All-terrain simulation test field for testing deep-sea mining vehicle
By constructing an all-terrain simulation test field integrating multi-functional units, the adaptability and system linkage issues of deep-sea mining vehicles in complex environments were solved, enabling efficient laboratory testing and reducing the risks and costs of sea trials.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- CHINA MINMETALS CHANGSHA MINING RES INST
- Filing Date
- 2025-06-17
- Publication Date
- 2026-04-21
AI Technical Summary
Existing deep-sea mining vehicle test sites lack all-terrain simulation capabilities, making it impossible to verify their adaptability and system interoperability in complex environments. Furthermore, the laboratory simulation environment differs greatly from the real marine environment, making it impossible to effectively assess the ecological impact. Failed mining vehicles are difficult to recover, resulting in a high risk of failure in sea trials.
An all-terrain simulation test field was designed, which includes a water area, an adjustable terrain simulation unit, an underwater flow generation unit, a mobile hoisting and transfer unit, a positioning unit, a multi-dimensional monitoring unit, and an underwater emergency rescue unit. It integrates multiple functional units to simulate the real seabed environment, realizes full-condition testing of mining vehicles, and is equipped with a rapid fault location and recovery system.
It enables integrated testing of all-terrain adaptability and current resistance stability in the laboratory, reduces the risk of failure in marine field tests, provides multi-dimensional data support, ensures the continuity and safety of testing, and reduces costs.
Smart Images
Figure CN224152035U_ABST
Abstract
Description
Technical Field
[0001] This utility model belongs to the field of deep-sea mining simulation technology, specifically a full-terrain simulation test field for testing deep-sea mining vehicles. Background Technology
[0002] The deep seabed contains abundant solid mineral resources, prompting countries to actively develop deep-sea mining equipment and operating systems. The development of deep-sea mining equipment and systems requires testing and verification under specific environmental and operational conditions. However, marine conditions and seabed environments are extremely complex, and on-site testing at sea is prohibitively costly. Therefore, laboratory testing and verification have become a crucial step in the development of deep-sea mining vehicle technology.
[0003] Currently, most test sites primarily focus on individual testing and verification of mechanisms such as walking, excavation, or collection, resulting in relatively limited data acquisition. A systematic testing and verification method for deep-sea mining vehicles has not yet been established, significantly hindering the integrated testing and technical verification of deep-sea mining equipment systems. Some deep-sea equipment has not undergone sufficient laboratory testing and trials, or the test environment is insufficient to simulate the marine environment, leading to major technical problems or accidents in real marine conditions. This results in significant expenditure of human and material resources without achieving the desired testing outcomes.
[0004] Existing deep-sea mining vehicle testing and verification technologies have the following significant drawbacks:
[0005] 1. The lack of an integrated test field covering all terrains (obstacle crossing, slope climbing, ditch crossing, etc.) and ocean current resistance conditions makes it impossible to verify the adaptability of mining vehicles in complex environments; individual tests disconnect the system's interconnectivity, making it difficult to assess the reliability of the mining vehicle's mechanism linkage in continuous operation, resulting in a high risk of failure in sea trials.
[0006] 2. The ocean current field simulated in the laboratory has poor stability, the topography module cannot be dynamically adjusted, and there are significant differences from the real seabed environment; it also does not fully consider the environmental impacts of mining operations such as plume diffusion, heavy metal pollution, and noise disturbance, and cannot provide a basis for ecological assessment.
[0007] 3. The existing test site lacks a system for rapid location and non-destructive recovery of malfunctioning mining vehicles. Once testing is interrupted, a lot of time is required for repairs, which delays the R&D cycle and increases costs. Utility Model Content
[0008] The purpose of this invention is to provide an all-terrain simulation test field for testing deep-sea mining vehicles that takes into account the impact of ocean currents.
