mining; 3. Energy saving and intelligent adaptation: Geocell roads provide a flat driving surface for mining robots, reducing the contact area between the mining robots and the seabed, thereby reducing frictional resistance, reducing the power consumption of the robot's power system, and improving operating efficiency; In addition, the continuous and regular roads facilitate the precise planning and intelligent scheduling of the robot's driving path through the control system, laying the foundation for the large-scale and intelligent upgrading of seabed mining, and promoting the development of seabed mining technology towards high efficiency and intelligence. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the method for laying and using geocell roads for seabed mining robots in this invention; Figure 2 This is a road plan view of the geocell in this invention; Figure 3This is a front view of the reinforcement effect of the geocell on the seabed road in this invention; Figure 4 This is a schematic diagram of the stress on the geocell in this invention; In the diagram, 1 is the sea level, 2 is the collection vessel, 3 is the collection pipe, 4 is the collection pipe, 5 is the main body of the mining robot, and 6 is the tire of the mining robot. 7 is the geocell road, 71 is the geocell main body, 72 is the geocell pore soil particles, 73 is the counterweight block, and 74 is the counterweight rope. 8 represents mineral crystals, and 9 represents seabed mining areas. Detailed Implementation

[0019] The technical solution of the present invention will be further described below with reference to the accompanying drawings.

[0020] like Figure 1 As shown, the present invention discloses a method for laying and using geocell roads specifically for seabed mining robots. By designing a dedicated geocell road structure and supporting operational procedures, it constructs a stable and safe operating channel for seabed mining robots, enabling efficient, environmentally friendly, and large-scale mining of seabed mineral resources. This method is applicable to mining scenarios involving polymetallic nodules, cobalt-rich crusts, and hydrothermal sulfides, providing a stable operating channel for seabed mining robots. The method includes the following steps: S1. Place the collection pipe 3, the sampling pipe 4, the main body of the mining robot 5, the tires of the mining robot 6, and the geocell road 7 inside the collection vessel 2, and float the collection vessel 2 above the sea level 1. S2, the mobile collection vessel 2 is positioned directly above the seabed mining area 9 containing mineral crystals 8; S3. Release the geocell road 7, allowing it to sink into the seabed under the influence of its own counterweight 73, and keep the collection vessel 2 moving continuously during the laying process to ensure that the geocell road 7 is laid without overlap. S4. Release the collection pipe 3, the acquisition pipe 4, the mining robot body 5 and the mining robot tire 6, so that the mining robot tire 6 comes into contact with the geocell road 7. S5. Start the main body 5 of the mining robot, suck up the mineral crystals 8 in the seabed mining area 9 through the collection pipe 4, and after being filtered by the main body 5 of the mining robot, the filtered mineral crystals 8 are transported to the collection ship 2 through the collection pipe 3.

[0021] The connection relationships and working methods of each component are as follows: The geocell road 7 is the core structure that ensures the stable operation of the mining robot, including the geocell body 71, geocell pores 72, counterweight blocks 73 and counterweight ropes 74. The geocell body 71 is made of PE material, which has excellent seawater corrosion resistance and durability and can adapt to the long-term seabed operation environment. The geocell main body 71 has geocell pores 72 reserved inside. After the geocell road 7 is sunk into the seabed, it will naturally sink into the soil of the seabed mining area 9 under its own weight. The geocell pores 72 can be automatically filled with soil particles under the action of seabed currents. That is, at the same time, the seabed currents will carry the surrounding soil particles to fill the geocell pores 72, forming a stable composite support structure. The counterweight 73 is a concrete block, which is fixedly connected to the geocell body 71 by a counterweight rope 74 to prevent the counterweight 73 from separating from the geocell body 71.

[0022] The collection vessel 2 floats on the sea surface 1 by buoyancy, serving as the core carrier for carrying the operating equipment and recovering minerals. The upper end of the collection pipe 3 is welded and fixed to the collection vessel 2, and the lower end is welded and fixed to the main body 5 of the mining robot. By retracting or releasing the collection pipe 3 on the collection vessel 2, the main body 5 of the mining robot can be deployed and recovered on the seabed. At the same time, the collection pipe 3 also serves as a mineral transport channel, transporting the minerals collected by the mining robot to the collection vessel 2.

