Offshore Placer Gold Deposit Mining

Abstract

A self-propelled mining vehicle comprises: a power system configured to output power; wheels / tracks configured to submerse underwater; a mining system configured to mine a desired material; a drive system connected to the power system, the wheels / tracks, and the mining system and configured to: transfer a first portion of the power from the power system to the wheels / tracks in order to drive the wheels / tracks; and transfer a second portion of the power from the power system to the mining system in order to drive the mining system; a transceiver configured to receive instructions from a location that is remote from the self-propelled mining vehicle; and a control system configured to operate the self-propelled mining vehicle based on the instructions.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This claims priority to U.S. Prov. Patent App. No. 63 / 733,832 filed on Dec. 13, 2024, which is incorporated by reference.BACKGROUND

[0002] The Norton Sound area of the Bering Sea off Nome, Alaska contains rich placer deposits of gold washed down from the surrounding hills over time on a geological scale. However, recovery of the deposits is made difficult for a number of reasons. First, the deposits lie under a body of water. Second, the temperature of the water is lower than humans can easily tolerate. Third, violent weather causes both surface disturbances and underwater currents. Fourth, Arctic weather causes freezing and floating ice above the deposits for a good share of the calendar year. Fifth, the location is remote, making it is difficult to supply mining operations. It is therefore desirable to develop recovery systems and methods that overcome those difficulties.SUMMARY

[0003] A first embodiment comprises self-propelled mining vehicle comprising: a power system configured to output power; wheels / tracks configured to submerse underwater; a mining system configured to mine a desired material; a drive system connected to the power system, the wheels / tracks, and the mining system and configured to: transfer a first portion of the power from the power system to the wheels / tracks in order to drive the wheels / tracks; and transfer a second portion of the power from the power system to the mining system in order to drive the mining system; a transceiver configured to receive instructions from a location that is remote from the self-propelled mining vehicle; and a control system configured to operate the self-propelled mining vehicle based on the instructions.

[0004] A second embodiment comprises a method comprising: obtaining a self-propelled mining vehicle; moving the self-propelled mining vehicle from land to water; at least partially submersing the self-propelled mining vehicle under the water after moving the self-propelled mining vehicle from the land to the water; performing mining under the water using the self-propelled mining vehicle to obtain a desired material after at least partially submersing the self-propelled mining vehicle; moving the self-propelled mining vehicle from the water to the land after performing the mining; and unloading the desired material after moving the self-propelled mining vehicle from the water to the land.

[0005] A third embodiment comprises a method comprising: obtaining a self-propelled agricultural sprayer vehicle comprising a power system, controls, spray pump, wheels / tracks, and a drive system; and retrofitting the self-propelled agricultural sprayer vehicle to obtain a self-propelled mining vehicle by: segregating the self-propelled agricultural sprayer vehicle into an under-surface system and an above-surface system; adding a mining system so that least a portion of the mining system is in the under-surface system; moving the power system to the above-surface system; adding at least one buoyancy element to the above-surface system; adding a transceiver to the above-surface system; and adding a control system to the above-surface system.

[0006] Any of the above embodiments may be combined with any of the other above embodiments to create a new embodiment. These and other features will be more clearly understood from the following detailed description taken in conjunction with the accompanying drawings and claims.BRIEF DESCRIPTION OF THE DRAWINGS

[0007] For a more complete understanding of this disclosure, reference is now made to the following brief description, taken in connection with the accompanying drawings and detailed description, wherein like reference numerals represent like parts.

[0008] FIG. 1A is a schematic diagram of a left side view of a self-propelled mining vehicle in an undeployed scenario.

[0009] FIG. 1B is a schematic diagram of a rear view of the self-propelled mining vehicle in FIG. 1A.

[0010] FIG. 1C is a schematic diagram of a front view of the self-propelled mining vehicle in FIG. 1A.

[0011] FIG. 1D is a schematic diagram of a top view of the self-propelled mining vehicle in FIG. 1A.

[0012] FIG. 1E is a schematic diagram of a bottom view of the self-propelled mining vehicle in FIG. 1A.

[0013] FIG. 1F is a schematic diagram of an isometric view of the self-propelled mining vehicle in FIG. 1A.

[0014] FIG. 2 is a schematic diagram of a left side view of a self-propelled mining vehicle in a deployed scenario.

[0015] FIG. 3 is a flowchart of a method of mining.

[0016] FIGS. 4A and 4B are flowcharts of a method of manufacturing a self-propelled mining vehicle.

