Auv-based sled-based seafloor nodule mining system and method

Abstract

The application relates to the technical field of marine resource development equipment, and mainly provides a sliding type seabed nodule mining system and a mining method based on an AUV. The system comprises an autonomous underwater vehicle and a collecting mechanism. Skis are arranged on the bottom of the autonomous underwater vehicle, the skis are connected with the autonomous underwater vehicle through supports, a docking module is arranged on the top of the autonomous underwater vehicle, a docking port and an air inlet are arranged on the docking module, a suction inlet and a jetting port are arranged on the bottom of the autonomous underwater vehicle. The collecting mechanism comprises a storage cabin, a spiral collecting hopper, a suction pump and a jetting pump arranged in the autonomous underwater vehicle. The sliding type seabed nodule mining system and the mining method based on the AUV can solve the technical problems of low collection efficiency and easy pollution and damage to the marine environment caused by defects of the existing seabed nodule mining means.

Description

Technical Field

[0001] This invention belongs to the field of marine resource development equipment technology, specifically relating to an AUV-based gliding seabed nodule mining system and mining method. Background Technology

[0002] Deep-sea polymetallic nodules are rich in key metallic elements such as nickel, cobalt, copper, and manganese, making them important strategic mineral resources. With increasingly scarce terrestrial resources and the rapid development of clean energy and high-end manufacturing industries, the demand for these metals continues to grow, driving the research and development of commercial mining technologies for deep-sea nodules. Currently, internationally recognized nodule-rich areas are mainly located in deep-sea plains at depths of several thousand meters, and their development is of great significance for ensuring resource supply and promoting marine economic development.

[0003] Existing deep-sea nodule collection technologies typically employ a "surface mother ship + heavy-duty seabed mining vehicle" operational model. Specifically, large, tracked mining vehicles are deployed to the seabed. Driven by their tracks, these vehicles traverse the seabed surface, using a mechanical bucket or drum at the front to excavate and collect the nodules along with some sediment. The resulting slurry mixture of nodules and sediment is then continuously transported to the surface mother ship via a high-powered hydraulic pump system through a pipeline extending several kilometers. This technological approach is one of the main engineering strategies for achieving large-scale collection.

[0004] However, this existing technical solution has several significant drawbacks. First, the system relies on dedicated large surface support vessels to deploy, retrieve, and control heavy mining vehicles in real time, as well as to pump and treat the slurry at high power. Its construction, operation, and energy costs are extremely high, posing a significant economic barrier. Second, the seabed in deep-sea nodule-bearing areas is mostly soft, fine-grained sediment. Tracked vehicles violently agitate the seabed, generating large sediment plumes that severely reduce visibility in the operating area, affecting collection efficiency and potentially damaging the native seabed environment. More critically, after the sediment and nodules are pumped to the surface vessel for separation, the massive amounts of waste sediment are usually directly discharged back into the sea. Their diffusion and re-settling in the water cover large areas of seabed habitats, causing immeasurable long-term impacts and pollution to the fragile deep-sea ecosystem. This is the main environmental challenge currently facing this technology. Summary of the Invention

[0005] This invention provides an AUV-based gliding seabed nodule mining system and method, which solves the technical problems of low extraction efficiency and easy pollution and damage to the marine environment caused by the shortcomings of existing seabed nodule mining methods. The specific technical solution is as follows: In a first aspect, embodiments of the present invention provide a sliding seabed nodule mining system based on an AUV, comprising: An autonomous underwater vehicle (AUV) is provided with horizontally arranged sleds on both sides of its bottom. The sleds are connected to the AUV via brackets. A docking module is provided on the top of the AUV, which has a docking interface and an air inlet. The bottom of the AUV has an intake port and a jet nozzle facing the intake port. The data collection mechanism, located inside the autonomous underwater vehicle (AUV), includes a storage tank, a spiral hopper, a suction pump, and a jet pump. The spiral hopper is located on top of the storage tank and connected to it through a small opening at its bottom. A central pipe is coaxially connected to the top of the spiral hopper and is connected to the docking port through the central pipe. The bottom of the central pipe extends into the spiral hopper. The inlet end of the suction pump is connected to the central pipe, and the outlet end of the suction pump is connected to the rear side of the AUV. An inlet pipe connected to the suction inlet is connected to the side wall of the spiral hopper. A jet manifold connected to the air inlet is connected to the side wall of the storage tank. The inlet end of the jet pump is connected to the front side of the AUV, and the outlet end of the jet pump is connected to the jet nozzle.

[0006] Optionally, the inlet pipe is connected to the spiral hopper tangentially, and the height of the connection point is higher than the bottom height of the central pipe.

[0007] Optionally, the storage compartment is cylindrical, and multiple jet manifolds are provided and their connection positions with the storage compartment are arranged at equal angular intervals along the storage compartment. The jet manifolds are connected to the storage compartment along the tangential direction.

[0008] Optionally, the top of the docking module has multiple air inlets arranged at equal angular intervals around the docking interface, and the multiple air inlets are connected to multiple jet manifolds.

[0009] Optionally, a suction baffle is rotatably provided on the rear side of the bottom of the autonomous underwater vehicle. The suction baffle is configured to have a first working position that is attached to the bottom of the autonomous underwater vehicle and covers the suction inlet, and a second working position that is rotated to be arranged at an angle to the bottom of the autonomous underwater vehicle and allows the suction inlet to communicate with the outside.

[0010] Optionally, the jet nozzle is located on the front side of the bottom of the autonomous underwater vehicle and is arranged at an angle toward the rear side of the bottom of the autonomous underwater vehicle. Multiple jet nozzles are provided and arranged along the width direction of the autonomous underwater vehicle.

[0011] Optionally, a suspension spring is provided at the bottom of the bracket along the longitudinal direction, and the bracket is connected to the sled board through the suspension spring.

[0012] Optionally, it also includes a docking connector, one end of which is provided with a connector compartment that matches the docking module. The bottom of the connector compartment is provided with a recovery pipe corresponding to the docking interface, an inflation connector corresponding to the air inlet, and a first multi-pole magnetic ring arranged around the recovery pipe. The top of the connector compartment is provided with a counterweight and is connected to the operating vessel through a composite cable connected to the recovery pipe. A second multi-pole magnetic ring that matches the first multi-pole magnetic ring is arranged around the docking interface on the connector compartment.

[0013] Optionally, the autonomous underwater vehicle is equipped with a battery for powering the autonomous underwater vehicle, the docking module is equipped with a charging interface electrically connected to the battery, and the docking connector is equipped with a charging connector corresponding to the charging interface.

