296 results about "Deep sea mining" patented technology

According to the spatial configuration bidirectional fluid-solid coupling analysis method for the deep-sea mining hose, an internal flow coupling equation is constructed based on internal fluid parameters and hose physical property parameters, an external flow coupling equation is constructed based on external fluid parameters and hose physical property parameters, boundary conditions are obtained based on near-wall fluid parameters and hose physical property parameters, and the deep-sea mining hose is obtained. Coupling the external flow coupling equation and the internal flow coupling equation through boundary conditions to construct a bidirectional coupling dynamic equation set; an undamped free vibration equation and a hose balance equation are constructed based on hose physical property parameters, the undamped free vibration equation and the hose balance equation are combined, and an additional fluid mass matrix is introduced to establish a wet modal analysis model; and high-precision simulation and efficient optimization of the deep-sea mining hose spatial configuration are realized.

The invention belongs to the technical field of deep-sea mining environment assessment, and particularly relates to an autonomous multi-mode mining plume and redeposition thickness monitoring system and method, and the system comprises an autonomous underwater unmanned submersible and detection load equipment connected with the autonomous underwater unmanned submersible. The autonomous underwater unmanned submersible is used for carrying detection load equipment, providing electric energy for the detection load equipment, sending a control instruction to the detection load equipment, preprocessing received data returned by the detection load equipment, and sending an equipment state to the mother ship in real time, so that the mother ship can monitor the autonomous underwater unmanned submersible in real time; the detection load equipment is used for synchronously carrying out deep sea near-bottom mining plume and redeposition thickness monitoring in three detection modes of acoustics, optics and hydrology, carrying out multi-category data comparison and fusion in the same time coordinate system, and sending the collected data to the autonomous underwater unmanned submersible; and data support is provided for later deep-sea mining plume and redeposition simulation modeling.

The invention discloses a universal multifunctional obstacle crossing vehicle body system for a deep-sea mining vehicle. The universal multifunctional obstacle crossing vehicle body system comprises a main vehicle frame, a hydraulic suspension system and an independent driving system. The hydraulic suspension system comprises a main supporting hydraulic push rod, an upper vehicle body and lower vehicle body connecting frame, an L-shaped driving system connecting frame, hydraulic steering push rods on the two sides, a steering wheel, a steering wheel bottom fixing piece, a spherical higher pair connecting shaft, a driving system universal connector and a corresponding hydraulic control loop. The independent driving system comprises a track system, a box body, a pitching hydraulic motor, a driving motor, an auxiliary bearing wheel and an auxiliary tensioning wheel set. Compared with a traditional crawler-type chassis, the universal obstacle crossing chassis provided by the invention has better obstacle crossing ability and flexibility, and can cope with more complex seabed conditions. And meanwhile, the universal chassis can adapt to different types of working environments by replacing different types of independent driving modules, so that the universal chassis has excellent multi-terrain adaptability. By means of the universal vehicle chassis, the passing rate and the working efficiency of various deep-sea mining devices in the complex seabed environment can be well improved.

The invention discloses a deep-sea mining VTS configuration optimization design method based on data driving, and belongs to the technical field of deep-sea mining engineering and optimizing.The method comprises the steps that firstly, a mechanical response model of a VTS is constructed through a VFIFE method, and mechanical response is calculated in combination with VTS structure parameters and borne external force; then generating a prediction agent model based on CPO-BP, and realizing relation modeling between the configuration design variable and the mechanical response of the VTS; and finally, the prediction agent model is embedded into the MODA-DE, the VTS configuration is optimized based on the MODA-DE, and VTS configuration design variables meeting the multi-objective optimization requirements are finally obtained through multi-generation iteration. According to the scheme, the three links of VFIFE, CPO-BP and MODA-DE are closely combined, an efficient multi-target optimization technology is formed, collaborative improvement from high-precision prediction to global optimization is achieved in mining pipeline configuration design, and the method has high actual popularization and application value.