[0017] FIG. 5 is a schematic diagram of an apparatus.DETAILED DESCRIPTION

[0018] It should be understood at the outset that, although an illustrative implementation of one or more embodiments are provided below, the disclosed systems and / or methods may be implemented using any number of techniques, whether currently known or in existence. The disclosure should in no way be limited to the illustrative implementations, drawings, and techniques illustrated below, including the exemplary designs and implementations illustrated and described herein, but may be modified within the scope of the appended claims along with their full scope of equivalents.

[0019] The following abbreviations apply:

[0020] ABS: American Bureau of Shipping

[0021] AI: artificial intelligence

[0022] ASIC: application-specific integrated circuit

[0023] CPU: central processing unit

[0024] DSP: digital signal processor

[0025] EO: electrical-to-optical

[0026] FPGA: field-programmable gate array

[0027] ft: feet

[0028] in: inch(es)

[0029] mi: mile(s)

[0030] OE: optical-to-electrical

[0031] RAM: random-access memory

[0032] RF: radio frequency

[0033] ROM: read-only memory

[0034] RX: receiver unit

[0035] SRAM: static RAM

[0036] TCAM: ternary content-addressable memory

[0037] TSO: topside operations.

[0038] TX: transmitter Unit.

[0039] A number of mining approaches are currently being employed and fall roughly into one of four categories. First, suction dredges require skilled divers and attentive tenders, which are difficult to obtain. The divers are subjected to a high degree of danger because they are supplied with air and warm water through a set of umbilical hoses. The depth is limited due to the danger to the diver of decompression sickness. Bad weather may move the launching boat and currents may move the diver, causing an undesired distance between the launching boat and the diver. The diver cannot dig very deep into packed formations that may contain gold deposits. The suction hoses experience rock jams. Long lengths of expensive, heavy, inflexible suction hose are used.

[0040] Second, excavator dredges require skilled construction equipment operators, which are likewise difficult to obtain. Excavator dredges also require expensive equipment like a large, expensive ship or barge, as well as an excavator, a shaker wash plant or trommel, and other large equipment. The mining depth is limited by the length of the earth mover boom and a spud system that fixes the operation in place over the sea floor. A massive barge amplifies forces created by wind and waves on the spud system, so fairly calm conditions are required to keep from damaging the spuds or tearing them from the barge deck. Excavator dredges do not provide visualization of gold in place on the sea floor.

[0041] Third, beach crawlers also require skilled construction equipment operators. The mining depth is very limited by the height of the cab, engine, and electronics above the tracks. Like with excavator dredges, beach crawlers do not provide visualization of gold in place on the sea floor.

[0042] Fourth, gold crawler dredges may require skilled technical workers. The vessels supporting the gold crawler dredges are typically large enough to require a full-time pilot and engineer because they must be capable of carrying the crawler to the mining location, lowering it into mining position, and raising it after mining. Equipment is expensive, and rock jams are common. Gold cannot be easily visualized in place on the sea floor. Gold crawlers operate on tracks, which result in low ground clearance. Gold crawlers cannot navigate large rocks. Stiff hydraulic drive and control hoses running down from the mother vessel to the crawler cause maneuverability problems, are long and therefore increase the possibility of hydraulic oil leaks into the sea, and are relatively expensive.

[0043] There is therefore a desire to overcome the shortcomings noted above. Specifically, it is desirable to obtain a gold mining system that requires little skilled labor, uses less-expensive equipment, can reach significant depth underwater, is less susceptible to bad weather and strong currents, experiences few rock jams, provides for visualization of gold deposits, has sufficient ground clearance, can navigate large rocks, and reduce the likelihood of leaking hydraulic fluid or other substances that are harmful to water environments.

[0044] Disclosed herein are embodiments for offshore placer gold deposit mining. The embodiments provide for a self-propelled mining vehicle, a method of mining using the self-propelled mining vehicle, and a method of manufacturing the self-propelled mining vehicle. The self-propelled mining vehicle is a remote-controlled, self-propelled, wheeled or multi-tracked, submersible, gold-mining apparatus that may be driven off of a shoreline and underwater to an offshore placer gold deposit mining site rather than being conveyed to the mining site and lowered by a mothership requiring high initial costs, high maintenance costs, launching fees, landing fees, harbor fees, spuds, anchors, hulls that can leak, or insurance against sinking. The offshore placer gold deposit mining sites are typically at depths of 5-100 ft and at distances of 0-1.75 mi from shore. The method of manufacturing the self-propelled mining vehicle comprises retrofitting a self-propelled agricultural sprayer vehicle, which can significantly reduce costs compared to retrofitting other platforms, building from the ground up, or using other methods for offshore placer gold deposit mining. While gold mining is disclosed, the embodiments may apply to other elements as well. The self-propelled mining vehicle provides for long mining sessions, little or no diver danger, and less susceptibility to adverse weather. The self-propelled mining vehicle relies on a suction action and movement of a material through the self-propelled mining vehicle to classify material without the need for a shaker, trommel, or similar equipment.

