Deep-sea mining simulation experiment system and experiment method

Abstract

The invention belongs to the field of simulation experiment systems, and discloses a deep-sea mining simulation experiment system which comprises a mining system model assembly, a buoyancy traction assembly, an identification piece and a visual positioning assembly. The mining system model assembly comprises a hull model, a mining vehicle model and a flexible connecting assembly, the buoyancy traction assemblies are sequentially distributed in the length direction of the flexible connecting assembly, and the buoyancy traction assemblies can adjust the space bending form of the flexible connecting assembly under different working conditions so as to simulate the dynamic deformation process of a hose under the action of ocean current. The multiple marking pieces are sequentially connected to the outer surface of the flexible connecting assembly at preset intervals, and the visual positioning assemblies are arranged in multiple directions. The real-time positions of all the identification pieces in the three-dimensional space are shot, the relative displacement and angle changes of the identification pieces are calculated through a vision measurement algorithm, then the overall space pose parameters of the flexible connection assembly are obtained through inversion, and quantitative data support is provided for analyzing the coupling motion relation between a mining vehicle model and the flexible connection assembly.

Description

Technical Field

[0001] This invention belongs to the technical field of simulation experimental systems, and more specifically, relates to a deep-sea mining simulation experimental system and experimental method. Background Technology

[0002] Deep-sea mining operations are characterized by complex and extreme environments. As marine resource development moves into deeper waters, the reliability and adaptability of related equipment face severe challenges. In actual operations, the delivery hose, as a crucial channel connecting the surface support platform and the seabed mining vehicle, is vital to the overall system operation due to its dynamic stability. Because of the significant influence of ocean currents in the deep-sea environment, the delivery hose is highly susceptible to significant swaying from the current as it moves with the mining vehicle or during mineral lifting. This unexpected dynamic load is directly transmitted to the seabed mining vehicle, causing instability and not only interfering with the accuracy of mineral extraction but also potentially affecting equipment lifespan due to continuous tension. More importantly, the rugged seabed terrain often presents obstacles such as rocks and sediment deposits during the mining vehicle's journey. If the hose maintains its original tension due to inertia or control delays, it can easily be suddenly stretched or even broken during vehicle steering or obstacle avoidance maneuvers, leading to serious accidents such as mineral leakage and equipment damage.

[0003] To fundamentally address these issues, the engineering community is working to optimize the dynamic models of deep-sea mining equipment, develop more precise control strategies to suppress hose sway, and design effective obstacle avoidance mechanisms. However, these technological improvements all require substantial experimental data. Due to the high cost and extreme risks of deep-sea field testing, and the difficulty in repeatedly adjusting parameters and reproducing failures, there is an urgent need for a comprehensive experimental device capable of simulating the motion characteristics of mining vehicles and the mechanical behavior of hoses in a laboratory environment. This device would allow for precise observation and analysis of the dynamic response of the delivery hose, the vehicle-hose coupling motion, and the obstacle avoidance process through controllable scaled-down models or full physical simulations. This would provide a reliable theoretical basis and experimental verification platform for the design and optimization of deep-sea mining equipment. Summary of the Invention

[0004] The purpose of this application is to provide a deep-sea mining simulation experimental system and method to solve the technical problem in the prior art that it is difficult to simulate the motion characteristics of mining vehicles and the mechanical behavior of hoses.

[0005] To achieve the above objectives, the technical solution adopted in this application is as follows:

[0006] A deep-sea mining simulation experimental system is provided, comprising: The mining system model components include a ship hull model, a mining vehicle model, and a flexible connection component, with one end of the flexible connection component connected to the ship hull model and the other end of the flexible connection component connected to the mining vehicle model. Several buoyancy traction components are sequentially connected to the flexible connecting component. The buoyancy traction components are used to pull the flexible connecting component to a predetermined suspension position and adjust the spatial shape of the flexible connecting component. Several identification elements are sequentially connected to the flexible connection assembly at preset intervals; A visual positioning component is used to observe the spatial position information of each of the aforementioned markers in order to simulate the spatial pose of the flexible connection component.