[0014] Secondly, embodiments of the present invention also provide a mining method, implemented based on the AUV-based sliding seabed nodule mining system described in the first aspect, comprising: Several sets of the aforementioned AUV-based gliding seabed nodule mining system were lowered into the water via autonomous sinking. The propulsion of the autonomous underwater vehicle guided the multiple sets of equipment to the seabed surface. Multiple sets of equipment are controlled to collect data on the seabed, centered on the docking joint lowered by the working vessel, and then sequentially dock with the docking joint through the docking module to achieve cyclical operation of unloading ore and charging. After data collection is completed in one area of ​​the seabed, the working vessel is moved to tow the docking joint. Multiple sets of equipment, driven by the propulsion of the autonomous underwater vehicle, move along the working area on the seabed via the sleds. Once all data collection in all work areas is completed, multiple sets of equipment will surface via autonomous underwater vehicles and retrieve the docking joints, thus completing the operation.

[0015] Compared with the prior art, the beneficial effects of the embodiments of the present invention include at least the following: This invention provides an AUV-based planing seabed nodule mining system and method. By employing an autonomous underwater vehicle as a carrier, combined with a sled-like planing motion, spiral separation technology, magnetic docking system, and multi-vehicle swarm collaborative operation mode, it effectively solves the prominent problems of high cost, low efficiency, and environmental pollution in existing seabed nodule mining technologies. The system can operate autonomously in the deep-sea environment, reducing dependence on surface vessels; the sled-like planing motion and underwater in-situ separation technology significantly reduce disturbance and pollution to the marine environment; and multi-vehicle swarm operation and flexible relocation capabilities significantly improve operational efficiency and economy. This invention provides a technologically advanced, economically feasible, and environmentally friendly new approach for the sustainable development of deep-sea mineral resources, with broad application prospects and significant practical value. Attached Figure Description

[0016] Figure 1 A schematic diagram of the top structure of a sliding seabed nodule mining system based on an AUV provided in an embodiment of the present invention; Figure 2 A schematic diagram of the docking structure of the AUV-based sliding seabed nodule mining system and the docking joint provided in an embodiment of the present invention; Figure 3 A schematic diagram of the bottom structure of a sliding seabed nodule mining system based on an AUV provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the acquisition mechanism provided in an embodiment of the present invention; Figure 5 This is a partial structural cross-sectional view of the acquisition mechanism provided in an embodiment of the present invention; Figure 6 This is a schematic diagram of the internal structure of an autonomous underwater vehicle provided in an embodiment of the present invention; Figure 7 This is a schematic diagram of the docking module provided in an embodiment of the present invention; Figure 8 This is a schematic diagram of the structure of the mating joint provided in an embodiment of the present invention; Figure 9 A schematic diagram of the data collection process of the AUV-based gliding seabed nodule mining system provided in an embodiment of the present invention; Figure 10 This is a schematic diagram illustrating multiple sets of equipment used in mining operations on the seabed, as provided in an embodiment of the present invention. Figure 11 A flowchart of a mining method provided for an embodiment of the present invention.

[0017] In the diagram: 1-Autonomous Underwater Vehicle; 11-Sled; 111-Bracket; 112-Suspension Spring; 12-Dock Module; 121-Dock Interface; 122-Air Inlet; 123-Second Multi-Pole Magnetic Ring; 124-Charging Interface; 13-Suction Inlet; 14-Jet Nozzle; 15-Depth Gauge; 16-Bottom Altimeter; 17-Central Control Cabin; 2-Data Acquisition Mechanism; 21-Data Storage Tank; 211-Jet Manifold; 22-Spiral Collector Hopper; 221-Central Pipe; 23-Suction Pump; 24-Jet Pump; 25-Inlet Pipe; 3-Suction Baffle; 4-Dock Joint; 41-Joint Cabin; 411-Recovery Pipe; 412-Inflation Joint; 413-First Multi-Pole Magnetic Ring; 414-Charging Joint; 42-Counterweight; 43-Composite Cable; 5-Battery. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] Figure 1 A schematic diagram of the top structure of a sliding seabed nodule mining system based on an AUV provided in an embodiment of the present invention; Figure 2 A schematic diagram of the docking structure of the AUV-based sliding seabed nodule mining system and the docking joint provided in an embodiment of the present invention; Figure 3 A schematic diagram of the bottom structure of a sliding seabed nodule mining system based on an AUV provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the acquisition mechanism provided in an embodiment of the present invention; Figure 5 This is a partial structural cross-sectional view of the acquisition mechanism provided in an embodiment of the present invention; Figure 6 This is a schematic diagram of the internal structure of an autonomous underwater vehicle provided in an embodiment of the present invention; Figure 7 This is a schematic diagram of the docking module provided in an embodiment of the present invention; Figure 8 This is a schematic diagram of the structure of the mating joint provided in an embodiment of the present invention; Figure 9 This is a schematic diagram illustrating the data collection process of an AUV-based gliding seabed nodule mining system provided in an embodiment of the present invention. Figures 1 to 9 As shown, this embodiment of the invention provides a planing seabed nodule mining system based on an AUV, which mainly includes an autonomous underwater vehicle 1 and a collection mechanism 2.

[0020] The Autonomous Underwater Vehicle (AUV) 1 ​​adopts a streamlined AUV configuration, with a rectangular compartment in the middle that tapers towards the front and rear to form a streamlined structure, effectively reducing underwater drag. A gliding tail fin is mounted at the rear of the AUV 1, and gliding side wings are installed on the sides to maintain attitude stability during movement. Thrusters parallel to the direction of travel are mounted on both sides of the gliding tail fin and on the gliding side wings to provide propulsion. A longitudinal attitude thruster is installed at each of the four corners of the central part of the AUV 1 to adjust the vehicle's tilting attitude and provide propulsion for surfacing and descent. Through the coordinated operation of these thrusters, the AUV 1 can achieve autonomous maneuvering in three-dimensional space, meeting the operational requirements of complex deep-sea environments.

[0021] The autonomous underwater vehicle (AUV) 1 ​​has horizontally arranged sleds 11 on both sides of its bottom. The sleds 11 are connected to the AUV 1 via supports 111 extending downwards from both sides of the AUV 1. The sleds 11 feature a large-area structure design, directly contacting the soft sediments of the seabed. By increasing the contact area with the seabed, this effectively prevents the entire device from sinking into the sediment. Compared to traditional tracked mining vehicles, the sleds 11 can glide smoothly on the seabed under the propulsion of thrusters, without violently agitating and cutting the seabed surface like tracks. This significantly reduces sediment uplift and diffusion, minimizing disturbance to the seabed environment. This gliding motion not only improves visibility in the work area, facilitating nodule identification and path planning by visual systems, but also significantly reduces damage to seabed habitats, reflecting the design concept of environmentally friendly mining.

