Multi-vehicle collaborative deep-sea mining underwater positioning navigation system

Abstract

The utility model relates to the technical field of submarine mining, in particular to a multi-vehicle collaborative deep-sea mining underwater positioning navigation system and a working method, which comprises wireless communication positioning equipment, a long baseline positioning assembly, an ultra-short baseline positioning assembly, a communication cable, an inertial navigation system and a Doppler flow velocity log, the long baseline positioning assembly comprises a long baseline positioning node, a long baseline positioning terminal and a long baseline resolving unit; the ultra-short baseline positioning assembly comprises an ultra-short baseline positioning array and an ultra-short baseline positioning terminal. The underwater comprehensive positioning and navigation system can be applied to underwater comprehensive positioning and navigation of a plurality of mining vehicles, conveying hoses, relay stations and conveying vertical pipes in a commercial mining system.

Description

TECHNICAL FIELD

[0001] The utility model relates to deep sea mineral resources exploitation equipment technical field especially a kind of multi-vehicle cooperative deep sea mining underwater positioning navigation system. BACKGROUND

[0002] Deep sea mineral resources exploitation is the cooperative operation of mining ship, mining car, relay station, conveying pipe, underwater submersible and multiple platforms, equipment, long operation time, wide coverage. In commercial exploitation, multiple mining cars need to operate simultaneously, avoiding mutual collision and overlapping or too large interval of collection path to reduce operation efficiency. In addition, the positions of ship, relay station and car need to be strictly controlled to avoid breaking the conveying riser and conveying hose. The positioning accuracy, positioning refresh rate, positioning time delay and data validity of underwater positioning system are extremely high. At the same time, the mining car collection operation has high noise, which seriously interferes with the normal work of underwater acoustic positioning equipment.

[0003] Prior to the utility model, the positioning of mineral resources exploitation equipment mainly relies on combined navigation of underwater acoustic positioning, inertial components and Doppler log. CN212569544U proposes to use ultra-short baseline, laser gyroscope, Doppler speed meter and wheel speed sensor for mining car trajectory monitoring. CN217813464U proposes to use multiple sets of ultra-short baseline positioning equipment for underwater positioning. CN220849667U proposes to use two sets of ultra-short baseline positioning equipment to realize absolute positioning of mining car and relative positioning of near-bottom equipment. However, the above methods generally have low positioning accuracy and long positioning time delay. When applied to commercial mining, it is difficult to receive acoustic signals on high-noise mining cars, and acoustic signals between ship and mining car are easily blocked by conveying riser, resulting in poor data validity and even positioning failure, which cannot support commercial exploitation.

[0004] In summary, deep sea mineral resources exploitation urgently needs an underwater navigation and positioning system that can cope with mining noise and shielding problems, and has excellent positioning accuracy, positioning refresh rate, positioning time delay and data validity. UTILITY MODEL CONTENT

[0005] The utility model aims to overcome the deficiencies in the prior art and provide a multi-vehicle cooperative deep sea mining underwater positioning navigation system.

[0006] The utility model aims to overcome the deficiencies in the prior art and provide a multi-vehicle cooperative deep sea mining underwater positioning navigation system.

[0007] A plurality of sets of wireless communication positioning equipment are arranged on the mining ship and wave glider.

[0008] A plurality of sets of long baseline positioning components are arranged on the mining ship, wave glider, conveying riser, relay station and underwater submersible.

[0009] a set of ultra-short baseline positioning components, which are arranged on the relay station, the transport hose and the mining vehicle;

[0010] a set of communication cables, which are connected with the wireless communication positioning device at the mining ship end, the long baseline positioning component at the mining ship end, the long baseline positioning component at the relay station end, the long baseline positioning component at the transport riser end, the ultra-short baseline positioning component at the relay station end, the ultra-short baseline positioning component at the transport hose end, and the communication positioning component at the mining vehicle end;

[0011] a plurality of inertial navigation systems, which are arranged on the underwater submersible, the relay station and the mining vehicle;

[0012] a plurality of Doppler current meters, which are arranged on the underwater submersible and the mining vehicle.

[0013] Further, the wireless communication positioning device comprises a satellite positioning device and a wireless communication device, which are used to realize the communication between the wave glider end and the mining ship end.

[0014] Further, the long baseline positioning component comprises:

[0015] a long baseline positioning node, which is arranged on the wave glider;

[0016] a long baseline positioning terminal, which is arranged on the transport riser, the underwater submersible and the relay station;

[0017] a long baseline solution unit, which is arranged on the mining ship.

[0018] Further, the ultra-short baseline positioning component comprises:

[0019] an ultra-short baseline positioning base array, which is arranged on the relay station;

[0020] an ultra-short baseline positioning terminal, which is arranged on the transport hose and the mining vehicle.

[0021] Further, the long baseline positioning node and the ultra-short baseline positioning base array work outside the noise interference area of the mining vehicle and the relay station.