[0045] FIG. 1A is a schematic diagram of a left side view of a self-propelled mining vehicle 100 in an undeployed scenario. “Self-propelled” means the self-propelled mining vehicle 100 contains within itself the means for its own propulsion. The self-propelled mining vehicle 100 moves from land to water, at least partially submerses under the water after moving from the land to the water, performs mining under the water after at least partially submersing under the water, and moves from the water to the land after performing the mining.

[0046] The self-propelled mining vehicle 100 comprises a second stage discharge hose 105, wheel and tire systems 110, a shield 115, a power system 120, a crawler chassis 125, a second stage intake classifying system 130, a first stage discharge cone 135, a first stage discharge hose 140, a second stage suction pump 145, a sluice box 150, support posts 155, an augur system 160, a nozzle and first stage suction pump 165, and a floating topside support platform 170.

[0047] The second stage discharge hose 105 passes a fine material slurry to the sluice box 150. Though the second stage discharge hose 105 is shown as unattached on one end, the second stage discharge hose 105 attaches to the second stage suction pump 145. The second stage suction pump 145 draws finer materials through the second stage intake classifying system 130 and pushes the finer materials to the surface. The sluice box 150 separates gold from other materials, retains the gold, and discharges the other materials (tailings) into the water.

[0048] Each of the wheel and tire systems 110 comprises a wheel and a tire that move to the left of the page, move to the right of the page, and submerse underwater. Alternatively, the wheel and tires systems 110 are independent track systems. The wheel and tire systems 110 may be relatively large and have, for instance, a diameter of about 5 ft 6 in. The wheels can move over rocks relatively easily, while avoiding jams that tracks are susceptible to. The front (leftmost) wheels are fully-steerable wheels as opposed to skid-steering wheels. The shield 115 sheds large, first stage discharge rocks to the sides of the self-propelled mining vehicle 100, catches gold nuggets, and protects equipment such as cameras and other monitoring equipment from tailings dropping down from the sluice box 150 or first stage discharge.

[0049] The power system 120 comprises a fuel tank, a motor coupled to the fuel tank, a generator coupled to the motor. The fuel tank stores fuel, for instance, diesel fuel or gasoline. The motor may be an internal-combustion motor such as a diesel motor, a gasoline motor, or both running on fuel from the fuel tank to output power as mechanical power. The generator converts the mechanical power to first electrical power. The power system 120 may further comprise a solar system or battery packs.

[0050] The second stage intake classifying system 130 comprises screens, bars, or grates for material classification to exclude larger rocks while drawing in finer materials containing gold. The first stage discharge cone 135 is concave and configured to slow the flow rate via increasing cross sectional area and begin material classification. Materials enter a concavity of the first stage discharge cone 135 to impact a convexity of the second stage intake classifying system 130. Larger rocks not passing through the second stage intake classifying system 130 drop onto the shield 115 to roll off the sides of the self-propelled mining vehicle 100.

[0051] The first stage discharge hose 140 may be a suction dredge hose or a lay flat pump-discharge hose as service condition warrants. The second stage discharge hose 105 may have active or passive adjustment to prevent kinking. The first stage discharge hose 140 flows rocks and soil to enable the rocks and soil to be broken up by the action of rapid water flow and tumbling rocks. The support posts 155 and the floating topside support platform 170 provide support for components above and may have a length of about 32 ft 2 in.

[0052] The augur system 160 drills into a seafloor to agitate and break up rocks, soil, cobble, sand, and clay. The augur system 160 provides some of the earth-moving capabilities of excavator dredges. Each augur in the augur system 160 comprises increasing blade pitch going upwards to help clear rock jams in the blades due to the ever-increasing space available in the direction opposite of rotation. The augur system 160 does not have the high traction requirement of pushing-type earth-moving. The augur system 160 may move vertically, independently of the nozzle and first stage suction pump 165. Optionally, the augur system 160 is concentric with the nozzle and first stage suction pump 165.