The invention belongs to the technical field of image processing and deep-sea mining, and discloses a deep-sea polymetallic nodule single-view three-dimensional reconstruction method and system. Aiming at the problem that the real three-dimensional data of the underwater polymetallic nodule is difficult to acquire, a multi-view generation model is adopted as 2D prior, 3D Gaussian is optimized through fractional distillation sampling loss, any three-dimensional data training is not used, the problem of three-dimensional data acquisition is solved, and three-dimensional reconstruction of the polymetallic nodule is realized. In addition, the invention provides a method only through image fine tuning, function decoupling of a noise prediction module (Unet) and a condition control network (multi-view model) is realized based on DreamBooth, and multi-view generation stability can still be maintained through pre-training view angle parameters under empty condition input; and the problem of parameter acquisition of the underwater camera is avoided through a conditional blanking mechanism, so that the model can be finely adjusted only by depending on a single-view image, and the data acquisition cost is reduced.

The invention discloses a deep-sea mining multiphase flow particle conveying prediction and regulation method based on flow pattern recognition. The method comprises the steps that pressure, flow, bubble or liquid drop volume fractions and solid particle volume fractions at different positions in a pipeline are periodically collected through collection equipment; according to the pipe diameter and the gas-liquid ratio and the mixing flow speed obtained through calculation, a pre-built-in flow pattern division algorithm is called, and bubble flow, slug flow, vortex and annular flow are distinguished; solving the volume fractions of gas-liquid discrete units of any diameter in different flow patterns; the conveying speed of solid particles in the multiphase flow is obtained according to the gas-liquid dispersed phase volume fraction; and whether the obtained solid particle conveying speed reaches a preset optimal interval or not is judged, and the flow pattern or the gas-liquid ratio of the multiphase flow in the pipeline is controlled according to the result so as to adjust the solid particle conveying speed. The mining efficiency of submarine minerals can be improved, a dangerous flow pattern formed by an unreasonable gas-liquid distribution ratio can be avoided, and efficiency and safety are both considered.

The invention relates to the technical field of deep-sea mining, and discloses an extrusion rotary type deep-sea multi-metal nodule low-disturbance collecting device which comprises a set of skid mechanisms formed by all-terrain skid plates arranged side by side, all-terrain skid plates are connected with direction skid through steering pull rods, each skid mechanism is provided with a grating storage cabin, and the grating storage cabins are connected with the all-terrain skid plates through steering pull rods. The inlet end of each grid storage bin is connected with a grid pressing shovel installed on the skid mechanism through a rotary collecting head. According to the invention, the all-terrain skid plates are used as walking mechanisms, so that low-disturbance advancing can be realized on one hand when the multi-metal nodules are collected by walking, and on the other hand, the advancing direction and operation attitude can be adjusted in real time by the cooperation of the multiple groups of all-terrain skid plates, so as to meet different collection requirements of the multi-metal nodules; meanwhile, a combined structure of the grating pressing shovel, the rotary collection head and the grating storage cabin is taken as a core, so that the multi-metal nodule in a buried or semi-buried state can be shoveled up in a low-disturbance manner, and environment-friendly collection is realized.

The invention discloses a deep-sea mining area sediment plume dynamic monitoring system and a multi-module fusion analysis method thereof, and belongs to the technical field of deep-sea environment monitoring and ocean engineering. The system comprises a fixed monitoring unit and a movable monitoring unit, the fixed monitoring unit is composed of an in-situ optical and three-dimensional sonar observation base station, a sediment capturer array and a multi-parameter sensor array and is arranged in a mining area; and the mobile unit comprises an AUV (Autonomous Underwater Vehicle) carrying a multispectral laser radar and an ROV (Remote Operated Vehicle) carrying a binocular vision system and a micro sampler. According to the analysis method, a plume motion field is extracted through multi-source data fusion, dark channel defogging and a pyramid optical flow method, a physical-data dual-drive model is constructed to simulate the plume diffusion and settlement process, a three-dimensional dynamic thermodynamic diagram is generated in real time, and an intelligent early warning threshold value is set based on the diffusion radius and the settlement flux. According to the invention, plume multi-scale, high-precision, real-time and dynamic monitoring and evaluation are realized, and deep-sea mining operation optimization and environment compliance supervision are effectively supported.

