358 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 provides a deep-sea mining plume diffusion in-situ monitoring system and a monitoring method thereof, the deep-sea mining plume diffusion in-situ monitoring system comprises a monitoring center node device and a portable monitoring node device, and mining plume diffusion in-situ monitoring can be carried out through a monitoring network. According to the method, in-situ monitoring of the plume of the sediment can be achieved, the method has important significance on mining environment influence evaluation, an in-situ means for effectively positioning three-dimensional space distribution of the plume is filled up, and the requirement for monitoring the deposition thickness of plume particles is met. The plume influence environment element change relation is constructed, and the blank of plume environment influence total element monitoring is filled. The establishment of the relationship between plume diffusion and environmental element change is beneficial to the quantitative evaluation of the mining environment influence. The system can monitor and analyze the physical and chemical process, biological diversity influence and the like of the surrounding environment of mining activities, observation data can provide effective real parameters for plume numerical simulation, data support can be provided for environmental parameter prediction and benthic organism class group influence prediction, and three-dimensional space distribution of plumes can be obtained.

The invention provides a method for establishing a deep-sea mining plume rheological model considering physical property changes. The method comprises the following steps: establishing a deep-sea mining plume rheological database under different rheological models; analyzing and comparing the rheological parameter difference of the deep-sea mining plume under different rheological models; and constructing a deep-sea mining plume rheological model considering the physical property change, and constructing a relationship between the rheological parameters and the density. According to the technical scheme of the invention, the model uses the artificial sample kaolin plume with relatively stable properties to represent the mine sediment plume, and overcomes the defects of lack of mine sediment rheological test data and great rheological property difference of deep-sea sediments in various regions at present. The model provides an important reference for the change rule of the rheological property of the sediment in the mining area along with the density, and a deep-sea mining sediment plume rheological model under the full-life evolution period can be constructed on the basis of the important reference.

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 provides a method of a seabed mining plume diffusion monitoring device based on an acoustic-optical-electric technology, and multi-dimensional and high-precision monitoring of a deep sea mining plume diffusion process is realized by combining multiple monitoring technologies of acoustics, optics and electricity. The specific target comprises multi-source data fusion: acoustic, optical and electrical data are effectively fused, and the accuracy and comprehensiveness of plume diffusion monitoring are improved. And the concentration conversion precision is improved: through multi-source data calibration, high-precision conversion from acoustic data to particle concentration data is realized. And real-time monitoring capability: providing real-time monitoring and data analysis capability, and reflecting the dynamic change of plume diffusion in time. And environment impact assessment: providing reliable data support for deep-sea mining environment impact assessment, and promoting sustainable development.

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 an ore separation and sediment treatment system for deep-sea mining. Belongs to the field of deep-sea mining and mainly comprises a sediment collecting and processing system, an ore screening system, a mine car carriage, a collecting head, a mine car track, a lifting hose, a draft tube connecting hard tube, a draft tube, a draft tube connecting hose and the like. According to the invention, through a set of sediment collection and treatment system, sediments discharged in all links of deep-sea mining are effectively collected, and a set of effective circulation system is formed; and meanwhile, the collected sediment-seawater mixture is matched with the filtering layer through the continuously contracted flow channel of the screw compressor, so that the concentration of sediment slurry is increased, the density of the sediment slurry is increased, the sediment slurry is quickly settled, and the problem that the sediment is diffused to form large plume flow to pollute the seabed environment is solved.

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 discloses a method and device for reducing tail water plume of a deep-sea mining vehicle. The device comprises a crushing device, a liquid storage device, a centrifugal action device, an intelligent control device, a magnetic seed laying and recycling device and a super-magnetic separation device. The crushing device comprises a crusher, the liquid storage device comprises a liquid storage tank and a control valve, the liquid storage tank comprises a coagulant aid liquid storage tank and a coagulant liquid storage tank, the centrifugal action device comprises a centrifugal machine, a magnet, a liquid conveying pipe and a magnetic seed dispenser, and the centrifugal action device screens particles with different diameters in a water body to different layers through centrifugation. Under the action of the magnet, the magnetic field intensity in each layer is different, and the magnetic seeds with different particle sizes are combined with particle impurities in seawater under the action of a coagulant aid coagulant, so that a better flocculation effect is realized. Polyferric sulfate is adopted as a coagulant and can be used for treating heavy metal ions in water, polyacrylamide is adopted as a coagulant aid, suspended solids and colloidal particles in water can be effectively captured and adsorbed, and sedimentation and separation of the suspended solids and colloidal particles are promoted.