[0053] The nozzle and first stage suction pump 165 draws rocks and soil inward. The nozzle in the nozzle and first stage suction pump 165 comprises a grate to prevent larger rocks on the order of a diameter of the nozzle from entering.

[0054] FIG. 1B is a schematic diagram of a rear view of the self-propelled mining vehicle 100 in FIG. 1A. FIG. 1B shows the self-propelled mining vehicle 100 comprises the second stage discharge hose 105, the wheel and tire systems 110, the shield 115, the second stage intake classifying system 130, the first stage discharge cone 135, the first stage discharge hose 140, the second stage suction pump 145, the sluice box 150, the augur system 160, the nozzle and first stage suction pump 165, and the support platform 170.

[0055] However, instead of one augur like in FIG. 1A, FIG. 1B shows the augur system 160 comprises two augurs 160. In addition, FIG. 1B shows a height of the self-propelled mining vehicle from a bottom of the wheel and tire systems 110 to a bottom of the support platform 170 may be about 15 ft 7 in (the actual height may be about 8-10 ft), shows the support platform 170 may have a width of about 15 ft 5 in., and shows the shield 115 has a pyramidal shape. The rough dimensions shown are driven by the to-scale dimensions shown of the real self-propelled agricultural sprayer platform starting point.

[0056] Furthermore, FIG. 1B shows the self-propelled mining vehicle 100 further comprises buoyancy elements 175, wheel and tire system stanchions and drive units 180, a hydraulic pump 185, and an electric motor 190. The buoyancy elements 175 are hulls, pontoons, air bladders, or other devices that cause the support platform 170, as well as everything the support platform 170 supports, to float above water. Thus, the buoyancy elements 175 are relatively less expensive, do not require expensive marine-grade equipment, do not require government regulation compliance, and can be repaired without an ABS-certified welder. The wheel and tire system stanchion and drive units 180 mount hydraulic drive systems for each of the wheel and tire systems 110. The hydraulic, full-time, and four-wheel drive stanchion and drive units provide excellent traction while avoiding straight axles and driveshafts, which get stuck on rocks due to low ground clearance. The hydraulic pump 185 drives hydraulic cylinders and the pump for high-pressure supply water to the entrainment / Venturi suction pumps.

[0057] The electric motor 190 may comprise more than one electric motor and is driven by the power system 120. The electric motor 190 generates second mechanical power based on the first electrical power from the generator in the power system 120 to drive the hydraulic pump 185.

[0058] FIG. 1C is a schematic diagram of a front view of the self-propelled mining vehicle 100 in FIG. 1A. FIG. 1C shows the second stage discharge hose 105, the wheel and tire systems 110, the shield 115, the power system 120, the second stage intake classifying system 130, the first stage discharge cone 135, the first stage discharge hose 140, the sluice box 150, the augur system 160, the nozzle and first stage suction pump 165, the buoyancy elements 175, and the wheel and tire system stanchions and drive units 180. For the power system 120, the fuel tank may be on the left of the page and the diesel motor and the generator may be on the right of the page, or vice versa.

[0059] In addition, FIG. 1C shows the self-propelled mining vehicle 100 further comprises an above-surface system 195, or TSO. As can be seen, the above-surface system 195 comprises the second stage discharge hose 105, the sluice box 150, and the buoyancy elements 175. The above-surface system 195 further comprises additional components as described below. The above-surface system 195 is supported by the support platform 170. The above-surface system 195 avoids the need for heavy marine lift equipment, a lift crawler, a separate motive drive power, a wash plant, a supporting pump, and a generator. The second stage discharge hose 105, being of the lay flat type under pressure from the discharge side of the second stage pump 145, is relatively light and reduces or eliminates the need for comparatively heavy suction hoses.

[0060] FIG. 1D is a schematic diagram of a top view of the self-propelled mining vehicle 100 in FIG. 1A. FIG. 1D shows the second stage discharge hose 105, the power system 120, the sluice box 150, and the support platform 170. For the power system 120, the fuel tank may be at the top of the page and the diesel motor and the generator may be at the bottom of the page, or vice versa.

[0061] FIG. 1E is a schematic diagram of a bottom view of the self-propelled mining vehicle 100 in FIG. 1A. FIG. 1E shows the second stage discharge hose 105, the wheel and tire systems 110, the first stage discharge cone 135, the first stage discharge hose 140, the crawler chassis 125, the augur system 160, the nozzle and first stage suction pump 165, and the support platform 170. However, instead of two wheel and tire systems 110 like in FIGS. 1A and 1B, FIG. 1E shows four wheel and tire systems 110. The self-propelled mining vehicle 100 may comprise additional, non-driven wheel and tire systems 110 in order to distribute weight over a greater surface area.