The invention provides a movable telescopic vector adsorption relay bin and method for deep-sea mining gas lift lifting. The movable telescopic vector adsorption relay bin comprises a vector adsorption device in the relay bin, a storage bin chamber is arranged in the relay bin, a top plate is arranged at the top of the storage bin chamber, and the outer edge of the top plate is fixed to the inner wall of the relay bin; the relay bin is connected with a lifting pipeline and a conveying pipeline, the lower ends of the lifting pipeline and the conveying pipeline are inserted into the storage bin, and the upper ends of the lifting pipeline and the conveying pipeline penetrate out of the relay bin. The lifting pipeline and the conveying pipeline penetrate through the top plate; the vector adsorption device comprises a vector telescopic adsorption pipeline sleeving the outer wall of the lifting pipeline, and the vector telescopic adsorption pipeline is connected with a driving mechanism; the lower portion of the vector telescopic adsorption pipeline is connected with a vector adsorption pipeline located in the storage bin through a rotating mechanism. And the interiors of the lifting pipeline, the vector telescopic adsorption pipeline and the vector adsorption pipeline are communicated. The structure mechanism is feasible, the innovation degree is high, and the anti-blocking effect of the vector adsorption device and the omnibearing particle lifting effect can be achieved.

The invention relates to the technical field of deep-sea mining and automatic control, and discloses a mining vehicle control method and system integrating environmental perception and acquisition efficiency. Setting the initial collection efficiency of the mining vehicle, obtaining a preset planned path and an ore abundance mean value measured in the mining area, and calculating a first traveling speed of the deep-sea mining vehicle based on the ore abundance mean value and the initial collection efficiency; the deep-sea mining vehicle starts to execute mining on the planned path according to the first advancing speed; calculating an ore abundance deviation value and an acquisition efficiency deviation value based on the real-time ore abundance value and the acquisition efficiency, calculating a speed adjustment coefficient, calculating a second traveling speed of the deep-sea mining vehicle according to the speed adjustment coefficient, and controlling the deep-sea mining vehicle to continue mining on the planned path according to the second traveling speed; and repeatedly executing, and adjusting the advancing speed until the predetermined mining task is completed. The problem that an existing deep-sea mining vehicle cannot conduct self-adaptive adjustment according to the ore reserves and the actual performance of an executing mechanism is solved.

The invention discloses a global cost optimization method based on deep-sea mining operation system safety. The method comprises the following steps: determining design parameters of each system based on global cost optimization and a coupling relationship between the systems; materials are selected based on light load-stability, a self-cleaning nozzle is carried, and a crawler walking system is optimized; a two-way hydraulic-pneumatic energy conversion mechanism is used for optimizing a buoyancy compensation system; a hybrid power efficiency optimization algorithm is adopted to optimize a water surface support system based on a safety burden mitigation technology; a planetary gear is used for amplifying torque, and an electrolyzed water trigger type release mechanism is adopted in the laying and recycling process, so that a laying and recycling system is optimized; based on the principle of low energy consumption, a three-axis IMU data fusion technology is applied, and a three-degree-of-freedom active-passive combined heave compensation system is optimized; the method can effectively solve the problem of high cost of deep-sea mining, realizes safety, burden reduction, cost reduction and benefit increase of a deep-sea mining system, and optimizes the global cost of deep-sea mining operation.

The invention discloses a relay bin device capable of intelligently detecting and adjusting the mineral height and a deep-sea mining system.The relay bin device comprises a relay bin, a height adjusting unit, a detecting unit and a self-cleaning unit, the height adjusting unit comprises a shell assembly, an air bag assembly and a piston assembly, the shell assembly is arranged in the relay bin, and the air bag assembly is arranged in the relay bin; the air bag assembly is arranged in the shell assembly, a high-pressure air chamber is formed in the air bag assembly, the movable end of the piston assembly extends into the high-pressure air chamber and is in sealed sliding connection with the high-pressure air chamber, and the movable end of the piston assembly can move up and down in the axial direction of the relay bin by inflating and deflating the high-pressure air chamber so as to adjust the height of mineral particles; the detection unit comprises a high-pressure waterproof radar and a high-pressure waterproof ultrasonic sensor, and the high-pressure waterproof radar and the high-pressure waterproof ultrasonic sensor are arranged on the two sides of a discharging port of the relay bin respectively; the cleaning end of the self-cleaning unit faces the high-pressure waterproof ultrasonic sensor and is used for cleaning the high-pressure waterproof ultrasonic sensor regularly.