[0007] As a further improvement to the above technical solution: Optionally, the deep-sea mining simulation experimental system also includes a wave simulation component, on which the hull model is installed. The wave simulation component is used to drive the hull model to simulate the movement of the hull model in a wave environment.

[0008] Optionally, the wave simulation component includes: A first guide member, a first slide block, and a first drive member, wherein the first guide member extends along a first direction and the first drive member is driven to connect to the first slide block so that the first slide block moves on the first guide member; A second guide member, a second slide block, and a second drive member are provided. The second guide member extends along a second direction and is mounted on the first slide block. The second drive member is driven to connect to the second slide block so that the second slide block moves on the second guide member. The second direction is orthogonal to the first direction. A third guide member, a third slide block, and a third drive member are provided. The third guide member extends along a third direction and is mounted on the second slide block. The third drive member is driven to connect to the third slide block so that the third slide block can move on the third guide member. Both the second direction and the first direction are orthogonal to the third direction. A fourth driving component is mounted on the third slide, and the output end of the fourth driving component rotates about the third direction. The fifth driving component is installed at the output end of the fourth driving component, and the output end of the fifth driving component rotates around the second direction; A sixth driving component is installed at the output end of the fifth driving component, and the hull model is installed at the output end of the sixth driving component to drive the hull model to rotate around the first direction.

[0009] Optionally, the deep-sea mining simulation experimental system includes a terrain simulation component for simulating seabed topography, on which the mining vehicle model travels.

[0010] Optionally, the terrain simulation component includes: A terrain display screen is used to display terrain images, and the mining vehicle model selects a travel route based on the terrain images; And / or, terrain obstacles, placed on the terrain display screen to simulate the spatial structure of the seabed terrain.

[0011] Optionally, the buoyancy traction assembly includes: An aircraft for providing traction and for pulling the flexible connection assembly to a predetermined hovering position by controlling the flight position of the aircraft; The traction rope is connected at one end to the aircraft and at the other end to the flexible connection assembly.

[0012] The visual positioning component includes several visual ranging lenses, each of which is distributed at a different position on the outer periphery of the marker.

[0013] Optionally, the flexible connection component includes: A communication cable is connected at one end to the ship model and at the other end to the mining vehicle model; And / or, a material conveying pipe, including a riser section, a relay station model, and a flexible pipe section, wherein one end of the riser section is connected to the hull model, and the other end of the riser section is connected to the relay station model; one end of the flexible pipe section is connected to the relay station model, and the other end of the flexible pipe section is connected to the mining vehicle model, and the buoyancy traction assembly is sequentially connected to the flexible pipe section.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: This application provides a deep-sea mining simulation experimental system. By capturing the real-time positions of various marker components in three-dimensional space and using visual measurement algorithms to calculate the relative displacement and angular changes of adjacent marker components, the system can inversely obtain the overall spatial pose parameters of the flexible connection assembly, including the coordinates, curvature, and torsion angle of each node. This provides quantitative data support for analyzing the coupled motion relationship between the mining vehicle model and the flexible connection assembly. Through the synergistic effect of the aforementioned components, this system can reproduce typical working conditions in deep-sea mining processes, such as hose disturbance by water flow and mining vehicle movement and traction, in a terrestrial laboratory environment, enabling visualized monitoring and quantitative analysis of the dynamic characteristics of the flexible connection assembly.

[0015] This application also provides an experimental method based on the above-mentioned deep-sea mining simulation experimental system, including the following steps: The ship model is installed on the wave simulation component, and the mining vehicle model is placed on the terrain simulation component. The ship model and the mining vehicle model are connected by a flexible connecting component, and a buoyancy traction component and a marker are installed at a designated position on the flexible connecting component. The wave simulation component is activated to drive the ship model to move according to preset actions; the mining vehicle model moves on the terrain simulation component according to the task instructions; Control the buoyancy traction component to adjust the spatial orientation of the flexible connection component; The visual positioning component observes the spatial position information of each of the markers to simulate the spatial pose of the flexible connection component.