[0062] FIG. 1F is a schematic diagram of an isometric view of the self-propelled mining vehicle 100 in FIG. 1A. FIG. 1A shows the second stage discharge hose 105, the wheel and tire systems 110, the shield 115, the second stage intake classifying system 130, the first stage discharge cone 135, the first stage discharge hose 140, the sluice box 150, the support posts 155, the augur system 160, the nozzle and first stage suction pump 165, the support platform 170, and the buoyancy elements 175.

[0063] The self-propelled mining vehicle 100 may be grouped into separate systems, specifically, the power system 120, a mining system, a drive system, a transceiver, a control system, and a monitoring system. The power system 120 is described above. The power system 120 outputs power.

[0064] The mining system mines a desired material using components operating on power from the power system 120. The components comprise a high-pressure supply water pump, a nozzle, the second stage discharge hose 105, the shield 115, the second stage intake cone classifying system 130, the first stage discharge cone 135, the first stage discharge hose 140, the second stage suction pump 145, the sluice box 150, the augur system 160, and the nozzle and first stage suction pump 165.

[0065] The high-pressure supply water pump drives the second stage suction pump 145, the first stage suction pump in the nozzle and first stage suction pump 165, or both. The first stage suction pump in the nozzle and first stage suction pump 165 may be a Venturi pump operating on the Bernoulli principle and the Venturi effect and using a driving fluid, or the pump may be an EDDY pump, and thus have minimal suction head loss. The pump may permit the hoses, for instance, the second stage discharge hose 105 and the first stage discharge hose 140, to operate under pressure instead of through a vacuum. Thus, instead of suction hoses, the hoses may be lay-flat hoses such as pump discharges or firehoses. The malleable cross-section of the lay-flat hoses better resists rock jams because it can deform to accommodate irregular rock shapes. In addition, lay-flat hoses are lighter, less expensive, and occupy less space.

[0066] The mining system power is conveyed electrically from the internal-combustion motor and generator units top side to the electric motor 190, which then drives the hydraulic motor, which in turn drives the wheels, high-pressure supply water pump, and hydraulic cylinders. Specifically, the mining system obtains rocks and soil from a floor of a body of water, sorts the rocks and the soil to remove the desired material and obtain a remainder of the rocks and the soil, preserves the desired material, and evacuates the remainder to the floor. The nozzle, the augur system 160, or both move independently of a movement of the self-propelled mining vehicle 100 and move substantially in an arc or a straight line in a second direction. The second direction is substantially perpendicular to a first direction the self-propelled mining vehicle 100 moves in. The distance of movement may be more than that of a wheel track of the wheel and tire systems 110, which eliminates the need to precisely steer to formations for mining or steer within a formation while mining. Formations are typically ancient streams, so a wide swath of the stream bed can be mined without repositioning the self-propelled mining vehicle 100. Once a desired lateral mining path is complete, the self-propelled mining vehicle 100 moves forward and completes a new mining path, and the process repeats.

[0067] The mining system may be generally segregated into a first stage, a second stage, and an interface. The first stage comprises the nozzle, which receives rocks and soil. The second stage comprises the first stage discharge cone, the second stage intake classifying system, and the shield 115, which sheds the rocks that are relatively large. The interface couples the first stage to the second stage and comprises a classifying screens or classifying bars to reject larger rocks and thus classify the rocks based on size. Optionally, an adjustable material size could be implemented by overlapping two layers of screens or bars. The short hose length between the first stage and the interface minimizes the potential for rock jams. The interface may have a variable gap to clear rock jams. Optionally, the interface comprises active adjustment by retracting a convex higher-stage cone from a concave lower-stage cone. Optionally, the interface is a rattle interface in which cables, rods, or other similar components create a flexible connection between the first stage and the second stage so that passive movement between the first stage and the second stage allows jammed rocks to unjam. The first stage and the second stage may comprise metal detectors to detect large gold nuggets.

[0068] The drive system is connected to the power system 120, the wheel and tire systems 110, and the mining system. The drive system comprises a hydraulic drive system that transfers a first portion of the power from electric motor 190 driven by the power system 120 to the wheels in the wheel and tire systems 110 in order to drive the wheels, and may comprise an air bladder system that is coupled to the hydraulic drive system seals and that provides counter-pressure to surrounding water when the self-propelled mining vehicle 100 is operating in a submerged manner The drive system further transfers a second portion of the power from the power system 120 to the mining system in order to drive the mining system.