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 relates to the technical field of deep-sea mining, in particular to a closed deep-sea mineral lifting system which comprises an offshore platform, and the offshore platform is provided with a first mineral-water separation device and a high-pressure water pump which are communicated with each other; one end of the circulating pipeline is communicated with the high-pressure water pump, and the other end of the circulating pipeline is communicated with the first mineral-water separation device; the water inlet assembly is communicated with the circulating pipeline; the relay platform can suspend in seawater, and a storage bin is arranged on the relay platform; the water pumping assembly communicates with the storage bin and is used for discharging the seawater in the storage bin into the sea; the mining assembly is communicated with the storage bin; and the feeding assembly is arranged between the storage bin and the circulating pipeline, the feeding assembly communicates with the circulating pipeline, and the feeding assembly is used for injecting the ore pulp in the storage bin into the circulating pipeline. According to the method, the influence on marine ecology can be reduced while efficient mineral lifting is achieved.

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 belongs to the technical field of island construction engineering, deep-sea mining and metal excavation stability, and discloses a method for arranging a combined vertical artificial column system based on a dangerous area. According to the method, the three-level artificial columns are scientifically reserved for the horizontal dangerous area in combination with calculation of field data. According to the scheme, the artificial columns which are higher in bearing capacity and better in stability compared with natural columns are adopted, and reasonable calculation and arrangement of the reserved size, the reserved thickness and the reserved position are conducted on the combined vertical artificial column system based on all excavation horizontal dangerous areas in the excavation process; the artificial column system has a supporting effect on surrounding rocks on different excavation levels and different vertical sections from the three-dimensional whole of a mining area. And the artificial columns at all levels cooperate to jointly bear the load effect, so that the stability of the surrounding rock of the stope is improved, and the safety of workers and operation equipment is more favorably guaranteed.

The invention provides a deep-sea mining system collaborative operation experiment platform. The experiment platform comprises a hose, a base moving platform, a water surface moving platform, a water surface and underwater positioning base station and a test pool. The water surface mobile platform and the base mobile platform are placed in the test water tank, and the two mobile platforms are connected through the hose; and the water surface and underwater positioning base stations are installed at four vertex areas of the test pool and are used for receiving beacon data of the water surface mobile platform and underwater sound positioning signals sent by the base mobile platform so as to realize effective positioning of the mobile platform. According to the application, terminal control is matched with the mobile experiment platform through pipeline cooperation, and motion planning of the mining vehicle cluster in respective horizontal plane directions is realized.

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 utility model relates to a deep-sea mining delivery pipe, and belongs to the technical field of deep-sea mining delivery pipes. Comprising a conveying pipe body, the conveying pipe body comprises an armored steel sleeve, an inner rubber sealing layer, a first pressure-bearing layer, a spiral steel wire framework layer, a second pressure-bearing layer, a cable and optical cable layer and an outer protection layer which are sequentially arranged from inside to outside, one end of the conveying pipe body is provided with a fixed flange connector connected with a relay station, and the other end of the conveying pipe body is provided with a clamp connector connected with a mine collecting machine. The nitrile rubber is used as the inner rubber sealing layer, and the chloroprene rubber and the natural rubber are used as the outer protective layer, so that the oil resistance, seawater corrosion resistance and aging resistance of the conveying pipe are improved, and the service life of the conveying pipe is prolonged; sS316 stainless steel is used as the armored steel sleeve, so that the hardness and the wear resistance of the conveying pipe can be improved; the first pressure-bearing layer, the spiral steel wire framework layer and the second pressure-bearing layer play a supporting role and bear radial pressure, so that the compression resistance of the conveying pipe is improved, and the service life is prolonged.