[0016] As a further improvement to the above technical solution: Optionally, at least a portion of the marker is installed at the connection between the flexible connection assembly and the buoyancy traction assembly. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a three-dimensional structural diagram of the deep-sea mining simulation experimental system of this application; Figure 2 This is a partial structural diagram of the deep-sea mining simulation experimental system of this application. Figure 1 ; Figure 3 This is a partial structural diagram of the deep-sea mining simulation experimental system of this application. Figure 2 ; Figure 4 This is a partial structural diagram of the deep-sea mining simulation experimental system of this application. Figure 3 .

[0019] The following are the labeling elements in the figure: 1. Mining system model components; 11. Ship hull model; 12. Mining vehicle model; 13. Flexible connection components; 131. Communication cable; 132. Material conveying pipe; 1321. Riser section; 1322. Relay station model; 1323. Flexible pipe section; 2. Buoyancy traction component; 21. Aircraft; 22. Towing rope; 3. Identification components; 4. Visual positioning components; 41. Visual ranging lens; 5. Wave simulation component; 6. Terrain simulation components; 61. Terrain display screen; 62. Terrain obstacles. Detailed Implementation

[0020] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0021] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0022] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0023] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0024] Unless otherwise defined, all technical terms used herein have the same meaning as commonly understood by those skilled in the art. The technical terms used herein are for the purpose of describing particular embodiments only and are not intended to limit the scope of the invention.

[0025] This application provides a deep-sea mining simulation experimental system, including a mining system model component 1, a buoyancy traction component 2, an identification component 3, and a visual positioning component 4.

[0026] Among them, the mining system model component 1, as the core structure of the experimental system, includes a ship model 11, a mining vehicle model 12, and a flexible connection component 13. The ship model 11 is used to simulate the surface support platform, the mining vehicle model 12 corresponds to the seabed operation unit, and the flexible connection component 13 is made of an elastic material with a hose-like structure. One end of the flexible connection component 13 is fixedly connected to the bottom center of the ship model 11, and the other end is connected to the top of the mining vehicle model 12, thereby constructing a physical model that simulates the conveying hose in the actual mining system.

[0027] Several buoyancy traction components 2 are sequentially distributed along the length of the flexible connecting component 13. These components apply a vertical traction force to the flexible connecting component 13, enabling it to overcome gravity and stabilize at a predetermined suspension position. Furthermore, by adjusting the buoyancy ratio at different positions, the spatial bending shape of the flexible connecting component 13 under various operating conditions can be adjusted to simulate the dynamic deformation process of a hose under ocean currents. Several markers 3 are sequentially connected to the outer surface of the flexible connecting component 13 at preset intervals. These markers 3 utilize high-contrast reflective materials or specific geometric designs to ensure good visibility during experiments.

[0028] The visual positioning component 4 is positioned at multiple locations around the experimental system. Its operation involves continuously capturing the real-time positions of each marker 3 in three-dimensional space, using visual measurement algorithms to calculate the relative displacement and angular changes of adjacent markers, and then retrieving the overall spatial pose parameters of the flexible connection component 13, including the coordinates, curvature, and torsion angle of each node. This provides quantitative data support for analyzing the coupled motion relationship between the mining vehicle model 12 and the flexible connection component 13. Through the synergistic effect of these components, the system can reproduce typical working conditions in deep-sea mining processes, such as hose disturbance by water flow and mining vehicle movement and traction, in a terrestrial laboratory environment, enabling visualized monitoring and quantitative analysis of the dynamic characteristics of the flexible connection component.