[0069] The transceiver receives instructions from a location that is remote from the self-propelled mining vehicle 100. The transceiver comprises antennae that transmit and receive signals. For instance, the antennae transmit signals from the monitoring system to a remote operator and receive the instructions from the remote operator. Remote operation provides for operator safety and reduces the necessary crew size to, for instance, a single operator. The operator may monitor and control the self-propelled mining vehicle 100 wirelessly via drones or other devices, in a wired manner, or directly while present on the self-propelled mining vehicle 100.

[0070] The control system operates the self-propelled mining vehicle 100 based on the instructions. For instance, the instructions dictate where the self-propelled mining vehicle 100 should travel to and mine.

[0071] The monitoring system comprises cameras, microphones, thermometers and other equipment that enable real-time monitoring and post-monitoring of the self-propelled mining vehicle 100.

[0072] The self-propelled mining vehicle 100 may be generally segregated into an under-surface system and the above-surface system 195. The under-surface system may be referred to as a submersible crawler system. The under-surface system operates substantially under a water surface and comprises the wheels in the wheel and tire systems 110, at least a portion of the mining system, and at least a portion of the drive system. The above-surface system operates substantially above the water surface and comprises the power system 120, the transceiver, the control system, sluice box 150, and the buoyancy elements 175.

[0073] FIG. 2 is a schematic diagram of a left side view of a self-propelled mining vehicle 200 in a deployed scenario. The self-propelled mining vehicle 200 is substantially similar to the self-propelled mining vehicle 100. The self-propelled mining vehicle 100 is landed and is shown as the submerged mining vehicle 200 in the state it would assume during actual mining operation. Specifically, FIG. 2 shows the self-propelled mining vehicle 200 comprises a second stage discharge hose 205, wheel and tire systems 210, a shield 215, a power system 220, a crawler chassis 225, a second stage intake classifying system 230, a first stage cone 235, a first stage discharge hose 240, a second stage suction pump 245, a sluice box 250, support posts 255, an augur system 260, a first stage suction pump 265, and a support platform 270, which are substantially similar to the second stage discharge hose 105, the wheel and tire systems 110, the shield 115, the power system 120, the crawler chassis 125, the second stage intake classifying system 130, the first stage discharge cone 135, the first stage discharge hose 140, the second stage suction pump 145, the sluice box 150, the support posts 155, the augur system 160, the first stage suction pump 165, and the support platform 170 in FIG. 1A, respectively.

[0074] However, unlike the self-propelled mining vehicle 100, which is shown in an undeployed (landed) state, the self-propelled mining vehicle 200 is shown in a deployed (submerged) state. In addition, unlike the self-propelled mining vehicle 100, the self-propelled mining vehicle 200 is further shown comprising a flare 296, a second stage discharge hose 297, a second stage discharge hose anti-kinking and slack-adjusting system 298, and connectors 299. The second stage discharge hose 297 accepts a fine material slurry. The second stage discharge hose anti-kinking and slack-adjusting system 298 may be active or passive. The connectors 299 are cables, chains, ropes, or other components that couple an under-surface system and an above-surface system and that adjust based on a water depth for the purpose of allowing the TSO to be constantly positioned by the self-propelled mining vehicle 200 as it moves around underwater. The connectors 299 may adjust either actively or passively.

[0075] FIG. 3 is a flowchart of a method 300 of mining. At step 310, a self-propelled mining vehicle is obtained. The self-propelled mining vehicle may be the self-propelled mining vehicle 100 or the self-propelled mining vehicle 200. At step 320, the self-propelled mining vehicle is moved from land to water. At step 330, the self-propelled mining vehicle is at least partially submersed under the water. The submersion may occurs while the TSO are floated off the support posts and are supported by the buoyancy elements. At step 340, mining is performed under the water using the self-propelled mining vehicle to obtain a desired material. At step 350, the self-propelled mining vehicle is moved from the water to the land. At step 360, the desired material is unloaded.

[0076] The method 300 may implement additional embodiments. For instance, the method 300 further comprises receiving instructions from a location that is remote from the self-propelled mining vehicle. The method 300 further comprises operating the self-propelled mining vehicle based on the instructions.

[0077] FIGS. 4A and 4B are flowcharts of a method 400 of manufacturing a self-propelled mining vehicle. In FIG. 4A, at step 410, a self-propelled agricultural sprayer vehicle comprising a power system, controls, spray pump, wheels / tracks, and a drive system is obtained. At step 420, the self-propelled agricultural sprayer vehicle is retrofitted, or rearranged, to obtain a self-propelled mining vehicle. The self-propelled mining vehicle may be able to assume the configurations / modes illustrated as the self-propelled mining vehicle 100 or the self-propelled mining vehicle 200.