The invention discloses a mineral hydraulic lifting system and method for deep-sea mining, and relates to the technical field of deep-sea mining, the mineral hydraulic lifting system for deep-sea mining comprises a water surface supporting platform, a slurry pump set, a drill rod, a marine riser, an underwater workstation and a top driving part, the upper end of the water surface supporting platform is provided with the slurry pump set and the top driving part; one end of the drill rod is in transmission connection with the top driving part, the other end of the drill rod penetrates through the water surface supporting platform, the drill rod is sleeved with a marine riser, an annular cavity is formed between the drill rod and the marine riser, and the lower ends of the drill rod and the marine riser are connected with the underwater workstation. A power device and parts of the lifting system are arranged on the water surface, pipe fittings which are connected between the water surface supporting platform and the underwater work station and are only provided with marine risers and drill rods are convenient to control and maintain, the number of underwater equipment is reduced, high-power electrical equipment is reduced, and related power, control and accessory parts can be greatly optimized; the use risk of underwater equipment is reduced, and the reliability of the system is improved.

The invention discloses a resource scheduling optimization method for a deep-sea mining comprehensive control system, relates to the technical field of deep-sea equipment automation and control, and fundamentally solves scheduling barriers caused by resource isomerism and task complexity in the deep-sea mining system by creating a virtual resource pool and an elastic task block. Attributes and states of various physical resources are packaged into a virtual resource pool with a unified service interface, so that a scheduling system does not need to pay attention to physical implementation details of the resources, the resources can be inquired, reserved and distributed only through a standardized interface, meanwhile, a macroscopic mining task is decomposed and defined as fine-grained elastic task blocks, and the resource utilization rate is improved. Each task block clearly declarates the required resource type, quantity and target position, the decoupling architecture enables the resource scheduling problem to be converted into the dynamic matching problem between the task blocks and the resource pools, and any task block can be quickly allocated to any resource pool with corresponding capability.

The invention provides a deep-sea mining system, and relates to the technical field of deep-sea mining. The deep-sea mining system comprises a decision-making layer, the decision-making layer is connected with a coordination layer through a quantum encryption underwater acoustic communication module, the coordination layer is connected with an execution layer through a bionic tentacle electromechanical interface, and the execution layer is connected with a compensation layer through an ecological data bus; the decision-making layer comprises a phase resource management module which comprises a marine rhythm analysis unit, an ore deposit respiration model engine and a mining window decision-making device; the biological contract agreement module comprises a microorganism symbiotic culture cabin, a sound wave induction generator and a tentacle mechanical learning unit; the coordination layer comprises a dynamic topology network which comprises a cluster self-organizing controller, a real-time damage evaluation unit and a topology reconstruction algorithm library. Through collaborative design of the decision-making layer, the coordination layer, the execution layer and the compensation layer, intelligent and efficient deep-sea mining is achieved, and the mining efficiency and the resource utilization rate are remarkably improved.

The invention provides experimental equipment and method for simulating determination of adhesion strength of a deep sea substrate and a track shoe, the experimental equipment is composed of a sample loading assembly, a measuring disc assembly, a mechanical loading rack, a servo motor loading device and a data acquisition and control system, and three servo motors are used for controlling a metal test piece and vertical displacement and tangential torsion; dynamic pressure servo on a deep-sea substrate-metal contact interface is completed through a data acquisition and control system, cyclic load generated by a thrust wheel of a mining vehicle is simulated, and the influence of dynamic load on the adhesion characteristic of the deep-sea substrate-metal interface is explored. And an effective means is provided for measuring the adhesion strength of the deep-sea substrate-metal interface and selecting a deep-sea mining vehicle caterpillar band tooth material.

The invention discloses a pneumatic deep-sea mining particle rotary launching device which comprises an air pump, a pressure regulating valve, an electromagnetic valve, a quick discharge valve, an SC air cylinder, a particle placing device and an angle adjusting device. Compressed air is provided through the air pump, the pressure regulating valve regulates output pressure, the electromagnetic valve controls on-off of airflow, and the SC air cylinder achieves rapid emission of particles. A telescopic rod of the SC cylinder impacts different parts of the particles to generate rotary motion, and the launching device is provided with a quick exhaust valve to accelerate the exhaust speed; the particle placing device is used for placing to-be-launched particles in front of the telescopic rod to ensure the launching precision; the angle adjusting device is used for controlling the emitting direction of the particles, and the emitting requirements of different collision angles are met. The launching device is simple in structure and flexible to control, and can be widely applied to research of deep-sea mining particle collision experiments.