[0009] This utility model provides an all-terrain simulation test field for testing deep-sea mining vehicles, comprising a water area, an adjustable terrain simulation unit, an underwater flow generation unit, a mobile hoisting and transport unit, a positioning unit, a multi-dimensional monitoring unit, an underwater emergency rescue unit, and a central control unit. The water area includes open-air and indoor water areas. The adjustable terrain simulation unit is located in the open-air water area and is used to dynamically simulate seabed topographic features. It includes adjustable-spacing simulated obstacles, adjustable-width simulated gully devices, adjustable-angle climbing ramps, and a simulated seabed substrate layer. The underwater flow generation unit is configured to... A controllable ocean current environment is generated in the water area; a mobile hoisting and transfer unit is installed above the water area; a positioning unit is used to track the location information of the mining vehicle in real time; a multi-dimensional monitoring unit includes a mining vehicle operation status monitoring and environmental disturbance monitoring subsystem; an underwater emergency rescue unit is configured to perform non-destructive recovery operations on the malfunctioning mining vehicle, which includes a large floating body on the water surface composed of two rectangular buoyant bodies; electric propellers installed on the end face and side of the floating body; a central gantry on the top of the floating body; an electric magnetic hoist suspended on the central gantry; and a central control unit is located in the observation room and connected to each functional unit.
[0010] In one embodiment of the aforementioned test site, the open-air water body is connected to the indoor water body, and a trolley track is erected above the indoor water body.
[0011] In one embodiment of the aforementioned test site, the underwater flow-generating unit includes flat inlet and outlet ports located at the bottom of opposite sides of the open water area; return pipes connecting the flat inlet and outlet ports; a flow-generating pump for driving water flow; and wave energy absorption holes located at the top of the two sides.
[0012] In one embodiment of the aforementioned test site, the mobile hoisting and transfer unit includes a guide rail erected above the water area; a mobile overhead crane moving along the guide rail; a ore conveying pipeline connecting the mining vehicle and the silo; an optoelectronic composite cable wound around a composite cable reel; and an electric guide wheel located at the end of the guide rail.
[0013] In one embodiment of the aforementioned test site, the positioning unit includes positioning base stations deployed around the water area; a positioning transponder installed on the top of the mining vehicle; and a GPS / BeiDou positioning system mounted on the mining vehicle, which transmits signals through a positioning pole extending vertically to the water surface.
[0014] In one embodiment of the aforementioned test site, the multi-dimensional monitoring unit includes a surface camera deployed around the perimeter of the water area; underwater cameras, sonar, and lighting equipment; a matrix-arranged hydrophone array; plume flow monitoring sensors located at the front and rear ends of the mining vehicle and on both sides of the path; and heavy metal detection sensors deployed on both sides of the mining vehicle path.
[0015] In one embodiment of the aforementioned test site, the central control unit includes an operating console, a central control unit, a multi-screen matrix display interface, and a cable spray cleaning and cooling chamber, all located in the observation room.
[0016] The beneficial effects of this utility model are as follows:
[0017] 1. The large water tank integrates terrain modules such as straight driving area, obstacle crossing area, and climbing area, and is equipped with underwater flow generation components to simulate the real ocean current environment; for the first time, the mining vehicle’s full-condition terrain adaptability and anti-current stability linkage test was realized in the laboratory, which significantly improved the realism of environmental simulation and reduced the risk of failure of marine field test due to environmental differences.
[0018] 2. Simultaneously deploy plume monitoring, heavy metal detection, noise disturbance monitoring, and GPS / BeiDou dual positioning system, combined with underwater sonar and visual monitoring, to collect environmental impact and system linkage data of mining vehicle operation in real time; breaking through the limitations of traditional single-unit testing, for the first time realizing the synchronous acquisition of multi-dimensional data of mining vehicle "mechanism-environment-disturbance", providing complete parameter support for system reliability optimization and ecological impact assessment;
[0019] 3. Set up a closed-loop emergency system with a floating body, electric propeller and electric magnetic hoist, and realize the rapid positioning and non-destructive recovery of the malfunctioning mining car through an automatic guidance device; significantly shorten the fault handling time and avoid equipment damage, ensure the continuity of long-term testing, and reduce laboratory verification costs and safety risks. Attached Figure Description
[0020] Figure 1 This is an isometric structural schematic diagram of one embodiment of the present invention. (The indoor water tank is not shown.)
[0021] Figure 2 for Figure 1 A top-view structural diagram.
[0022] Figure 3 for Figure 1 A side view structural diagram.
[0023] Figure 4 for Figure 3 A schematic diagram of the cross-sectional structure at point AA.
[0024] Figure 5 This is an isometric structural diagram of an underwater emergency rescue device.
[0025] Figure 6 for Figure 5 A side view structural diagram.
[0026] Figure 7 for Figure 5 A schematic diagram of the structure from the side view in another direction.