[0022] Furthermore, a suspension spring 112 is longitudinally arranged at the bottom of the support 111, and the support 111 is connected to the sled 11 via the suspension spring 112. The suspension spring 112 allows the sled 11 to undergo moderate vertical displacement relative to the autonomous underwater vehicle 1, forming a suspension damping mechanism. When the sled 11 encounters local protrusions or depressions on the seabed, the suspension spring 112 can buffer and absorb the impact force, preventing severe vibrations from being transmitted to the main body of the autonomous underwater vehicle 1, and protecting the internal precision instruments and equipment from damage. At the same time, the elastic deformation of the suspension spring 112 allows the sled 11 to better conform to the micro-undulations of the seabed surface, maintaining good contact, improving the system's adaptability to complex seabed terrain, and ensuring the continuity and stability of mining operations.

[0023] The autonomous underwater vehicle 1 is equipped with a docking module 12 on its top. The docking module 12 has a docking interface 121 and air inlets 122. The docking interface 121 is located in the center of the docking module 12 and is used to dock with the docking joint 4, establishing an upward transport channel for minerals. Multiple air inlets 122 are arranged at equal angular intervals around the docking interface 121 on the top of the docking module 12, used to receive high-pressure gas-liquid flow from the docking joint 4 during mineral recovery. The design of the docking module 12 enables the autonomous underwater vehicle 1 to establish a reliable physical connection and fluid transport channel with surface vessels, achieving efficient mineral recovery and continuous energy replenishment in deep-sea environments.

[0024] An autonomous underwater vehicle (AUV) 1 ​​has a forward-facing camera mounted at the center of its underside, facing the seabed, with searchlights on either side to illuminate the camera. The forward-facing camera is used to acquire real-time information about the seabed topography and nodule distribution in front of the AUV 1. An internal visual recognition module analyzes and processes the images captured by the camera, automatically identifying nodule minerals on the seabed, distinguishing them from sediments, rocks, and other seabed materials, and autonomously planning the operational path based on the identification results. The central control circuit unit, combined with attitude information provided by the inertial navigation module and gyroscopes, controls the movements of the thrusters and jet nozzles 14 to achieve autonomous mining operations. This autonomous operation capability significantly reduces the need for real-time control by surface personnel, lowers labor costs, and can adapt to the objective conditions of communication latency and bandwidth limitations in the deep-sea environment.

[0025] Searchlights are installed on both sides of the center of the bottom of the autonomous underwater vehicle 1 to illuminate the rear-view camera located behind its abdomen. The rear-view camera faces backward and is used to monitor the spraying effect of the jet nozzle 14 and the suction status of the suction inlet 13 in real time, acquiring video information of the mineral collection process. Based on feedback from the rear-view camera, the operating system can assess the effectiveness of the current collection parameters and adjust parameters such as the angle of the jet nozzle 14, the spraying pressure, and the forward speed of the autonomous underwater vehicle 1 in a timely manner to optimize the collection effect. This visual monitoring system provides an important process control tool for mining operations, ensuring the quality and efficiency of collection.

[0026] The submersible 1 is equipped with two sensors: a depth gauge 15 and an altimeter 16. The depth gauge 15 measures the water depth of the submersible 1, providing a depth reference for diving and surfacing. The altimeter 16 uses acoustic or laser ranging principles to measure the height of the submersible 1 above the seabed in real time. The data from these two sensors is input into the central control cabin 17 for depth control and maintaining the submersible 1's altitude. When diving close to the seabed, the system precisely controls the longitudinal attitude thrusters based on feedback from the altimeter, ensuring a smooth landing and avoiding collisions. During mining operations, the system maintains an appropriate altitude, ensuring good contact between the skid plate 11 and the seabed, while preventing the submersible 1 from sinking into sediment.

[0027] The collection mechanism 2 is located inside the autonomous underwater vehicle 1 and includes a storage tank 21, a spiral hopper 22, a suction pump 23, and a jet pump 24. The collection mechanism 2 is the core component for mineral collection, separation, and temporary storage. The spiral hopper 22 is located on top of the storage tank 21 and features an inverted conical structure with a larger opening at the top and a gradually narrowing lower section. It connects to the storage tank 21 through a smaller opening at the bottom. This inverted conical structure provides ideal space for the spiral descent and centrifugal separation of minerals and sediments. A central pipe 221 is coaxially connected to the top of the spiral hopper 22. The central pipe 221 extends vertically upward through the top of the spiral hopper 22 and connects to the top interface 121 through the internal space of the autonomous underwater vehicle 1. The central pipe 221 passes through the top of the spiral hopper 22, and its bottom extends into the interior of the spiral hopper 22, reaching approximately the same height as the opening on the side wall of the spiral hopper 22.

[0028] The suction pump 23 is the core component that provides suction power to the system. The inlet of the suction pump 23 is connected to the central pipe 221. Specifically, the central pipe 221 has an opening in the side wall of the section between the interface 121 and the top of the spiral hopper 22, which is connected to the inlet of the suction pump 23 via a pipe. The outlet of the suction pump 23 is connected to the rear of the autonomous underwater vehicle 1, and the treated sediment and seawater are discharged to the seawater environment outside the autonomous underwater vehicle 1 through a discharge pipe. When the suction pump 23 is working, a negative pressure is formed inside the central pipe 221, generating an upward suction flow. This flow not only drives the rotation of the mixture inside the spiral hopper 22, but also carries away the less dense sediment particles from the system, while the denser and larger nodular minerals remain in the spiral hopper 22 due to gravity and inertia and eventually fall into the storage tank 21.

[0029] The side wall of the spiral hopper 22 is connected to an inlet pipe 25 that communicates with the suction inlet 13. The inlet pipe 25 is connected to the spiral hopper 22 tangentially, meaning that the central axis of the inlet pipe 25 is aligned with or approximately parallel to the tangential direction of the spiral hopper 22 at the connection point. This tangential connection ensures that the mineral and sediment mixture entering from the suction inlet 13 enters the spiral hopper 22 at a tangential velocity, causing it to rotate within the spiral hopper 22, rather than being directly impacted radially towards the center. The height of the connection point of the inlet pipe 25 is higher than the bottom height of the central pipe 221. This height difference design allows the mixture to first rotate and undergo preliminary separation in the upper space of the spiral hopper 22 after entering, fully utilizing the effective separation area of ​​the spiral hopper 22.