[0029] In some specific embodiments of this application, the deep-sea mining simulation experimental system also includes a wave-making simulation component 5. The hull model 11 is mounted on the bearing surface of the wave-making simulation component 5 via a base, ensuring that the two remain synchronized during movement. The wave-making simulation component 5 operates by receiving preset wave spectrum data or manually set motion parameters, driving the hull model 11 to generate periodic heave, roll, and pitch movements to simulate the six-degree-of-freedom dynamic response of the surface support platform under wind and waves in actual sea conditions. When the wave-making simulation component 5 is running, the displacement of the hull model 11 is transmitted to the mining vehicle model 12 via the flexible connection component 13, causing the entire mining system model component 1 to enter a forced vibration state similar to the real working environment. At this time, the flexible connection component 13 is not only subject to the static balance effect of its own gravity and buoyancy traction component 2, but also superimposed with the alternating tension generated by the hull movement, and its spatial shape change law is closer to the actual deep-sea working conditions. By introducing wave simulation component 5, the system can reproduce the influence of irregular hull rolling caused by ocean waves on the dynamic characteristics of the delivery hose, providing more realistic experimental conditions for studying the coupled dynamic behavior of the hull, hose, and mining vehicle. It also facilitates the verification of the effect of control strategies on the system stability under different sea state levels.

[0030] In some specific embodiments of this application, the wave simulation component 5 is configured with six degrees of freedom of motion to achieve multi-dimensional dynamic simulation of the hull model 11 in a wave environment. The first guide member of this component extends horizontally in the first direction. A first slide is fitted onto the first guide member and is connected to the first drive member. The first drive member can drive the first slide to perform linear reciprocating motion along the first direction. The second guide member extends horizontally in the second direction and is fixedly installed on the first slide. The second direction is spatially orthogonal to the first direction. The second slide is slidably engaged with the second guide member and is driven by the second drive member to move along the second direction. The third guide member extends vertically in the third direction and is fixedly installed on the second slide. The third direction is orthogonal to both the first and second directions. The third slide is slidably connected to the third guide member and is driven by the third drive member to achieve lifting and lowering motion along the third direction. Thus, through the cooperation of the first to third drive members and the first to third slides, independent control of the three translational degrees of freedom of the hull model 11 in the Cartesian coordinate system is achieved. The fourth drive component is fixedly mounted on the third slide, and its output shaft is set around the third direction and can rotate. The fifth drive component is mounted on the output shaft of the fourth drive component, and its output shaft is set around the second direction and can rotate. The sixth drive component is mounted on the end of the output shaft of the fifth drive component. The hull model 11 is fixedly mounted on the output end face of the sixth drive component, so that the sixth drive component can drive the hull model 11 to rotate around the first direction. Through the above-mentioned structural combination of the first to sixth drive components and their corresponding guides and slides, the wave simulation component 5 can control the displacement of the hull model 11 in three mutually perpendicular linear directions and the rotational motion around these three directions, thereby completely reproducing the six typical motion modes that the surface support platform may generate under the action of waves: heave, roll, pitch, yaw, sway, and sway. This provides complete experimental input conditions for the dynamic analysis and control strategy verification of the deep-sea mining system under complex sea conditions.

[0031] In some specific embodiments of this application, the deep-sea mining simulation experimental system also includes a terrain simulation component 6 for simulating seabed topography. A walking mechanism is provided at the bottom of the mining vehicle model 12, which contacts the surface of the terrain simulation component 6 and can travel along a set path under power. When the mining vehicle model 12 travels on the terrain simulation component 6, its motion parameters, such as speed, steering angle, and ground pressure, are fed back to the control system via sensors. Simultaneously, since the mining vehicle model 12 is connected to the hull model 11 via a flexible connection component 13, its movement on the terrain directly causes changes in the tension and spatial orientation of the flexible connection component 13. During this process, the different ground reaction force characteristics provided by the terrain simulation component 6 can further affect the coupling dynamics between the flexible connection component 13 and the mining vehicle model 12. By combining the terrain simulation component 6 with the driving function of the mining vehicle model 12, this system realizes a physical simulation of the operation process of a seabed mining vehicle under real terrain conditions, providing a quantifiable experimental environment for studying the influence of terrain factors on the stability of the mining vehicle's movement, the force distribution of the flexible hose, and the overall system's coordinated control.

[0032] In some specific embodiments of this application, the terrain simulation component 6 includes a terrain display screen 61 and / or terrain obstacles 62.