[0027] Figure 8 This is a schematic diagram of the test trajectory in this embodiment. Detailed Implementation
[0028] The relevant technical solutions will now be clearly and completely described with reference to the accompanying drawings of the embodiments of this utility model. Obviously, the described embodiments are only a part of the embodiments, and not all of the embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this utility model.
[0029] like Figure 1 As shown, the all-terrain simulation test field for testing deep-sea mining vehicles disclosed in this embodiment is divided into an open-air area and an indoor area. The open-air area is an open-air water tank 1, and the indoor area includes an indoor water tank 2 and an observation room 3. This test field also includes a mobile hoisting auxiliary component 4, an underwater flow generation component 5, a positioning system, a monitoring system, and an underwater emergency rescue device 6.
[0030] The open-air pool 1 includes simulated obstacles 11, simulated ravine devices 12, climbing ramps 13, and simulated substrate paving layers.
[0031] Simulated obstacles 11, simulated ravine devices 12, and inclined ramps 13 are fixed to one side of the open-air pool 1, while the other side is flat ground. The spacing between the simulated obstacles is adjustable, the width of the simulated ravine devices can be adjusted in real time, and the climbing angle of the inclined ramps is adjustable. These components are used to simulate underwater obstacle crossing areas, ravine crossing areas, climbing areas, and flat terrain to verify the all-terrain adaptability of the mining vehicle.
[0032] Indoor pool 2 is located in the center of the indoor area and is connected to the outdoor pool 1. A track is installed above the indoor pool, with a structure similar to the track for the outdoor pool.
[0033] An indoor water tank was installed to expand the testing space and provide a testing area for mining vehicles in a controlled indoor environment.
[0034] The mobile hoisting auxiliary component 4 includes a guide rail 41, a mobile overhead crane 42, a ore conveying pipeline 43, a hopper 44, an optical fiber composite cable 45, a composite cable laying wheel 46, and a guide wheel 47.
[0035] like Figure 2 and Figure 3 As shown, the guide rail 41 consists of railing-type guide rails on both sides of the open-air pool and plate-shaped guide rails mounted on them. The plate-shaped guide rails slide along the length of the railing-type guide rails via electrically controlled pulleys.
[0036] The mobile overhead crane 42 is mounted on a plate-shaped guide rail and can move along its length.
[0037] A ore conveying pipeline 43 and an optical fiber composite cable 45 are installed between the mobile overhead crane 42 and the mining car 7.
[0038] The ore conveying pipeline 43 is connected at both ends to the mining vehicle 7 and the silo 44, respectively. The silo is fixed to the side of the open-air pool away from the observation room and is used to store the minerals collected by the mining vehicle.
[0039] One end of the fiber optic composite cable 45 is connected to the composite cable reel 46, which is located inside the observation room 3. A large-capacity transformer and a high-voltage frequency converter are installed at the end of the reel. The other end is connected to the mining car 7. The observation room supplies power to the mining car through the fiber optic composite cable.
[0040] The guide wheel 47 is electrically driven and installed at the end of the plate-shaped guide rail; the optical fiber composite cable 45 is laid along the guide rail and wound around the guide wheel. The guide wheel allows the optical fiber composite cable to be smoothly released or retracted when the plate-shaped guide rail and the mobile overhead crane are moved, so as to coordinate with the movement of the mining car and facilitate testing.
[0041] The observation room 3 is also equipped with a cable spray cleaning and cooling room 48, which is used to spray clean and cool the composite cable that is released and wound by the composite cable reel 46 in order to maintain the working condition of the composite cable.
[0042] like Figure 4 As shown, the underwater flow-generating component 5 includes a flat inlet / outlet 51, a return pipe, and a flow-generating pump.
[0043] Two rows of flat inlet and outlet ports 51 are respectively located at the bottom of the side of the open-air pool, away from and near the observation room, and are connected by a return pipe, with the water circulation driven by a flow-generating pump. Wave energy absorption holes 52 are located at the top of the two sides mentioned above. The flat inlet and outlet ports, together with the flow-generating pump, simulate ocean currents; the wave energy absorption holes reduce surface ripples and maintain flow field stability.
[0044] The positioning system includes positioning base stations, positioning transponders, and GPS / BeiDou positioning systems.
[0045] The positioning base stations are located at the four corners of the open-air pool 1 and the indoor pool 2. The positioning transponder is installed on the top of the mining vehicle 7. The GPS / BeiDou positioning system is also mounted on the top of the mining vehicle 7, and extends out of the water surface via a positioning rod that extends vertically to the water surface to transmit signals.