The invention discloses a novel multi-source disturbance quantity and multi-pump flow matching analysis method for a deep-sea mining vehicle. The method comprises the following steps that the lower limit value of the water diversion quantity at a collection head gap is set; determining the upper limit value of the flow of the mixture absorbed by the dredge pump; determining a lower limit value of the flow of the mixture absorbed by the primer pump; determining the lower limit value of the flow of the mixture absorbed by the dredge pump; determining the upper limit value of the flow of the mixture absorbed by the primer pump; according to a mass conservation method, the lower limit value of the water diversion amount at the gap of the collection head, the upper limit value and the lower limit value of the flow of the mixture absorbed by the dredge pump and the upper limit value and the lower limit value of the flow of the mixture absorbed by the water diversion pump, the water diversion amount at the gap of the collection head is drawn; and determining the flow range of the mixture absorbed by the dredge pump and the flow range of the mixture absorbed by the primer pump according to an envelope diagram of the flow of the mixture absorbed by the dredge pump and the flow range of the mixture absorbed by the primer pump. The defect that the pump flow matching performance of the mining vehicle is poor is overcome.

The invention relates to the technical field of composite armored cables, and discloses an intelligent sensing type photoelectric composite armored cable for deep-sea mining equipment, which comprises a cable core formed by twisting a plurality of power cable core conductors, an optical fiber communication unit, a medium conveying pipeline and an intelligent sensing unit, and an outer coating layer, tin-plated annealed copper wires and high-strength copper foil wires are arranged in a conductor of the power cable core, an insulation shielding layer is wrapped outside the conductor, the intelligent sensing unit integrates a plurality of optical fibers and optical fiber grating sensors, a loose structure is arranged outside the intelligent sensing unit, one intelligent sensing unit is used for monitoring strain distribution, the other intelligent sensing unit is used for monitoring temperature distribution, and other redundant optical fibers are used as redundant backups. A certain length of grid region interval is preset, distributed measurement along the length of the cable is realized, a sensing optical fiber in the intelligent sensing unit is connected to an optical fiber demodulator of a deck control room, a software system displays strain, temperature, vibration and form data of each point of the cable in real time, an alarm threshold value is set, and the structure is highly integrated and can adapt to a deepwater environment.

The invention relates to a deep-sea mining full-process pilot test system and a use method thereof in the technical field of deep-sea mining engineering, and the full-process pilot test system mainly comprises a collecting and mining test system, a vertical lifting test system, an ore separation test system and a test measurement monitoring system, the collecting and mining test system comprises a test pool, a deep water test area, a shallow water test area, a fan, a wave maker, a circulating water pump, a mining device, a mining vehicle, a trolley, a wave absorbing plate and a trolley guide rail; the vertical lifting test system comprises a vertical pipeline and a pipeline supporting platform; the ore separation test system mainly comprises an ore separation cabin, an overflow device and a cabin entering energy dissipation device. According to the invention, test research on key technologies and equipment of each subsystem of the pipeline lifting type mining system can be carried out, more importantly, full-process test of the pipeline lifting type mining system can be carried out, collaborative operation characteristics of each subsystem are researched, and the stability and safety of the whole system are explored.

The invention provides a method of a deep-sea sediment particle sedimentation rate measuring device based on image processing. The method is used for accurately measuring terminal sedimentation velocities of non-spherical sediment particles with different particle sizes in a simulated deep-sea environment. A particle sedimentation track is dynamically captured through a high-precision image processing technology, and accurate measurement of the non-spherical particle sedimentation rate is realized by dynamically capturing the particle sedimentation track and combining morphological parameter correction and unsteady differential equation verification. According to the method, the limitation of the traditional spherical hypothesis is broken through, errors caused by form complexity are remarkably reduced, and high-reliability data support is provided for environment influence assessment of deep-sea mining activities.