[0033] The terrain display screen 61 is a flat display device, usually fixed at the bottom of the experimental area, with its working surface facing the area where the mining vehicle model 12 is located. It outputs grayscale or color images containing terrain elevation, slope changes and obstacle distribution through the image generation module. The pixel grayscale values ​​of the image correspond to the terrain height or hardness. The front end of the mining vehicle model 12 is equipped with an image acquisition unit, which can acquire image information on the terrain display screen 61 in real time, and analyze the terrain features in the image through the built-in processor. Combined with the preset path planning algorithm, it determines the travel route and realizes autonomous navigation based on visual feedback.

[0034] The terrain obstacle 62 is a solid component with a certain rigidity. It can be independently placed on the terrain display screen 61, or it can be linked to a specific display area of ​​the terrain display screen 61 through a mechanical structure. Its outline is consistent with the obstacle image displayed at the corresponding position on the terrain display screen 61. When the mining vehicle model 12 travels to the location of the terrain obstacle 62, the ground contact pressure of its walking mechanism or the detection signal of the proximity sensor will change abruptly. The system can collect these signals to analyze the impact of the terrain obstacle 62 on the driving resistance and attitude of the mining vehicle model 12. The combined use of the terrain display screen 61 and the terrain obstacle 62 can realize dual terrain simulation with visual information and tactile feedback. The terrain display screen 61 is mainly responsible for providing macroscopic terrain orientation and obstacle distribution information to guide the mining vehicle model 12 in path planning, while the terrain obstacle 62 is used to simulate the microscopic spatial structure of the seabed terrain and verify the obstacle avoidance response capability of the mining vehicle model 12 when it actually encounters obstacles. Through this combination of virtual and real terrain simulation, the terrain simulation component 6 can not only reproduce the visual features of the seabed terrain, but also restore the physical interaction characteristics of the terrain surface, providing a more realistic experimental environment for studying the driving stability, path decision-making logic, and dynamic coupling relationship between the mining vehicle model 12 and the flexible connection component 13 under different terrain conditions.

[0035] In some specific embodiments of this application, the buoyancy traction assembly 2 includes an aircraft 21 and a traction rope 22.

[0036] The aircraft 21 is a rotorcraft or ducted unmanned aerial vehicle (UAV) with vertical takeoff and landing (VTOL) and hovering capabilities. It has a hook or tether interface on its underside for connecting one end of the traction rope 22. The aircraft 21 integrates a position control module and a power adjustment system, enabling it to adjust its spatial coordinates according to external commands or preset trajectories. By actively changing its flight position, it applies different directions and magnitudes of traction force to the flexible connecting component 13, thereby pulling it from a naturally drooping state to a predetermined suspension position and maintaining dynamic balance near that position. The traction rope 22 is a high-strength, lightweight fiber rope or metal wire rope, the length of which can be adjusted according to experimental requirements. One end is fixedly connected to the hook on the aircraft 21, and the other end is connected to a designated node on the flexible connecting component 13 via a detachable connector. When the aircraft 21 moves, the traction rope 22 tensions or slackens accordingly, transmitting the traction force of the aircraft 21 to the flexible connecting component 13, causing it to undergo corresponding spatial deformation to simulate the suspension and bending state of a hose under ocean currents. The flight control of the aircraft 21 adopts a closed-loop feedback mechanism. Its position data can be obtained through its own GPS module or the positioning system of the experimental site. At the same time, combined with the monitoring results of the pose of the flexible connecting component 13 by the visual positioning component 4, the flight trajectory is corrected in real time to ensure that the magnitude and direction of the traction force meet the experimental settings. Through the cooperation of the aircraft 21 and the traction rope 22, the buoyancy traction component 2 can flexibly adjust the suspension attitude of the flexible connecting component 13 at different heights and tilt angles, avoiding the limitations of traditional fixed counterweights or single buoyancy devices in simulating complex fluid dynamic environments. This provides precisely controllable experimental conditions for studying the mechanical properties of the flexible connecting component 13 under dynamic loads.