[0030] During mining operations, when the suction pump 23 starts working, the mineral and sediment mixture sucked in through the suction inlet 13 enters the spiral hopper 22 at a tangential velocity through the inlet pipe 25. Due to the tangential connection design of the inlet pipe 25, the mixture immediately begins to rotate along the side wall of the spiral hopper 22 after entering. During rotation, the mixture is subjected to centrifugal force, and the denser nodular minerals are thrown towards the side wall of the spiral hopper 22, while the less dense sediment particles are more distributed in the area near the center. As rotation continues, the mixture gradually spirals downward under the action of gravity. Due to its large mass and inertia, the nodular minerals gradually lose kinetic energy through repeated friction and collision with the side wall of the spiral hopper 22, and its falling speed increases, eventually falling through the small end opening at the bottom of the spiral hopper 22 and depositing in the storage tank 21.

[0031] Because of their low density and small size, sediment particles are easily carried by the upward suction current during rotation. When the spiraling sediment reaches the height of the bottom opening of the central tube 221, the strong upward current generated by the suction pump 23 captures the sediment and draws it into the central tube 221, from where it is then discharged to the outside of the autonomous underwater vehicle 1. This achieves the hydraulic separation of minerals and sediments. The advantage of this separation method is that it eliminates the need for complex screening or flotation equipment. Relying solely on the combined effects of water flow, gravity, and centrifugal force, it can complete the separation of minerals and sediments in situ underwater. This avoids the traditional method of pumping large amounts of sediment to the surface for separation, significantly reducing the amount of sediment transported and processing costs. More importantly, it reduces the long-distance diffusion of sediments in the water column, thus minimizing the impact on the marine environment.

[0032] It is worth emphasizing that this spiral separation structure also features low biological damage. The surface of seabed nodules is often covered with various benthic organisms, and traditional mechanical crushing or forceful suction methods can easily cause the death and destruction of these organisms. However, the rotating water flow generated by the spiral hopper 22 of this invention is relatively gentle. After the organisms enter the spiral hopper 22 along with the sediment, because their density is similar to the sediment and they often possess a certain degree of mobility, they can be drawn into the central pipe 221 by the suction pump 23 and ultimately discharged back into the ocean. This achieves effective separation of minerals and organisms, maximizing the protection of seabed biological resources and embodying the environmentally friendly concept of sustainable development.

[0033] Furthermore, the storage hopper 21 is cylindrical, with a conical top that connects to the small end opening of the spiral hopper 22, and a cylindrical bottom and middle section, providing a stable storage space for the minerals. The volume of the storage hopper 21 is designed according to actual operational needs, capable of holding a certain amount of nodular minerals, allowing the autonomous underwater vehicle 1 to operate continuously for a period of time before unloading ore, thus improving operational efficiency.

[0034] A jet manifold 211, communicating with the air inlet 122, is connected to the side wall of the storage compartment 21. Multiple jet manifolds 211 are provided; in a specific embodiment, two jet manifolds 211 are provided. The connection positions of the multiple jet manifolds 211 to the storage compartment 21 are arranged at equal angular intervals along the circumference of the storage compartment 21, that is, two jet manifolds 211 are symmetrically distributed at 180 degrees around the circumference of the storage compartment 21, or, in the case of four air inlets 122, four jet manifolds 211 can be provided at 90-degree intervals. The jet manifolds 211 are connected to the storage compartment 21 tangentially, meaning the outlet of the jet manifold 211 is tangential to the side wall of the storage compartment 21. The jet manifold 211 enters tangentially from the bottom of the side wall of the storage compartment 21, extends upwards to the top of the autonomous underwater vehicle 1, and connects to the air inlet 122 on the top of the docking module 12. The top of the docking module 12 has multiple air inlets 122 arranged at equal angles around the docking interface 121. Each air inlet 122 is connected to a corresponding jet manifold 211 to form a complete gas-liquid transport channel.

[0035] When the storage tank 21 is full of minerals and needs to be unloaded, after the docking module 12 and docking joint 4 are docked, the surface vessel delivers a high-pressure gas-liquid stream to the air inlet 122 through the air inlet 412 of the docking joint 4. The high-pressure gas-liquid stream enters the jet manifold 211 and is then injected at high speed into the storage tank 21 from the tangential outlet of the jet manifold 211. Due to the tangential arrangement of the jet manifold 211, the high-speed gas-liquid stream is injected tangentially along the side wall of the storage tank 21, forming a strong vortex flow within the cylindrical storage tank 21. The symmetrical arrangement of multiple jet manifolds 211 ensures the stability and uniformity of the vortex flow. Driven by the vortex flow, the nodular minerals already deposited in the storage tank 21 are rotated.

[0036] Simultaneously, the surface vessel draws suction from the central pipe 221 via the recovery pipe 411, creating an upward negative pressure at the top of the storage tank 21 and within the central pipe 221. Under the combined effect of vortex flow and upward suction, the nodule minerals converge towards the bottom of the central pipe 221 in the center of the storage tank 21. More importantly, bubbles in the high-pressure gas-liquid flow are released and rise within the storage tank 21, exerting buoyancy on the nodule minerals. These bubbles adhere to the surface of the mineral particles or form bubble clusters around the minerals, effectively reducing the apparent density of the minerals and making them easier to be carried upwards by the suction flow. The lifting effect of the bubbles significantly improves the mineral recovery efficiency, especially for nodules with larger particle sizes and higher densities. The bubble flotation effect overcomes the influence of gravity, ensuring that they are smoothly drawn into the central pipe 221 and transported to the surface vessel via the recovery pipe 411. This gas-liquid two-phase flow assisted suction technology is key to achieving efficient deep-sea mineral recovery, avoiding problems such as pipe blockage and low suction efficiency that may occur with simple liquid-phase suction.

[0037] The jet pump 24 provides high-pressure water flow to the jet nozzle 14. Multiple jet pumps 24 are provided; in this specific embodiment, two jet pumps 24 are used, each supplying water to the front jet nozzle 14. The inlet of the jet pump 24 is connected to the front of the autonomous underwater vehicle 1. Specifically, a jet inlet is located on the upper front side of the autonomous underwater vehicle 1, and this inlet is connected to the inlet of the jet pump 24 via a pipe. The jet pump 24 draws seawater from the external seawater environment. The outlet of the jet pump 24 is connected to the jet nozzle 14. One jet pump 24 is connected to two jet nozzles 14 via a jet manifold, forming a one-to-two water supply relationship. The jet pump 24 pressurizes the drawn seawater and sends it into the jet manifold, which then distributes it to each jet nozzle 14. The jet nozzle 14 sprays high-pressure seawater at high speed onto the seabed surface, impacting and stripping nodule minerals from the sediments, creating conditions for suction and collection at the suction inlet 13.