The invention relates to the technical field of ocean resource development, in particular to a method for calculating vortex-induced vibration of a deep-sea mining riser under the action of internal waves. According to the method, velocity and acceleration distribution characteristics of a flow field are determined according to wave parameters such as amplitude and wavelength of ocean internal waves, and load input is provided for calculation of vortex-induced vibration of the deep-sea mining riser; the ocean internal wave flow field has remarkable particularity, is different from uniform flow and typical shear flow, and is unsteady non-uniform shear flow; based on the particularity of an ocean internal wave flow field, vortex-induced load distribution on a deep-sea mining riser under the action of a traditional wake flow vibrator model is obtained by improving the traditional wake flow vibrator model; according to the geometric nonlinear problem caused by the large slenderness ratio of the deep-sea mining super-long riser and the weak constraint characteristic of the deep-sea mining riser, the rigid body displacement and the elastic deformation of the riser are separately calculated by adopting a co-rotation coordinate method, so that the calculation efficiency is improved to meet the actual engineering requirements; the invention discloses a calculation method for vortex-induced vibration of a deep-sea mining riser under the action of ocean internal waves.

The invention provides a deep-sea mining precise feeding method and device based on intelligent monitoring and regulation, and the method comprises the following steps: a plurality of feed ports are formed in the bottom of a storage tank, each feed port is connected with a spiral feeder, the screw pitches of the spiral feeders are different, and the discharge ports of the spiral feeders are connected with the same main material conveying pipeline; setting an Actor network to predict action parameters based on the state parameters at the current moment; and executing the action parameter, obtaining a real reward value and a state parameter at the next moment based on an execution result of the action parameter, and stopping prediction of the action parameter when the ore concentration of the outlet of the main material conveying pipeline in the state parameter at the next moment meets a preset standard. According to the scheme, the spiral feeders with different screw pitches are arranged, the multiple sensors are installed at the outlet and the inlet of each spiral feeder, and the feeding precision is accurately controlled based on data of the sensors.

The invention relates to the technical field of deep-sea mining vehicle lightweight, and provides a deep-sea mining vehicle lightweight design method based on multidisciplinary optimization, which fully considers the complex relation of mutual coupling among multiple disciplines, and realizes lightweight, low energy consumption and high reliability of a deep-sea mining vehicle. Comprising the following steps: S100, establishing a simplified model of the deep-sea mining vehicle; s200, in consideration of structural mechanics and material science, materials with smaller mass are selected to carry out material optimization on the deep-sea mining vehicle under the condition that the structural strength is met; s300, structural mechanics and fluid mechanics are considered, the component size and the water resistance coefficient are reduced under the condition that the structural strength is met, and structural optimization is conducted on the deep-sea mining vehicle; and S400, the reliability of the obtained lightweight deep-sea mining vehicle is ensured.

The invention belongs to the technical field of underwater operation equipment, and particularly relates to an underwater unmanned aerial vehicle device for deep sea automatic mining and a using method thereof.The underwater unmanned aerial vehicle device comprises a guide pipe paddle body structure, a mineral exploration structure, a positioning navigation structure, a cutter suction pump body structure and a control module; the mineral exploration structure is provided with a mineral exploration end, the positioning navigation structure is provided with a mineral positioning end, the two ends of the cutter suction pump body structure are provided with a pump suction inlet end and a pump suction outlet end respectively, and the control input end of the control module is connected with the mineral exploration structure and the positioning navigation structure. The control output end is connected with the guide pipe paddle body structure, the ore breaking reamer structure and the cutter suction pump body structure. The problems that in the prior art, when a mining vehicle is used for deep-sea mine mining, adaptability is poor, maneuverability is low, pollution is large, and the automation degree is low, so that deep-sea mining difficulty is large, pollution is large, and cost is high are solved.