[0037] In some specific embodiments of this application, the visual positioning component 4 includes several visual ranging lenses 41, each distributed at different positions around the outer periphery of the marker 3. Their deployment covers the entire spatial area where the flexible connecting component 13 may appear. They are typically mounted on supports or trusses around the laboratory. Some lenses can be fixed at a high vantage point to ensure continuous observation of the marker 3 from different angles. The visual ranging lenses 41 are industrial cameras with depth sensing capabilities, employing binocular stereo vision or structured light ranging principles. Their operation involves synchronously acquiring image frames of the marker 3, extracting feature points or edge contours of preset patterns from the marker 3, and calculating the three-dimensional coordinates of the marker 3 using the lens's intrinsic and extrinsic parameter models. Since the markers 3 are arranged at preset intervals along the flexible connecting component 13, the relative positional relationship between adjacent markers 3 can serve as a benchmark for measuring the local bending degree of the flexible connecting component 13. By performing time-series sampling of the spatial coordinates of all markers 3, the visual positioning component 4 can obtain complete spatial pose data of the flexible connecting component 13 at each moment, including the overall orientation, the offset of each node, and the distribution of bending curvature. To avoid measurement blind spots caused by occlusion of a single lens, the number of visual ranging lenses 41 is no less than three, and their distribution angles are complementary. When a lens cannot capture a specific marker 3, the other lenses can still deduce the spatial position of the target marker through adjacent markers 3 within their field of view. By distributing the visual ranging lenses 41 at multiple positions around the marker 3, the visual positioning component 4 achieves all-round monitoring of the spatial movement of the flexible connection component 13. The quantitative data output by the component provides direct measurement basis for analyzing the coupling dynamic characteristics of the mining vehicle model 12 and the flexible connection component 13, verifying the adjustment effect of the buoyancy traction component 2, and evaluating the impact of the terrain simulation component 6 on the system stability.

[0038] In some specific embodiments of this application, the flexible connection component 13 includes a communication cable 131 and / or a material conveying pipe 132.

[0039] Among them, the communication cable 131 is a cable structure with signal transmission function. One end of it is fixedly connected to the signal interface of the ship model 11, and the other end is connected to the communication module of the mining vehicle model 12. It is used to simulate the control command and status feedback transmission link between the surface platform and the seabed operation unit in the actual mining system.

[0040] The material conveying pipe 132 is used to simulate the conveying channel for minerals to be lifted from the seabed to the water surface. Its structure includes a riser section 1321, a relay station model 1322, and a flexible pipe section 1323. The riser section 1321 is a rigid or low-flexibility tubular structure. One end is vertically connected to the deck interface of the ship model 11, and the other end is connected to the inlet of the relay station model 1322. The relay station model 1322 is a simulation device with temporary storage and pressure regulation functions. Its outlet is connected to the ore collection bin of the mining vehicle model 12 through the flexible pipe section 1323. The flexible pipe section 1323 is made of highly flexible material and can bend and deform with the movement of the mining vehicle model 12 and the traction of the buoyancy traction component 2. Buoyancy traction components 2 are sequentially connected along the length of the flexible pipe segment 1323, with their connection points corresponding to the nodes of the flexible pipe segment 1323. By adjusting the buoyancy value of each buoyancy traction component 2, differentiated traction forces can be applied to different sections of the flexible pipe segment 1323, causing it to form a catenary or wave-like spatial shape similar to ocean currents. The communication cable 131 and the material conveying pipe 132 can be installed independently, in parallel, or integrated. When integrated, the communication cable 131 is usually run through the inner or outer protective sleeve of the material conveying pipe 132 to avoid mutual interference and simulate the composite pipeline layout in the actual system. This structural design of the flexible connection component 13 can simulate the functional requirements of communication and material conveying separately. Furthermore, through the cooperation of the flexible pipe segment 1323 and the buoyancy traction components 2, it can accurately reproduce the dynamic mechanical behavior of the conveying hose under the combined effects of water flow disturbance, mining vehicle traction, and buoyancy balance in deep-sea mining, providing a physical model consistent with actual working conditions for system coupled dynamics analysis and control strategy verification.