[0023] The mining robot body 5 is fixedly equipped with a collection pipe 4 and a mining robot tire 6. The collection pipe 4 is used to suck up mineral crystals 8 in the seabed mining area 9 and transport them into the mining robot body 5 for filtration. The mining robot tire 6 is in contact but not fixedly connected to the geocell road 7. The mining robot tire 6 can rotate on the surface of the geocell road 7 to drive the mining robot body 5 to move stably on the seabed.

[0024] Mineral crystals 8 are naturally distributed in the seabed mining area 9. The two are in contact but not fixed. The main body of the mining robot 5 directly sucks in the mineral crystals 8 in the seabed mining area 9 through the collection tube 4.

[0025] During the operation of the mining robot, when the mining robot tire 6 bears the weight of the mining robot body 5, it will convert the robot's own weight into pressure, and then transmit the pressure to the geocell body 71 and the soil particles in the geocell pores 72. Under pressure, the geocell body 71 generates lateral resistance and frictional resistance. Under the combined action of lateral resistance and frictional resistance, the lateral deformation of soil particles in the geocell pores 72 is restricted, that is, the lateral deformation of soil particles in the geocell pores 72 is effectively restricted. At the same time, the honeycomb grid structure of the geocell body 71, with its own rigid constraint, can restrict the shear deformation of soil particles, transforming loose soil into a composite structure with higher shear strength, thereby improving the vertical bearing capacity of the geocell road 7. In addition, the grid stiffness can also diffuse the concentrated load at the top to the surrounding area, increasing the load application area to reduce stress concentration. The interfacial friction between the cell wall and the soil and the particle interlocking further enhance the integrity of the composite system and prevent relative slippage. As a reinforcement, the geocell and the soil together form a composite foundation, effectively sharing the load, inhibiting pore compression and lateral extrusion, reducing uneven settlement and creep deformation, and ultimately comprehensively improving the soil's bearing capacity, deformation resistance and stability, and preventing the mining robot tires 6 from sinking.

[0026] Example: This example provides a method for laying and using geocell roads for seabed mining robots. The component specifications and implementation conditions involved are as follows: The collection vessel 2 is a special mining vessel with a displacement of 5,000 tons, equipped with a winch, navigation system and mineral storage compartment; the collection pipe 3 is made of high-strength steel pipe with a diameter of 300mm and the length can be adjusted according to the seabed depth, with a maximum length of 2,000m; the collection pipe 4 is made of wear-resistant polyethylene pipe with a diameter of 150mm and a filter screen at the end; The main body 5 of the mining robot weighs 5 tons and is equipped with a hydraulic drive system and a mineral filtration device; the tires 6 of the mining robot are made of rubber with anti-slip patterns on the surface; the main body 71 of the geocell is made of high-density PE material, and the size of a single piece after unfolding is 10m×5m, with a mesh size of 300mm×300mm; the counterweight 73 is a C30 concrete block, with a single piece weighing 50kg, and each geocell main body 71 is equipped with 4 counterweights 73; the counterweight rope 74 is made of galvanized steel wire rope with a diameter of 10mm.

[0027] The specific implementation steps are as follows: Preliminary preparations: The collection pipe 3, the sampling pipe 4, the mining robot body 5, the mining robot tires 6, and the geocell road 7 are sequentially hoisted into the deck compartment of the collection vessel 2. The welding joints between the collection pipe 3 and the collection vessel 2 and the mining robot body 5 are checked to ensure that the connection is firm. The fixing of the mining robot tires 6 and the mining robot body 5 is checked to ensure that the tires rotate flexibly. Then the power system of the collection vessel 2 is started, so that the collection vessel 2 floats above the sea level 1 and is ready to set sail.

[0028] Operation positioning: Using the satellite navigation system and seabed detection equipment on the collection vessel 2, determine the coordinates of the seabed mining area 9 containing mineral crystals 8. The water depth of the mining area is about 1500m. The collection vessel 2 sails along the preset route until it arrives directly above the seabed mining area 9, and anchors to fix the vessel position to ensure the stability of the collection vessel 2 during subsequent operations.

[0029] Road paving: Start the winch on the collection vessel 2 to release the geocell road 7. Under the gravity of the four counterweights 73, the geocell road 7 slowly sinks into the seabed at a speed of 0.5 m / s. At the same time, control the collection vessel 2 to move along the planned route of the mining area at a speed of 0.2 m / s to ensure that the edge overlap width of adjacent geocell roads 7 is 0.5 m and there is no overlapping area. Finally, a continuous geocell road 7 with a length of 1000 m and a width of 5 m is formed on the seabed.