[0038] The autonomous underwater vehicle (AUV) 1 ​​also integrates a complete control and energy management system. A central control module 17 is located in the upper-middle section at the front of the AUV 1. This module integrates all the electronic components controlling the movement of the equipment, including a central control circuit unit, a vision recognition module, a gyroscope, an inertial navigation module, an energy management module, and a mineral storage management module. The central control circuit unit is the control center of the entire system, responsible for coordinating the work of each subsystem. The vision recognition module processes and analyzes images captured by the forward-facing and rear-facing cameras in real time, enabling automatic identification and monitoring of nodules. The gyroscope and inertial navigation module provide attitude and position information for the AUV 1, supporting autonomous navigation and path planning. The energy management module monitors the battery 5's charge status, rationally allocates and schedules power supply, ensures priority power supply to critical equipment, and triggers a charging process when the battery is low. The mineral storage management module monitors the loading capacity of the storage tank 21. When the storage tank 21 is nearing full load, it triggers an unloading process, guiding the AUV 1 to dock with the docking joint 4.

[0039] The invention also includes a docking connector 4, which serves as a relay device for the transfer of matter and energy between the autonomous underwater vehicle 1 and the surface vessel. One end of the docking connector 4 is equipped with a connector compartment 41 that matches the docking module 12. The shape and size of the connector compartment 41 are adapted to the docking module 12, enabling stable and reliable docking. The bottom of the connector compartment 41 is equipped with a recovery pipe 411 corresponding to the docking interface 121. The recovery pipe 411 is a cylindrical structure extending vertically downwards. Its outer diameter matches the inner diameter of the docking interface 121 and the central pipe 221, allowing it to be inserted into the docking interface 121 and extend into the central pipe 221, reaching the top of the storage tank 21. After insertion, the outer wall of the recovery pipe 411 forms a sealed fit with the inner wall of the central pipe 221, isolating the storage tank 21 from the external seawater environment and forming a closed mineral transport channel.

[0040] The bottom of the connector compartment 41 is also equipped with an inflation connector 412 corresponding to the air inlet 122. Multiple inflation connectors 412 are provided, each corresponding to a specific number and position of the air inlets 122. After the docking module 12 and connector compartment 41 are docked, the inflation connector 412 can accurately align with the air inlet 122, establishing a secure airtight connection. In the non-operating state, the inflation connector 412 is retracted inside the connector compartment 41 and extends / retracts via a motor. During docking, once the recovery pipe 411 is inserted and the connector compartment 41 and docking module 12 are locked in place, the motor drives the inflation connector 412 to extend outwards and insert into the air inlet 122, completing the air path docking. This telescopic design prevents the inflation connector 412 from interfering with other components during docking, ensuring smooth docking.

[0041] A first multi-pole magnetic ring 413 is arranged around the bottom of the docking compartment 41, surrounding the recovery pipe 411. The first multi-pole magnetic ring 413 adopts the same magnetic pole configuration as the second multi-pole magnetic ring 123, having four magnetic poles whose polarity and position distribution match those of the second multi-pole magnetic ring 123. During docking, when the docking compartment 41 approaches the docking module 12, a magnetic attraction is generated between the first multi-pole magnetic ring 413 and the second multi-pole magnetic ring 123. Due to the polarity characteristics of the multi-pole magnetic rings, the strongest attraction is generated only when the magnetic poles of the two rings correspond to each other, thus automatically achieving rotational alignment during docking. The guiding effect of the magnetic rings, combined with the rounded corner transition design of the docking compartment 41 and the docking module 12, allows for automatic correction under the action of magnetic force and the guiding structure, even if there is a certain deviation in the initial approach attitude, ultimately achieving accurate docking. This magnetic attraction-guided docking technology significantly improves the success rate and reliability of unmanned docking in deep-sea environments, overcoming adverse factors such as limited underwater visibility and ocean current disturbances.

[0042] Furthermore, a second multi-pole magnetic ring 123 is arranged around the docking interface 121 on the docking module 12. The second multi-pole magnetic ring 123 is made of a strong magnetic material and has four magnetic poles that are symmetrically distributed. The arrangement of the second multi-pole magnetic ring 123 provides guidance and positioning for the automatic docking of the docking module 12 and the docking connector 4. During the docking process, a magnetic attraction is generated between the second multi-pole magnetic ring 123 and the corresponding first multi-pole magnetic ring 413 on the docking connector 4, which can automatically adjust the docking posture to ensure accurate alignment of the docking interface 121 and the recovery tube 411. At the same time, due to the polarity of the magnetic ring, it can only attract at the correct rotation angle. This design ensures that multiple interfaces, such as the air inlet 122 and the inflation connector 412, and the charging interface 124 and the charging connector 414, can be accurately docked simultaneously, avoiding the risk of misalignment and improving the reliability and safety of docking.

[0043] The connector compartment 41 is also equipped with charging connectors 414 corresponding to the charging interface 124. The number and arrangement of the charging connectors 414 correspond one-to-one with the charging interface 124. The charging connectors 414 also adopt a telescopic design. After docking is completed and the inflation connector 412 extends outward, the charging connector 414 is also driven by a motor to extend outward and establish an electrical connection with the charging interface 124. The charging connectors 414 are connected to the power system of the surface vessel through the power cable in the composite cable 43, and can transmit electrical energy to the autonomous underwater vehicle 1. The contact surfaces of the charging connectors 414 and the charging interface 124 are designed with waterproof sealing and are equipped with a self-cleaning mechanism to prevent seawater and sediment from contaminating the electrical contact surfaces, ensuring the reliability and safety of the charging connection.

[0044] A counterweight 42 is installed on the top of the docking compartment 41. The counterweight 42 is made of high-density materials, such as lead or tungsten alloy, and has sufficient mass. The counterweight 42 provides negative buoyancy to the docking joint 4 in the water, allowing it to sink naturally under its own weight. The mass of the counterweight 42 is precisely calculated to maintain the docking joint 4 in a vertically suspended position in the water, with the recovery pipe 411 always pointing downwards, facilitating docking with the approaching autonomous underwater vehicle 1. Simultaneously, the downward pull provided by the counterweight 42 counteracts the lateral thrust of ocean currents during docking, enhancing the stability of the docking joint 4.