[0041] This application also provides an experimental method based on the above-mentioned deep-sea mining simulation experimental system, including the following steps: First, the hull model 11 is fixedly installed on the bearing surface of the wave simulation component 5 to ensure that the hull model 11 and the motion output end of the wave simulation component 5 are coaxial or have a preset relative position relationship. At the same time, the mining vehicle model 12 is placed in the test area of ​​the terrain simulation component 6, and the configuration of the terrain simulation component 6 is adjusted according to the type of seabed terrain to be simulated in the experiment, including setting the display content of the terrain display screen 61 and the distribution position of the terrain obstacles 62. Subsequently, the ship model 11 and the mining vehicle model 12 are connected by a flexible connecting component 13. The upper end of the riser section 1321 of the flexible connecting component 13 is fixed to the deck interface of the ship model 11, and the lower end is connected to the relay station model 1322. The flexible pipe section 1323 extends from the relay station model 1322 to the ore collection bin interface of the mining vehicle model 12. Buoyancy traction components 2 are installed sequentially at designated positions on the flexible pipe section 1323. Each buoyancy traction component 2 is connected to a specific node of the flexible pipe section 1323 by a traction rope 22. At the same time, markers 3 are installed on the outer surface of the flexible connecting component 13 at preset intervals, with at least some markers 3 located at the connection between the flexible connecting component 13 and the buoyancy traction component 2, so as to facilitate subsequent analysis of the influence of the buoyancy traction component 2 on local deformation.

[0042] After hardware deployment is completed, the wave simulation component 5 is activated. Its internal six-degree-of-freedom drive mechanism drives the hull model 11 to generate complex movements such as heave, roll, and pitch according to preset wave spectrum parameters or a manually set trajectory. Simultaneously, task commands are issued to the mining vehicle model 12, instructing it to travel along a planned route on the terrain simulation component 6. During this travel, the walking mechanism of the mining vehicle model 12 contacts the surface of the terrain simulation component 6, generating corresponding driving forces and resistance. During the movement of the mining vehicle model 12 and the forced movement of the hull model 11, the control system adjusts the buoyancy values ​​or flight positions of each buoyancy traction component 2, applying traction forces of different directions and magnitudes to the flexible connection component 13 to adjust its spatial posture, including overall height, curvature, and tilt angle.

[0043] The visual positioning component 4's visual ranging lenses 41 synchronously acquire image data of all markers 3. Image processing algorithms are used to calculate the three-dimensional coordinates of each marker 3, thereby fitting the complete spatial morphological parameters of the flexible connecting component 13 and achieving real-time simulation and recording of the flexible connecting component 13's dynamic pose. This method, by integrating wave simulation, terrain walking, buoyancy traction adjustment, and visual pose monitoring, can reproduce multi-physics coupled conditions such as ship swaying, mining vehicle movement, and hose deformation during deep-sea mining in a laboratory environment. This provides repeatable experimental procedures and quantitative data for system dynamics modeling and control strategy verification.

[0044] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A deep-sea mining simulation experimental system, characterized in that, include: The mining system model component (1) includes a ship model (11), a mining vehicle model (12) and a flexible connection component (13), one end of which is connected to the ship model (11) and the other end of which is connected to the mining vehicle model (12). Several buoyancy traction components (2) are sequentially connected to the flexible connection component (13). The buoyancy traction components (2) are used to pull the flexible connection component (13) to a predetermined suspension position and adjust the spatial shape of the flexible connection component (13). Several markers (3) are sequentially connected to the flexible connection assembly (13) at preset intervals. The visual positioning component (4) is used to observe the spatial position information of each of the markers (3) to simulate the spatial pose of the flexible connection component (13).

2. The deep-sea mining simulation experimental system as described in claim 1, characterized in that, It also includes a wave simulation component (5), on which the hull model (11) is installed. The wave simulation component (5) is used to drive the hull model (11) to simulate the movement of the hull model (11) in a wave environment.