[0022] Further, the ultra-short baseline positioning component and the long baseline positioning component adopt a power supply mode of self-power supply by battery and external power supply in combination, and the external power supply is provided by the carrying platform.

[0023] The utility model discloses a beneficial effect is: the utility model discloses a kind of multi-vehicle coordinated deep-sea mining underwater positioning navigation system, using long baseline positioning method is provided with large-scale absolute positioning for transport riser, relay station, underwater submersible, compared with the positioning accuracy of ultra-short baseline positioning is high, can be used for the formation monitoring and fault prevention of transport riser, simultaneously its sound line will not be blocked by the bending of transport riser, positioning effectiveness is high;Long baseline positioning terminal only sends, and the reception of underwater acoustic positioning signal is arranged on wave glider, wave glider can be maneuvered to the area of low noise, ensure that the noise of mining car, relay station end will not interfere with the reception of acoustic positioning signal.Using ultra-short baseline positioning method provides small-scale relative positioning for mining car, relay station, transport hose, positioning accuracy is high, positioning time delay is low, combined with inertial navigation and Doppler log data can be used for the multi-vehicle coordination of collection operation;Ultra-short baseline positioning terminal only sends, and the reception of underwater acoustic positioning signal is arranged in the relatively smaller noise relay station end, and high-frequency underwater acoustic positioning signal is used, effectively avoid the interference of mining car noise, positioning effectiveness is high.The whole underwater positioning navigation system mainly uses battery self-power supply, external power supply combination power supply mode, long working time, and still can use battery power supply to provide emergency positioning navigation after mining system failure leads to external power supply cut-off, ensure system safety, support emergency disposal. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the technical scheme in the embodiment of the utility model, the drawings needed to be used in the embodiment will be simply introduced below, and obviously, the drawings in the following description are only some embodiments of the utility model, and other drawings can be obtained according to these drawings without creating labor for the person skilled in the art.

[0025] Figure 1 The system block diagram of the utility model.

[0026] Mark explanation:

[0027] Wave glider 1, mining ship 2, underwater submersible 3, transport riser 4, relay station 5, transport hose 6, mining car 7.Long baseline positioning node 101, satellite positioning device 102, wireless communication device 103, long baseline solution unit 104, communication cable 105, long baseline positioning terminal 106, inertial navigation 107, Doppler flow log 108, ultra-short baseline positioning base array 110, ultra-short baseline positioning terminal 111. DETAILED DESCRIPTION

[0028] Clearly and completely describe the technical scheme in the embodiments of the utility model with reference to the drawings in the embodiments of the utility model, obviously, the described embodiment is only a part of the embodiment of the utility model, not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by the ordinary skill in the art without creative labor belong to the protection scope of the utility model.

[0029] Please participate Figure 1 The utility model provides a technical scheme: a kind of underwater positioning navigation system of multi-vehicle cooperation deep sea mining includes several sets of wireless communication positioning equipment, the wireless communication positioning equipment is arranged on mining ship 2, wave glider 1;Several sets of long baseline positioning assembly, the long baseline positioning assembly is arranged on mining ship 2, wave glider 1, conveying riser 4, relay station 5, underwater submersible 3;A set of ultra-short baseline positioning assembly, the ultra-short baseline positioning assembly is arranged on relay station 5, conveying hose 6, mining car 7;A set of communication cable 105, the communication cable 105 is connected mining ship end wireless communication positioning equipment, mining ship end long baseline positioning assembly, relay station end long baseline positioning assembly, conveying riser end long baseline positioning assembly, relay station end ultra-short baseline positioning assembly, conveying hose end ultra-short baseline positioning assembly, mining car end communication positioning assembly;Several inertial navigation 107, the inertial navigation is arranged on underwater submersible 3, relay station 5, mining car 7;Several Doppler current log 108, the Doppler current log is arranged on underwater submersible 3, mining car 7.

[0030] Wireless communication positioning equipment includes satellite positioning equipment 102 and wireless communication equipment 103, and the wireless communication positioning equipment can realize wave glider end and mining ship end communication.

[0031] Long baseline positioning assembly includes long baseline positioning node 101, long baseline positioning terminal 106, long baseline solution unit 104, long baseline positioning node 101 is arranged on wave glider 1, long baseline positioning terminal 106 is arranged on conveying riser 4, underwater submersible 3, relay station 5, long baseline solution unit 104 is arranged on mining ship 104.

[0032] Ultra-short baseline positioning assembly includes ultra-short baseline positioning base array 110, ultra-short baseline positioning terminal 111, ultra-short baseline positioning base array 110 is arranged on relay station 5, long baseline positioning terminal 111 is arranged on conveying hose 6, mining car 7.

[0033] Long baseline positioning node 101, ultra-short baseline positioning base array 110 work in mining car, relay station and other noise interference area.

[0034] The ultra-short baseline positioning assembly and the long baseline positioning assembly are powered by batteries and external power supply provided by the platform.