[0078] In FIG. 4B, step 420 is implemented by steps 430-480. At step 430, the self-propelled agricultural sprayer vehicle is segregated into an under-surface system and an above-surface system. At step 440, a mining system is added so that least a portion of the mining system is in the under-surface system. At step 450, the power system is moved to the above-surface system. At step 460, at least one floater is added to the above-surface system. At step 470, a transceiver is added to the above-surface system. At step 480, a control system is added to the above-surface system.

[0079] FIG. 5 is a schematic diagram of an apparatus 500. The apparatus 500 may implement the disclosed embodiments, for instance, the transceiver, the control system, and the monitoring system. The apparatus 500 comprises ingress ports 510 and an RX 520 to receive data; a processor 530, or logic unit, baseband unit, or CPU, to process the data; a TX 540 and egress ports 550 to transmit the data; and a memory 560 to store the data. The apparatus 500 may also comprise OE components, EO components, or RF components coupled to the ingress ports 510, the RX 520, the TX 540, and the egress ports 550 to provide ingress or egress of optical signals, electrical signals, or RF signals.

[0080] The processor 530 is any combination of hardware, middleware, firmware, or software. The processor 530 comprises any combination of one or more CPU chips, cores, FPGAs, ASICs, or DSPs. The processor 530 communicates with the ingress ports 510, the RX 520, the TX 540, the egress ports 550, and the memory 560. The processor 530 comprises a mining component 570, which implements the disclosed embodiments. For instance, the mining component 570 may implement a mining program that determines a mining program and causes the self-propelled mining vehicles 100, 200 to execute the mining program while avoiding rocks or other obstructions. The mining program may comprise learning or AI components to improve functionality. The inclusion of the mining component 570 therefore provides a substantial improvement to the functionality of the apparatus 500 and effects a transformation of the apparatus 500 to a different state. Alternatively, the memory 560 stores the mining component 570 as instructions, and the processor 530 executes those instructions.

[0081] The memory 560 comprises any combination of disks, tape drives, or solid-state drives. The apparatus 500 may use the memory 560 as an over-flow data storage device to store programs when the apparatus 500 selects those programs for execution and to store instructions and data that the apparatus 500 reads during execution of those programs, for instance as a computer program product. The memory 560 may be volatile or non-volatile and may be any combination of ROM, RAM, TCAM, or SRAM.

[0082] A computer program product may comprise computer-executable instructions stored on a non-transitory medium, for instance the memory 560, that when executed by a processor, for instance the processor 530, cause an apparatus to perform any of the embodiments.

[0083] The terms “about” means a range including ±10% of the subsequent number unless otherwise stated. The term “substantially” means within 1%, 5%, 10%, or another suitable metric or means within manufacturing tolerances. Where single components, apparatuses, or systems are described as performing functions, multiple such components, apparatuses, or systems may implement the functions.

[0084] While several embodiments have been provided, the disclosed systems and methods might be embodied in many other specific forms without departing from the spirit or scope of the present disclosure. The present examples are to be considered as illustrative and not restrictive, and the intention is not to be limited to the details given herein. For example, the various elements or components may be combined or integrated in another system or certain features may be omitted, or not implemented. Likewise, where single components, apparatuses, or systems are described as performing functions, multiple such components, apparatuses, or systems may implement the functions.

[0085] In addition, techniques, systems, subsystems, and methods described and illustrated in the various embodiments as discrete or separate may be combined or integrated with other systems, components, techniques, or methods without departing from the scope of the present disclosure. Other items shown or discussed as coupled may be directly coupled or may be indirectly coupled or communicating through some interface, device, or intermediate component whether electrically, mechanically, or otherwise. Other examples of changes, substitutions, and alterations are ascertainable by one skilled in the art and may be made without departing from the spirit and scope disclosed herein.

Claims

1. A self-propelled mining vehicle comprising:a power system configured to output power;wheels / tracks configured to submerse underwater;a mining system configured to mine a desired material;a drive system connected to the power system, the wheels / tracks, and the mining system and configured to:transfer a first portion of the power from the power system to the wheels / tracks in order to drive the wheels / tracks; andtransfer a second portion of the power from the power system to the mining system in order to drive the mining system;a transceiver configured to receive instructions from a location that is remote from the self-propelled mining vehicle; anda control system configured to operate the self-propelled mining vehicle based on the instructions.