[0046] The positioning base station and the positioning transponder on the top of the mining vehicle are linked, while the GPS / BeiDou system receives satellite signals through the positioning pole on the water surface. Working together, they achieve centimeter-level precise positioning during the mining vehicle's movement, assisting in trajectory tracking and position calibration.
[0047] The monitoring system includes surface monitoring components, underwater monitoring components, noise disturbance monitoring components, and mining environment monitoring components.
[0048] The water surface monitoring components consist of water surface cameras arranged in all directions around the open-air pool 1 and the indoor pool 2.
[0049] The underwater monitoring components include underwater cameras, underwater close-range sonar, and underwater lighting equipment, which are evenly distributed on the bottom and side walls of the pool.
[0050] The noise disturbance monitoring component is a matrix-arranged array of hydrophones distributed in key areas of the pool to monitor the sound field during mining vehicle operations.
[0051] The mining environment monitoring components include a plume monitoring system and a heavy metal detection system. The sensors of the plume monitoring system are arranged at the front and rear ends of the mining vehicle 7 and on both sides of the driving path; the sensors of the heavy metal detection system are arranged on both sides of the driving path of the mining vehicle 7.
[0052] Surface and underwater cameras and sonar collect real-time images and spatial data of mining vehicle operations; hydrophone arrays monitor the noise spectrum of mining vehicle operations; plume monitoring system analyzes dust diffusion patterns; and heavy metal detection system monitors water pollution indicators in real time.
[0053] The observation room 3 is equipped with an observation window 31, an operating console 32, a central control console 33, and a multi-screen matrix display interface 34. The operating console 32 integrates the equipment control terminal; the central control console 33 has a built-in data processing unit; and the multi-screen matrix display interface 34 displays monitoring data and video footage in real time.
[0054] like Figure 5 , Figure 6 and Figure 7 As shown, the underwater emergency rescue device 6 includes a large surface float 61, an electric propeller 62, a central gantry 63, and an electric magnetic gantry 64.
[0055] The large floating body 61 is a floating platform consisting of two rectangular buoyant bodies fixed together by connecting rods. Electric propellers 62 are installed on the end faces of the two rectangular buoyant bodies and the side face of one rectangular buoyant body.
[0056] A central hanger 63 is installed on the top surface of the two rectangular buoyant bodies, and an electric magnetic hanger 64 is suspended on the central hanger.
[0057] If the mining vehicle becomes stranded in the center of the pool, unable to be powered or remotely controlled, an underwater emergency rescue device will be used. At this time, an electric propeller drives a float to move directly above the disabled mining vehicle. A central gantry is then lowered and magnetically lifted underwater, where the vehicle is magnetically attracted to the automatic guide device on its top. After attraction, the central gantry retrieves the mining vehicle to the float, and then the electric propeller transfers it to a mobile overhead crane for further transport. This process enables rapid and non-destructive recovery of the disabled mining vehicle, ensuring continuous testing.
[0058] A testing method based on an all-terrain simulation test field for testing deep-sea mining vehicles includes the following steps:
[0059] 1. All-terrain adaptability test
[0060] The mining vehicle was started on flat ground in an open-air water tank and controlled via a control panel to travel in a straight line to the obstacle crossing area. The spacing of the simulated obstacles was adjusted to test the mining vehicle's ability to continuously cross obstacles with different spacing. The mining vehicle was then controlled to enter a ravine area, and the width of the simulated ravine device was adjusted in real time to verify its ravine-crossing performance. The angle of the ramp was adjusted (0°-30°) to test the mining vehicle's climbing stability at different slopes. The mining vehicle was then controlled to perform turning and circling tests in the open-air water tank. The turning and circling test trajectories are shown in Figure 7. Figure 8 As shown; control the mining vehicle to conduct mining driving tests in an open-air water pool, the mining driving test trajectory is as shown in Figure 8. Figure 8 As shown, the complex seabed terrain was simulated using adjustable spacing obstacles, variable width trenches, and angled ramps; the mining vehicle completed a closed-loop test across all terrains during continuous movement, verifying its mechanical linkage and terrain adaptability.