3. The deep-sea mining simulation experimental system as described in claim 2, characterized in that, The wave simulation component (5) includes: A first guide member, a first slide block, and a first drive member, wherein the first guide member extends along a first direction and the first drive member is driven to connect to the first slide block so that the first slide block moves on the first guide member; A second guide member, a second slide block, and a second drive member are provided. The second guide member extends along a second direction and is mounted on the first slide block. The second drive member is driven to connect to the second slide block so that the second slide block moves on the second guide member. The second direction is orthogonal to the first direction. A third guide member, a third slide block, and a third drive member are provided. The third guide member extends along a third direction and is mounted on the second slide block. The third drive member is driven to connect to the third slide block so that the third slide block can move on the third guide member. Both the second direction and the first direction are orthogonal to the third direction. A fourth driving component is mounted on the third slide, and the output end of the fourth driving component rotates about the third direction. The fifth driving component is installed at the output end of the fourth driving component, and the output end of the fifth driving component rotates around the second direction; The sixth driving component is installed at the output end of the fifth driving component, and the hull model (11) is installed at the output end of the sixth driving component to drive the hull model (11) to rotate around the first direction.

4. The deep-sea mining simulation experimental system as described in claim 1, characterized in that, Includes a terrain simulation component (6) for simulating seabed topography, on which the mining vehicle model (12) travels.

5. The deep-sea mining simulation experimental system as described in claim 4, characterized in that, The terrain simulation component (6) includes: A terrain display screen (61) is used to display terrain images, and the mining vehicle model (12) selects a travel route based on the terrain images; And / or, terrain obstacles (62), provided on the terrain display screen (61), to simulate the spatial structure of the seabed terrain.

6. The deep-sea mining simulation experimental system as described in claim 1, characterized in that, The buoyancy traction assembly (2) includes: The aircraft (21) is used to provide traction and to pull the flexible connection assembly (13) to a predetermined suspension position by controlling the flight position of the aircraft (21); The traction rope (22) is connected at one end to the aircraft (21) and at the other end to the flexible connection assembly (13).

7. The deep-sea mining simulation experimental system as described in claim 1, characterized in that, The visual positioning component (4) includes a plurality of visual ranging lenses (41), each of which is distributed at a different position on the outer periphery of the marker (3).

8. The deep-sea mining simulation experimental system as described in claim 1, characterized in that, The flexible connection component (13) includes: A communication cable (131) is connected at one end to the ship model (11) and at the other end to the mining vehicle model (12). And / or, the material conveying pipe (132) includes a riser section (1321), a relay station model (1322), and a flexible pipe section (1323). One end of the riser section (1321) is connected to the hull model (11), and the other end of the riser section (1321) is connected to the relay station model (1322). One end of the flexible pipe section (1323) is connected to the relay station model (1322), and the other end of the flexible pipe section (1323) is connected to the mining vehicle model (12). The buoyancy traction component (2) is sequentially connected to the flexible pipe section (1323).

9. An experimental method based on the deep-sea mining simulation experimental system as described in any one of claims 1 to 8, characterized in that, Includes the following steps: The ship model (11) is installed on the wave simulation component (5), and the mining vehicle model (12) is placed on the terrain simulation component (6). The hull model (11) and the mining vehicle model (12) are connected by a flexible connection component (13), and a buoyancy traction component (2) and a marker (3) are installed at a designated position on the flexible connection component (13). The wave simulation component (5) is activated to drive the ship model (11) to move according to a preset action; the mining vehicle model (12) moves on the terrain simulation component (6) according to the task instructions; Control the buoyancy traction component (2) to adjust the spatial orientation of the flexible connection component (13); The visual positioning component (4) observes the spatial position information of each of the markers (3) to simulate the spatial pose of the flexible connection component (13).

10. The deep-sea mining simulation experimental method as described in claim 9, characterized in that, At least part of the marker (3) is installed at the connection between the flexible connection assembly (13) and the buoyancy traction assembly (2).

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