2. The self-propelled mining vehicle of claim 1, wherein the power system comprises an internal-combustion motor, wherein the wheels / tracks comprise four wheels / tracks, and wherein the drive system comprises a hydraulic drive system configured to transfer the first portion from the internal-combustion motor to the four wheels / tracks in order to drive the wheels / tracks.

3. The self-propelled mining vehicle of claim 2, wherein the drive system further comprises an air bladder system coupled to hydraulic drive system seals and configured to provide counter-pressure to surrounding water when the self-propelled mining vehicle is operating in a submerged manner.

4. The self-propelled mining vehicle of claim 2, wherein the internal-combustion motor is a diesel motor.

5. The self-propelled mining vehicle of claim 1, wherein the power system comprises:an internal-combustion motor configured to output the power as mechanical power;a generator coupled to the internal-combustion motor and configured to convert the mechanical power to first electrical power; andan electric motor configured to drive hydraulic power based on the first electrical power.

6. The self-propelled mining vehicle of claim 5, wherein the mining system comprises a mining component configured to operate using the hydraulic power.

7. The self-propelled mining vehicle of claim 6, wherein the mining component comprises two or more suction pumps arranged in serial stages, an augur system, or a nozzle.

8. The self-propelled mining vehicle of claim 1, wherein the mining system is configured to:obtain rocks and soil from a floor of a body of water;sort the rocks and the soil to remove the desired material and obtain a remainder of the rocks and the soil;preserve the desired material; andevacuate the remainder to the floor.

9. The self-propelled mining vehicle of claim 1, wherein the wheels / tracks are configured to move substantially in a first direction.

10. The self-propelled mining vehicle of claim 9, wherein the mining system comprises a mining component, wherein the mining component comprises an augur system and / or a nozzle configured to move independently of a movement of the self-propelled mining vehicle and move substantially in an arc or a straight line in a second direction, and wherein the second direction is substantially perpendicular to the first direction.

11. The self-propelled mining vehicle of claim 1, wherein the mining system comprises:a first stage comprising a nozzle configured to receive rocks and soil; anda second stage comprising a shield configured to shed the rocks that are relatively large.

12. The self-propelled mining vehicle of claim 11, further comprising an interface coupling the first stage to the second stage and configured to classify the rocks based on size.

13. The self-propelled mining vehicle of claim 1, further comprising:an under-surface system configured to operate substantially under a water surface and comprising the wheels / tracks, at least a third portion of the mining system, and at least a fourth portion of the drive system; andan above-surface system configured to operate substantially above the water surface and comprising the power system, the transceiver, and the control system.

14. The self-propelled mining vehicle of claim 13, wherein the above-surface system comprises at least one buoyancy element configured to cause the above-surface system to float.

15. The self-propelled mining vehicle of claim 13, further comprising connectors coupling the under-surface system and the above-surface system.

16. The self-propelled mining vehicle of claim 15, wherein the connectors are configured to adjust based on a water depth.

17. The self-propelled mining vehicle of claim 1, wherein the self-propelled mining vehicle is configured to:move from land to water;at least partially submerse under the water after moving from the land to the water;perform mining under the water after at least partially submersing under the water; andmove from the water to the land after performing the mining.

18. A method comprising:obtaining a self-propelled mining vehicle;moving the self-propelled mining vehicle from land to water;at least partially submersing the self-propelled mining vehicle under the water after moving the self-propelled mining vehicle from the land to the water;performing mining under the water using the self-propelled mining vehicle to obtain a desired material after at least partially submersing the self-propelled mining vehicle;moving the self-propelled mining vehicle from the water to the land after performing the mining; andunloading the desired material after moving the self-propelled mining vehicle from the water to the land.

19. The method of claim 18, further comprising:receiving instructions from a location that is remote from the self-propelled mining vehicle; andoperating the self-propelled mining vehicle based on the instructions.

20. A method comprising:obtaining a self-propelled agricultural sprayer vehicle comprising a power system, controls, spray pump, wheels / tracks, and a drive system; andretrofitting the self-propelled agricultural sprayer vehicle to obtain a self-propelled mining vehicle by:segregating the self-propelled agricultural sprayer vehicle into an under-surface system and an above-surface system;adding a mining system so that least a portion of the mining system is in the under-surface system;moving the power system to the above-surface system;adding at least one buoyancy element to the above-surface system;adding a transceiver to the above-surface system; andadding a control system to the above-surface system.

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