[0061] 2. Ocean Current Stability Test
[0062] a) Activate the flow-generating pump of the underwater flow-generating component to drive water flow through the flat inlet and outlet to form a unidirectional circulating flow; b) Simultaneously activate the flow-generating system during flat ground, obstacle crossing, and slope climbing tests to simulate a 0.5-2 knot ocean current; c) Reduce surface ripples and maintain flow field stability through wave energy absorption holes. The flat inlet and outlet, in conjunction with the closed-loop return pipe, generate a uniform water flow, and the wave energy absorption holes suppress surface disturbances, achieving a realistic ocean current environment simulation; test the mine vehicle's resistance to current stability under combined working conditions (terrain + ocean current).
[0063] 3. Multi-dimensional data synchronous collection
[0064] By linking the positioning base station with the positioning transmitter transponder on the top of the mining vehicle, and combining the GPS / BeiDou dual-system water surface positioning pole signal, the centimeter-level trajectory of the mining vehicle is recorded in real time; underwater cameras and sonar collect images of the mining vehicle's working posture; matrix hydrophone arrays monitor the noise spectrum of the mining vehicle; plume flow monitoring system sensors analyze the dust diffusion pattern; and heavy metal detection system monitors water pollution indicators in real time.
[0065] Finally, it should be noted that the above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Although detailed descriptions have been provided with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.
Claims
1. An all-terrain simulated test field for testing a deep-sea mining vehicle, characterized in that: It includes a water area, an adjustable terrain simulation unit, an underwater flow generation unit, a mobile hoisting and transport unit, a positioning unit, a multi-dimensional monitoring unit, an underwater emergency rescue unit, and a central control unit; The water area includes open water and indoor water; an adjustable terrain simulation unit is set in the open water to dynamically simulate seabed topographic features, which includes simulated obstacles with adjustable spacing, simulated trench devices with adjustable width, inclined ramps with adjustable angle, and simulated seabed paving layer. The underwater current generation unit is configured to generate a controllable ocean current environment in the water body area; the mobile hoisting and transfer unit is straddling the water body area; the positioning unit is used to track the location information of the mining vehicle in real time; the multi-dimensional monitoring unit includes a mining vehicle operation status monitoring and environmental disturbance monitoring subsystem; The underwater emergency rescue unit is configured to perform non-destructive recovery operations on malfunctioning mining vehicles. It includes a large surface float consisting of two rectangular buoyant bodies; electric propellers installed on the end faces and sides of the float; a central gantry at the top of the float; and an electric magnetic crane suspended from the central gantry. The central control unit is located in the observation room and connects to all functional units.
2. An all-terrain simulated test field for testing of a deep sea mining vehicle according to claim 1, characterized in that: The open-air water body is connected to the indoor water body, and a vehicle track is erected above the indoor water body.
3. The all-terrain analog test field for deep-sea mining vehicle testing of claim 1, wherein: The underwater flow generation unit includes flat inlet and outlet ports located at the bottom of opposite sides of the open water area; return pipes connecting the flat inlet and outlet ports; a flow generation pump for driving water flow; and wave energy absorption holes located at the top of the two sides.
4. The all-terrain simulated test field for deep-sea mining vehicle testing of claim 1, wherein: The mobile hoisting and transfer unit includes a guide rail erected above the water area; a mobile overhead crane moving along the guide rail; a ore conveying pipeline connecting the mining car and the silo; an optical fiber composite cable wound around a composite cable reel; and an electric guide wheel located at the end of the guide rail.
5. The all-terrain analog test field for deep-sea mining vehicle testing of claim 1, wherein: The positioning unit includes positioning base stations deployed around the water area; a positioning transponder installed on the top of the mining vehicle; and a GPS / BeiDou positioning system mounted on the mining vehicle, which transmits signals through a positioning pole extending vertically to the water surface.
6. The all-terrain simulation test field for deep-sea mining vehicle testing as described in claim 1, characterized in that: The multi-dimensional monitoring unit includes surface cameras deployed around the perimeter of the water area; underwater cameras, sonar, and lighting equipment; a matrix-arranged hydrophone array; plume flow monitoring sensors located at the front and rear ends of the mining vehicle and on both sides of the path; and heavy metal detection sensors deployed on both sides of the mining vehicle path.
7. The all-terrain simulated test field for deep-sea mining vehicle testing of claim 1, wherein: The central control unit includes an operating console, a central control panel, a multi-screen matrix display interface, and a cable spray cleaning and cooling chamber, all located in the observation room.