[0035] The high-precision clock synchronization of the long baseline positioning terminal 106, the ultra-short baseline positioning array 110, and the ultra-short baseline positioning terminal 111 carried on the mining ship, the conveying riser, the relay station, the conveying hose, and the mining vehicle is realized based on the communication cable 105.

[0036] A working method of a multi-vehicle cooperative deep-sea mining underwater positioning and navigation system is as follows:

[0037] Step 1: The wave glider carries a wireless communication positioning assembly and a long baseline positioning node and navigates above the virtual anchorage in the mining area.

[0038] Step 2: The long baseline positioning terminals on the conveying riser and the relay station simultaneously transmit underwater positioning request signals under the support of the communication cable, the wave glider end long baseline positioning node receives the positioning request signals and packs the receiving time and position coordinates, and then transmits them to the long baseline resolving unit on the mining ship through the wireless communication device. The long baseline resolving unit resolves the absolute position of the long baseline positioning terminal.

[0039] Step 3: The ultra-short baseline positioning terminals on the mining vehicle and the conveying hose simultaneously transmit underwater positioning request signals under the support of the communication cable. After receiving the positioning request signals, the relay station end ultra-short baseline positioning array resolves the relative positions of the ultra-short baseline positioning terminals in combination with the positioning request signal transmission time returned by the communication cable.

[0040] Step 4: The absolute position of the long baseline positioning terminal, the relative position of the ultra-short baseline positioning terminal, the inertial navigation data of the relay station end, the inertial navigation data of the mining vehicle, and the Doppler flow log data of the mining vehicle are combined to resolve the absolute position of the mining vehicle and the configuration of the conveying hose and the conveying riser, thereby providing navigation for the motion control of the mining vehicle and the relay station.

[0041] Step 5: The wave glider end long baseline positioning node receives the underwater positioning request signals transmitted by the underwater submersible end long baseline positioning terminal, packs the receiving time and position coordinates, and then transmits them to the long baseline resolving unit on the mining ship through the wireless communication device. The long baseline resolving unit resolves the absolute position of the long baseline positioning terminal and transmits it to the wave glider end long baseline positioning node. The absolute position of the underwater submersible is outputted by combining the inertial navigation data and the Doppler flow log data of the underwater submersible, thereby providing navigation for the motion control of the underwater submersible.

[0042] The above merely describes a specific implementation of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art can easily think of changes or replacements within the scope disclosed by the present application, which should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A multi-vehicle cooperative deep-sea mining underwater positioning and navigation system, characterized in that: include: Several sets of wireless communication positioning devices are installed on the mining vessel (2) and the wave glider (1); Several sets of long baseline positioning components are installed on the mining vessel (2), wave glider (1), conveyor riser (4), relay station (5) and underwater vehicle (3); A set of ultra-short baseline positioning components, which are installed on the relay station (5), the conveying hose (6) and the mining vehicle (7); A set of communication cables connects the wireless communication positioning equipment at the mining vessel end, the long baseline positioning component at the mining vessel end, the long baseline positioning component at the relay station end, the long baseline positioning component at the conveying riser end, the ultra-short baseline positioning component at the relay station end, the ultra-short baseline positioning component at the conveying hose end, and the communication positioning component at the mining vehicle end. Several inertial navigation systems (107) are installed on the underwater vehicle (3), the relay station (5) and the mining vehicle (7); Several Doppler current logs (108) are installed on the underwater vehicle (3) and the mining vehicle (7).

2. The multi-vehicle coordinated deep-sea mining underwater positioning and navigation system according to claim 1, characterized in that: The wireless communication positioning device includes a satellite positioning device (102) and a wireless communication device (103) for enabling communication between the wave glider end and the mining vessel end.

3. The multi-vehicle coordinated deep-sea mining underwater positioning and navigation system of claim 2, wherein: The long baseline positioning component includes: Long baseline positioning node (101) is installed on the wave glider (1); Long baseline positioning terminal (106) is installed on the delivery riser (4), the underwater vehicle (3) and the relay station (5); Long baseline calculation unit (104) is installed on the mining vessel (2).

4. The multi-vehicle coordinated deep-sea mining underwater positioning and navigation system of claim 3, wherein: The ultra-short baseline positioning component includes: An ultra-short baseline positioning array (110) is installed on a relay station (5); An ultra-short baseline positioning terminal (111) is provided, wherein the long baseline positioning terminal (111) is mounted on the conveying hose (6) and the mining vehicle (7).

5. The multi-vehicle coordinated deep-sea mining underwater positioning and navigation system of claim 4, wherein: The long baseline positioning nodes and ultra-short baseline positioning arrays operate outside the noise interference zone of mining vehicles and relay stations.

6. The multi-vehicle coordinated deep-sea mining underwater positioning and navigation system of claim 5, wherein: The ultra-short baseline positioning component and the long baseline positioning component adopt a power supply method that combines battery self-powered and external power supply, with the external power supply provided by the platform on which they are mounted.

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