[0030] Robot Deployment: The winch is activated to release the collection pipe 3. The collection pipe 3 drives the mining robot body 5, the collection pipe 4, and the mining robot tires 6 to sink synchronously at a speed of 0.3 m / s. When the robot sinks to a depth of 1500 m on the seabed, the release of the collection pipe 3 is stopped. At this point, the mining robot tires 6 are in full contact with the surface of the geocell road 7. The attitude adjustment system of the mining robot body 5 ensures that the robot remains horizontal, thus completing the deployment.

[0031] Mining operation: The power system and acquisition system of the mining robot body 5 are remotely activated. The mining robot tires 6 rotate on the geocell road 7, driving the robot to move along the road at a speed of 0.1 m / s. The filter screen at the end of the acquisition pipe 4 is attached to the surface of the seabed mining area 9, sucking in mineral crystals 8. After the mineral crystals 8 enter the mining robot body 5, they are filtered by a 200-mesh filter to remove silt and impurities. The filtered minerals are transported to the mineral storage tank of the acquisition vessel 2 through the collection pipe 3 at a speed of 0.2 m / s. After the operation lasts for 8 hours, the mining robot body 5 and the geocell road 7 are retrieved, completing the mining operation. According to statistics, the mineral acquisition volume of this operation is 50 tons. The robot did not sink or slip, and the operation stability was good.

Claims

1. A method for laying and using geocell roads specifically for seabed mining robots, characterized in that, Includes the following steps: Step (1): Place the collection tube (3), the collection tube (4), the mining robot and the geocell road (7) inside the collection vessel (2), and float the collection vessel (2) above the sea level (1); Step (2): Move the collection vessel (2) directly above the seabed mining area (9); Step (3) Release the geocell road (7) and sink it to the seabed for laying; Step (4): Release the collection tube (3), the collection tube (4), and the mining robot; Step (5): Start the mining robot to suck up mineral crystals (8), filter them and then transport them to the collection vessel (2).

2. The method for laying and using geocell roads for seabed mining robots according to claim 1, characterized in that, In step (2), mineral crystals (8) are distributed in the seabed mining area (9), and the two are in contact but not fixed relationship.

3. The method for laying and using geocell roads for seabed mining robots according to claim 1, characterized in that, The geocell road (7) mentioned in step (3) is the core structure to ensure the stable driving of the mining robot, including the geocell body (71), counterweight (73) and counterweight rope (74). A geocell pore (72) is reserved in the middle of the geocell body (71), and the counterweight (73) is fixed to the geocell body (71) by a counterweight rope (74).

4. The method for laying and using geocell roads for seabed mining robots according to claim 3, characterized in that, The geocell road (7) is driven to sink into the seabed by the configured counterweight (73).

5. The method for laying and using geocell roads for seabed mining robots according to claim 3, characterized in that, During the laying of the geocell road (7), the collection vessel (2) was kept moving to ensure that the geocell road (7) was laid without overlap.

6. The method for laying and using geocell roads for seabed mining robots according to claim 3, characterized in that, The main body of the geocell (71) is made of PE material; The geocell pores (72) are automatically filled with soil particles under the action of ocean currents. The counterweight (73) is made of concrete blocks.

7. The method for laying and using geocell roads for seabed mining robots according to claim 1, characterized in that, The upper end of the collection tube (3) released in step (4) is welded and fixed to the collection vessel (2), and the lower end is welded and fixed to the mining robot.

8. The method for laying and using geocell roads for seabed mining robots according to claim 7, characterized in that, The mining robot includes a mining robot body (5) with a fixed receiving and collecting pipe (3), and a collecting pipe (4) and four mining robot tires (6) are also fixedly mounted on the mining robot body (5).

9. The method for laying and using geocell roads for seabed mining robots according to claim 8, characterized in that, The geocell road (7) is located at the lower end of the four mining robot tires (6), and the two are in contact but not fixed.

10. The method for laying and using geocell roads for seabed mining robots according to claim 1, characterized in that, Step (5) specifically involves starting the main body (5) of the mining robot, sucking in the mineral crystals (8) in the seabed mining area (9) through the collection pipe (4), filtering them through the main body (5), and then transporting the filtered mineral crystals (8) to the collection vessel (2) through the collection pipe (3).

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