The deep-sea mining closed type lifting system comprises a water surface supporting unit which comprises a mining ship, a mine-water separation mechanism, a liquid storage tank and a booster pump, and the mine-water separation mechanism, the liquid storage tank and the booster pump are located on the mining ship; the mineral transfer unit is located underwater and comprises a storage tank and a convergence bin located below the storage tank, the storage tank is used for receiving and storing the ores from the mineral collection unit on the seabed, and the bottom of the storage tank is connected with a first inlet of the convergence bin through an opening and closing device; the water return pipe is connected with the outlet of the booster pump and the second inlet of the converging bin; the ore conveying pipe is connected with an outlet of the converging bin and an inlet of the ore-water separating mechanism; wherein the booster pump pumps liquid in the liquid storage tank and conveys the liquid into the convergence bin through the water return pipe, the liquid and ore from the storage tank form ore pulp, then the ore pulp enters the ore conveying pipe and is conveyed to the ore-water separation mechanism through the ore conveying pipe, and the ore-water separation mechanism separates the ore in the ore pulp to form ore liquid and discharges the ore liquid into the liquid storage tank; therefore, seawater on the ocean surface is prevented from being polluted in the ore lifting process of deep-sea mining.

The invention provides a deep-sea mining vehicle multi-tooth shearing experiment device and an experiment method, belongs to the field of mechanical loading devices, and can simulate complex pressure distribution of a crawler under different front and back counter weights and different thrust wheel distribution by independently controlling the loading condition of a single crawler tooth. The test pool can configure a simulated substrate according to the real terrain of the deep sea, the distribution characteristic of the shear strength and the multi-metal combination abundance, and the shear failure characteristic of the multi-track tooth-substrate can be recorded in real time by a high-speed camera, so that the combined shearing of the multi-track tooth under the condition of complex pressure distribution is realized; the problems that the loading condition is single and the shear failure characteristic is difficult to observe are solved.

The invention relates to the technical field of deep-sea mining vehicle path planning, and discloses a deep-sea mining vehicle full-coverage path planning method based on an improved bio-activation neural network, and the method comprises the following steps: (1) analyzing the climbing dynamics of a deep-sea mining vehicle, and determining the passing time of each deep-sea mining region; (2) establishing a deep-sea mining operation environment model based on the determined passing time of each region; (3) establishing a grid heuristic function for deep-sea mining coverage operation requirements; and (4) in the deep-sea mining operation process, improving an escape path planning algorithm for dead zone escape demands, optimizing a target search mechanism and a fitness function, and performing point-to-point intelligent path planning on the mining vehicle. According to the method, an improved biological activation neural network algorithm and an escape algorithm are combined, deep-sea mining operation can be autonomously, accurately and efficiently completed under the condition that various seabed obstacles exist, and safety, energy conservation and mining efficiency are guaranteed.

The invention provides a deep-sea mining sediment plume turbidity prediction method based on digital image processing, and establishes a set of deep-sea mining sediment plume turbidity prediction method based on the digital image processing technology by utilizing the digital image processing technology based on different reflectivity principles of seawater and deep-sea mining sediment plume to light. According to the algorithm, deep-sea mining sediment plume video images are subjected to a series of processing through program calculation, such as deep-sea mining sediment plume image graying, image enhancement and image threshold segmentation, and finally deep-sea mining sediment plume image feature values are extracted. The feature value of the deep-sea mining sediment plume image can be calibrated with in-situ observation data to realize inversion of the real turbidity of the deep-sea mining sediment plume.

The invention discloses a deep sea ore conveying system and a cooperative control method thereof. Belongs to the technical field of deep sea mining and comprises a pre-crushing module, a middle transition pipeline and an anti-blocking conveying pipeline, and a periodic air pressure pulse device and a modular control correction unit are arranged on the outer wall of the anti-blocking conveying pipeline; the device has the characteristics that front-end pre-crushing: high-pressure water jet crushes ores in a non-contact manner, so that large ores are prevented from entering a pipeline; the particle size is detected in real time through laser, ore exceeding the standard is circularly and secondarily crushed, and the blocking risk is controlled from the source; middle-end anti-blocking conveying is achieved, ore is made to rotate and suspend through spiral flow deflectors, and pipe wall friction is reduced; the air pressure pulse periodically impacts the adhesion layer, and physical-pneumatic cooperative blockage removal is achieved; adjusting buoyancy at the rear end, namely dynamically filling and discharging liquid in a buoyancy cabin in a modular control correction unit, and matching ore density change in real time; buoyancy is adjusted in advance through predictive control, traction force on the water surface supporting platform is reduced, and meanwhile the problem of pipeline deviation caused by disturbance of a deep sea flow field is solved through a lateral pushing device.