[0045] The autonomous underwater vehicle (AUV) 1 ​​is internally equipped with batteries 5 for powering it. Multiple sets of batteries 5 are installed at the front and rear of the AUV 1, arranged in a distributed manner to optimize the device's center of gravity and improve navigation stability. The docking module 12 is equipped with charging interfaces 124 that are electrically connected to the batteries 5. Multiple charging interfaces 124 are arranged around the docking interface 121 on the top of the docking module 12, along with the air inlet 122. The charging interfaces 124 are connected to the batteries 5 via internal circuitry. After the AUV 1 docks with the charging connector 414 of the docking connector 4, it can receive electrical energy from the surface vessel to charge the batteries 5. This design allows the AUV 1 to immediately replenish its energy underwater after completing a mining operation and unloading minerals, without needing to surface or return to the mother ship, significantly improving operational continuity and efficiency. The multiple charging interfaces 124 provide greater charging power, shorten charging time, and further enhance the system's operational efficiency.

[0046] The docking joint 4 is connected to the operating vessel via a composite cable 43 that connects to the recovery pipe 411. The composite cable 43 is a multi-functional integrated cable, with a mineral transport pipe at its center connecting to the recovery pipe 411, surrounded by high-pressure gas-liquid transport pipes, power cables, communication optical cables, and other functional cables, and covered with a high-strength tensile sheath. The composite cable 43 is connected to a counterweight 42 on top of the joint compartment 41 via a load-bearing head, which bears the weight of the entire docking joint 4 and the composite cable 43, as well as the tensile force during mineral extraction. The other end of the composite cable 43 is connected to the deck equipment of the surface operating vessel, including the mineral recovery system, high-pressure pump station, generator set, and control room. The operating vessel can achieve multiple functions such as mineral recovery, gas-liquid transport, power supply, and information communication for the autonomous underwater vehicle 1 via the composite cable 43.

[0047] A small acoustic communication device is also installed inside the docking compartment 41. This device is used for close-range underwater acoustic communication with the autonomous underwater vehicle (AUV) 1, enabling information transmission and relative positioning. When AUV 1 needs to dock, it sends a docking request signal to the acoustic communication device on the docking connector 4 via its own acoustic communication module. Upon receiving the signal, the docking connector 4 sends its precise position information to AUV 1 via an acoustic response. AUV 1 adjusts its course and attitude based on the acoustic positioning information, gradually approaching the docking connector 4. During the approach, both maintain acoustic communication, exchanging position and velocity information in real time to achieve precise guided docking. This acoustic communication system overcomes the difficulties of severe radio signal attenuation and limited optical visual range in the deep-sea environment, providing reliable information support for unmanned underwater docking.

[0048] The autonomous underwater vehicle (AUV) 1 ​​has an intake port 13 and jet nozzles 14 arranged towards the intake port 13 at its bottom. The intake port 13 is located at the rear center of the bottom of the AUV 1, with its opening facing the seabed surface, and is used to extract a mixture of nodular minerals and some sediments stirred up by jetting. The jet nozzles 14 are located at the front of the bottom of the AUV 1 and are inclined towards the rear of the bottom of the AUV 1, so that the jetting water flow can accurately act on the seabed area in front of the intake port 13. Multiple jet nozzles 14 are arranged along the width direction of the AUV 1. In a specific embodiment, four jet nozzles 14 are arranged in a horizontal line. The arrangement of multiple jet nozzles 14 can form a jetting operation zone of a certain width in the forward direction of the AUV 1, improving the coverage area and collection efficiency of a single operation.

[0049] The jet nozzle 14 features an adjustable angle design, mounted on a spherical joint, allowing it to rotate freely within a certain range to adjust the spray angle and direction, achieving precise aiming and control of the jetting area. This design enables the operating system to adjust the direction of the jet nozzle 14 in real time based on the actual topography of the seabed and the distribution of nodules, accurately guiding the water flow to the target area and better controlling the flow direction of sediments and mineral nodules. During mining operations, the high-speed water jet from the jet nozzle 14 impacts the soft sediments on the seabed surface, causing the nodule minerals embedded in the sediments to be stripped and suspended. Compared to mechanical digging methods, this hydraulic jetting method causes gentler and more controllable disturbance to the seabed and enables preliminary separation of minerals and sediments, creating conditions for subsequent fine separation.

[0050] An suction baffle 3 is rotatably mounted on the rear bottom of the autonomous underwater vehicle (AUV) 1. Driven by a baffle piston, the suction baffle 3 can rotate and switch between two working positions. The suction baffle 3 is configured to have a first working position where it is attached to the bottom of the AUV 1 and covers the suction inlet 13, and a second working position where it rotates to an angle with the bottom of the AUV 1, allowing the suction inlet 13 to communicate with the outside. In the first working position, the suction baffle 3 flips upwards and adheres to the bottom of the AUV 1, completely sealing the suction inlet 13. At this position, the bottom of the AUV 1 exhibits a relatively smooth, streamlined shape, which significantly reduces underwater drag and improves speed and energy efficiency. This configuration is particularly suitable for the AUV 1 during its transfer navigation between mining areas.

[0051] When mining operations are required, the baffle piston drives the suction baffle 3 to rotate to the second working position. At this position, the suction baffle 3 flips downwards and forms an angle with the bottom of the autonomous underwater vehicle 1, creating a rearward-opening guide chamber. The suction inlet 13 is fully exposed and connected to the external seawater environment, allowing for smooth suction of the mixture of minerals and sediments above the seabed. More importantly, the suction baffle 3 in the second working position forms a physical barrier behind the suction inlet 13, providing rearward obstruction for the minerals and sediments propelled by the jet. During the forward gliding of the autonomous underwater vehicle 1, the minerals and sediments propelled by the jet nozzle 14 move backward under the action of the water flow. Upon encountering the obstruction of the suction baffle 3, their speed decreases and they accumulate in the area below the suction inlet 13, significantly improving suction efficiency and reducing mineral loss. This dual-working-position design of the suction baffle 3 allows the system to flexibly adjust its configuration according to the operational status, balancing navigation efficiency and collection effectiveness.

[0052] Figure 10 This is a schematic diagram illustrating multiple sets of equipment used in mining operations on the seabed, as provided in an embodiment of the present invention. Figure 11 A flowchart illustrating a mining method provided in an embodiment of the present invention. Figure 10 and Figure 11 As shown, based on the above-described AUV-based sliding seabed nodule mining system, this embodiment of the invention also provides a mining method, including the following steps: S1. Several sets of AUV-based planing seabed nodule mining systems are lowered into the water by autonomous sinking. The autonomous underwater vehicle 1 is used for guidance to lower multiple sets of equipment to the seabed surface.

[0053] Specifically, on the deck of the surface vessel, operators sequentially activate the power systems of each autonomous underwater vehicle (AUV1) to perform system self-checks. After passing the self-check, the AUV1 is lowered into the water. Upon entry, the AUV1 detaches from the mother ship and begins its autonomous descent under the control of its own buoyancy and longitudinal attitude thrusters. During the descent, the thrusters of the AUV1 provide guidance and control, adjusting the descent path based on the preset target sea area coordinates and position information provided by the inertial navigation system, ensuring that each device reaches the target seabed area according to the planned route. The depth gauge monitors the descent depth in real time. As the system approaches the target depth, it gradually reduces the descent speed and activates the altimeter to measure the distance to the seabed. At a certain height above the seabed, the longitudinal attitude thrusters reverse their direction, generating upward thrust to slow the descent speed, ultimately allowing the AUV1 to land smoothly, with the skid plate 11 contacting the seabed surface. Multiple devices are lowered and landed sequentially, forming an initial distribution on the seabed.

[0054] S2. Control multiple sets of equipment to collect data on the seabed centered on the docking joint 4 lowered by the working vessel, and connect them sequentially through the docking module 12 to the docking joint 4 to achieve cyclical operation of unloading ore and charging.

[0055] Specifically, after the last autonomous underwater vehicle (AUV) 1 ​​is lowered to the surface, the work vessel begins lowering the docking joint 4. The docking joint 4 is suspended from the work vessel's lifting equipment via a composite cable 43. Under its own weight and the counterweight 42, the docking joint 4 maintains a vertical orientation as it descends. The composite cable 43 is gradually released as the docking joint 4 descends. The work vessel controls the lowering speed to ensure the docking joint 4 reaches the target depth smoothly. After the docking joint 4 reaches the predetermined depth, the work vessel stops releasing the cable, and the docking joint 4 hovers at that depth, its position centered on the operating area of ​​the multiple AUVs 1. The acoustic communication device of the docking joint 4 activates, transmitting beacon signals to the surrounding sea area for each AUV 1 to locate and navigate.

[0056] After landing, each autonomous underwater vehicle (AUV) 1 ​​first establishes contact with the docking joint 4 via acoustic communication to obtain the precise location of the docking joint 4 and reports its own position. The devices exchange information through the acoustic communication network, and the central control circuit unit plans the global operating area based on the positions of each device and the docking joint 4. The seabed area surrounding the docking joint 4 is divided into several fan-shaped or rectangular operating blocks, and each AUV 1 is assigned an independent operating block to ensure that the blocks do not overlap and avoid duplicate data collection.

[0057] S3. After collecting data in one area of ​​the seabed, the operating vessel is transferred to tow the docking joint 4. Multiple sets of equipment, driven by the propulsion of the autonomous underwater vehicle 1, move along the operating area on the seabed via the sled skid 11 and follow the docking joint 4.

[0058] Specifically, the movement of the working vessel is transmitted to the docking joint 4 via the composite cable 43, which then tows the docking joint 4. The docking joint 4 moves with the working vessel in the water, and its acoustic communication device continuously transmits position beacon signals. Each of its own underwater vehicles 1 monitors the positional changes of the docking joint 4 through its acoustic communication system. When movement of the docking joint 4 is detected, each device stops its current operation, shuts down its data acquisition system, rotates the suction baffle 3 to its first working position, and enters navigation mode.

[0059] Subsequently, multiple sets of equipment, propelled by the thrusters of the autonomous underwater vehicle 1, moved along the seabed via sleds 11, following the docking joint 4 to the work area. Each piece of equipment adjusted its course and speed according to the position and direction of movement of the docking joint 4, maintaining a formation-like following pattern within a certain range around the docking joint 4. During the movement, the sleds 11 glided smoothly on the seabed, with the thrusters providing continuous forward propulsion. Because the suction baffle 3 was closed, the autonomous underwater vehicle 1 exhibited a streamlined configuration, resulting in low underwater drag and enabling it to move at a relatively high speed, keeping pace with the working vessel. The equipment maintained acoustic communication, exchanging position information in real time to avoid collisions during movement.

[0060] After the working vessel arrives at the new working area, it stops sailing, and docking joint 4 also stops moving and hovers in the new position. Upon detecting that docking joint 4 has stopped moving, each of its own underwater vehicles 1 gradually decelerates and comes to a stop on the seabed around docking joint 4. The central control circuit unit, based on the terrain and resource distribution of the new area, re-plans the working area and assigns new working blocks to each piece of equipment. Subsequently, each piece of equipment enters a new round of mining operations, repeating the collection, unloading, and charging process of step S3. This overall relocation method, compared to the traditional method of recovering and redeploying equipment one by one, significantly shortens the relocation time, increases the effective operating time of the system, and enhances economic efficiency.

[0061] S4. After the data collection in all work areas is completed, multiple sets of equipment will surface via autonomous underwater vehicle 1 and retrieve docking connector 4, thus completing the operation.

[0062] Specifically, the operating vessel sends a recovery command to all autonomous underwater vehicles (AUVs) 1 via an acoustic communication system. Upon receiving the command, each device ceases its current operation, shuts down all data acquisition systems, rotates its suction baffle 3 to its first working position, and if there is still mineral in the storage tank 21, it first unloads the ore for the final time through the docking joint 4. After unloading, each AUV 1 detaches from the docking joint 4 and ascends under the drive of its thrusters. During ascent, the longitudinal attitude thrusters provide upward thrust to overcome the device's own weight and water resistance, allowing the device to rise at an appropriate speed. The depth gauge monitors the ascent depth, and when approaching the surface, the ascent speed is reduced, eventually surfacing or hovering near the surface.

[0063] The working vessel sequentially hoists and recovers its respective autonomous underwater vehicle (AUV) 1 ​​to the deck. After all AUVs 1 have been recovered, the working vessel activates the winding equipment of the composite cable 43 to recover the docking joint 4 to the deck via the composite cable 43. Once the docking joint 4 is recovered, the entire mining operation is complete. The recovered AUVs 1 undergo maintenance and upkeep, with system status checked and worn or damaged components replaced or repaired, in preparation for the next operation. Through this complete operational process, the mining method of this invention fully leverages the technological advantages of the AUV-based planing seabed nodule mining system, achieving autonomous, efficient, and environmentally friendly deep-sea nodule extraction.

[0064] In summary, the AUV-based planing seabed nodule mining system and method provided by this invention effectively solves the prominent problems of high cost, low efficiency, and environmental pollution in existing seabed nodule mining technologies by using an autonomous underwater vehicle as a carrier and combining a sled-like planing motion, spiral separation technology, magnetic docking system, and multi-vehicle swarm collaborative operation mode. The system can operate autonomously in the deep-sea environment, reducing dependence on surface vessels; the sled-like planing motion and underwater in-situ separation technology significantly reduce disturbance and pollution to the marine environment; and multi-vehicle swarm operation and flexible relocation capabilities significantly improve operational efficiency and economy. This invention provides a technologically advanced, economically feasible, and environmentally friendly new approach for the sustainable development of deep-sea mineral resources, with broad application prospects and significant practical value.

[0065] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A sliding seabed nodule mining system based on an AUV, characterized in that, include: An autonomous underwater vehicle (1) is provided with horizontally arranged sleds (11) on both sides of its bottom. The sleds (11) are connected to the autonomous underwater vehicle (1) via brackets (111). A docking module (12) is provided on the top of the autonomous underwater vehicle (1). The docking module (12) is provided with a docking interface (121) and an air inlet (122). The bottom of the autonomous underwater vehicle (1) is provided with a suction inlet (13) and a jet nozzle (14) facing the suction inlet (13). The collection mechanism (2), located inside the autonomous underwater vehicle (1), includes a storage tank (21), a spiral hopper (22), a suction pump (23), and a jet pump (24). The spiral hopper (22) is located on top of the storage tank (21) and connected to the storage tank (21) through a small opening at its bottom. A central pipe (221) is coaxially connected to the top of the spiral hopper (22) and connected to the docking port (121) through the central pipe (221). The bottom of the central pipe (221) extends into the spiral hopper (22). The inlet end of the suction pump (23) is connected to the central pipe (221), the outlet end of the suction pump (23) is connected to the rear side of the autonomous underwater vehicle (1), the side wall of the spiral hopper (22) is connected to an inlet pipe (25) connected to the suction inlet (13), the side wall of the storage tank (21) is connected to a jet manifold (211) connected to the air inlet (122), the inlet end of the jet pump (24) is connected to the front side of the autonomous underwater vehicle (1), and the outlet end of the jet pump (24) is connected to the jet nozzle (14). The docking connector (4) has a connector compartment (41) at one end that matches the docking module (12). The bottom of the connector compartment (41) is provided with a recovery pipe (411) corresponding to the docking interface (121), an inflation connector (412) corresponding to the air inlet (122), and a first multi-pole magnetic ring (413) arranged around the recovery pipe (411). The top of the connector compartment (41) is provided with a counterweight (42) and is connected to the working vessel through a composite cable (43) connected to the recovery pipe (411). The docking module (12) is provided with a second multi-pole magnetic ring (123) that matches the first multi-pole magnetic ring (413) around the docking interface (121). The storage chamber (21) is cylindrical. Multiple jet manifolds (211) are provided and their connection positions with the storage chamber (21) are arranged at equal angles along the storage chamber (21). The jet manifolds (211) are connected to the storage chamber (21) along the tangential direction. High-pressure gas-liquid flow is delivered to the air inlet (122) through the air inlet (412). The gas is injected into the storage chamber (21) at high speed from the tangential outlet of the jet manifolds (211) to form a vortex flow.

2. The AUV-based sliding seabed nodule mining system according to claim 1, characterized in that, The inlet pipe (25) is connected to the spiral hopper (22) along the tangential direction, and the height of the connection position is higher than the bottom height of the central pipe (221).

3. The AUV-based sliding seabed nodule mining system according to claim 1, characterized in that, The top of the docking module (12) has multiple air inlets (122) arranged at equal angles around the docking interface (121), and the multiple air inlets (122) are connected to the multiple jet manifolds (211).

4. The AUV-based sliding seabed nodule mining system according to claim 1, characterized in that, The bottom rear side of the autonomous underwater vehicle (1) is rotatably provided with a suction baffle (3). The suction baffle (3) is configured to have a first working position that is attached to the bottom of the autonomous underwater vehicle (1) and covers the suction inlet (13), and a second working position that is rotated to be arranged at an angle to the bottom of the autonomous underwater vehicle (1) and allows the suction inlet (13) to communicate with the outside.

5. The AUV-based sliding seabed nodule mining system according to claim 4, characterized in that, The jet nozzle (14) is located on the front side of the bottom of the autonomous underwater vehicle (1) and is arranged at an angle toward the rear side of the bottom of the autonomous underwater vehicle (1). There are multiple jet nozzles (14) arranged along the width direction of the autonomous underwater vehicle (1).

6. The AUV-based sliding seabed nodule mining system according to claim 1, characterized in that, The bracket (111) has a suspension spring (112) arranged longitudinally at the bottom, and the bracket (111) is connected to the sled skateboard (11) through the suspension spring (112).

7. The AUV-based sliding seabed nodule mining system according to claim 1, characterized in that, The autonomous underwater vehicle (1) is equipped with a battery (5) for powering the autonomous underwater vehicle (1), and the docking module (12) is equipped with a charging interface (124) that is electrically connected to the battery (5). The docking compartment (41) is equipped with a charging connector (414) corresponding to the charging interface (124).

8. A mining method based on the AUV-based sliding seabed nodule mining system according to any one of claims 1 to 7, characterized in that, include: Several sets of the aforementioned AUV-based gliding seabed nodule mining system were lowered into the water by autonomous sinking. The system was guided by the thrusters of the autonomous underwater vehicle (1) to lower multiple sets of equipment to the seabed surface. Multiple sets of equipment are controlled to collect data on the seabed centered on the docking joint (4) lowered by the working vessel, and are connected to the docking joint (4) in sequence through the docking module (12) to realize the cyclic operation of unloading ore and charging. After the collection of a section of the seabed is completed, the working vessel is transferred to tow the docking joint (4). Multiple sets of equipment move along the working section of the seabed with the docking joint (4) through the sled skis (11) under the operation of the propulsion of the autonomous underwater vehicle (1). After all the data collection in the work area is completed, multiple sets of equipment will float up via autonomous underwater vehicles (1) and retrieve the docking joint (4), thus completing the operation.

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