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 deep-sea mining trolley comprises a trolley body, a floating assembly, an adjusting assembly and a collecting assembly, the trolley body is suitable for moving in the seabed, the floating assembly is arranged on the trolley body and connected with the trolley body, the floating assembly is used for providing buoyancy for the trolley body, and the adjusting assembly is arranged on the trolley body and connected with the collecting assembly. The adjusting assembly is used for adjusting the posture and position of the vehicle body, the collecting assembly comprises a mounting frame, a crushing part, a spraying part and a collecting part, the mounting frame is arranged on the vehicle body and can rotate around the width direction of the vehicle body relative to the vehicle body, and the crushing part is arranged on the mounting frame and can rotate around the width direction of the vehicle body relative to the mounting frame; the spraying part and the collecting part are both arranged on the mounting frame, the collecting part is used for collecting the crushed seabed sediments, and the spraying part is used for spraying the crushed seabed sediments so that the crushed seabed sediments can be flushed into the collecting part, and the collecting part can conveniently collect the crushed seabed sediments. The deep-sea mining trolley has the advantages of being simple in structure, high in collection efficiency and the like.

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 discloses a deep-sea mining numerical simulation method based on a pseudo-fluid model and related equipment. The method comprises the following steps: firstly, setting an initial velocity field, an initial pressure field and initial particle concentration distribution in the deep-sea mining pipeline; defining boundary conditions of an inlet and an outlet of the deep-sea mining pipeline; finally, numerical simulation is conducted on the deep-sea mining pipeline through the pseudo-fluid model, a deep-sea mining numerical simulation result is obtained, and the deep-sea mining numerical simulation result comprises pressure distribution, a velocity field, particle concentration distribution, effective density and effective viscosity. In the process, the solid particles are simplified into the pseudo fluid by utilizing the pseudo fluid model, so that the effective density and the effective viscosity are introduced, numerical simulation can be performed on the deep-sea mining pipeline by utilizing the effective density and the effective viscosity, and compared with traditional algorithm calculation, the calculation complexity is simplified, and the numerical simulation efficiency is also improved.

The invention discloses a crushing and feeding device and a deep-sea mining conveying system, the crushing and feeding device comprises a machine body and a hydraulic motor, the machine body comprises at least one roller, the roller sleeves a corresponding roller shaft, and the roller shaft is rotatably connected to the machine body; at least three disc blades with the same specification are arranged in the axial direction of the roller at equal intervals, and at least one tool bit is arranged on each disc blade; plugs are arranged on the front and rear vertical surfaces of the machine body and are matched with gaps between the rollers and the vertical surfaces of the machine body; and a power output shaft of the hydraulic motor is connected with the roller shaft. The deep-sea mining conveying system comprises a relay station, a mixed-flow pump, a lifting hard pipe and a mother ship, the relay station comprises a feeding cylinder, a feeding pipe and the crushing feeding device which are sequentially connected from top to bottom, and a lower opening of the feeding pipe is connected with the lifting hard pipe. The crushing and feeding device provided by the invention has the advantage of high crushing ratio, and the deep-sea mining and conveying system provided by the invention has the advantages of being environment-friendly and controllable in solid-liquid ratio of ore pulp fed by a hard pipe.

The invention relates to the technical field of deep-sea mining, and discloses a bubble barrier plume restraining device suitable for deep-sea mining operation. The bubble barrier plume restraining device comprises an air source control unit, a posture adjusting conveying pipe, an air conveying relay box, a mining vehicle, a plurality of flow dividing air conveying hoses, a communication cable and a plurality of seabed bubble releasing units. The gas source control unit is communicated with the gas transmission relay box through the posture adjusting transmission pipe, the gas transmission relay box is connected with the multiple seabed bubble release units through the multiple flow dividing gas transmission hoses, the multiple seabed bubble release units define a bubble barrier, and the mining vehicle is located in the bubble barrier. The mining vehicle, the communication cable, the gas transmission relay box, the posture adjustment transmission pipe and the gas source control unit are sequentially connected. According to the method, plume diffusion in deep-sea mining operation is inhibited, and damage of the deep-sea mining operation to the marine environment is reduced, so that the operation efficiency of the seabed bubble barrier is improved; and the posture of the posture adjusting transmission pipe is always maintained in a safe range.

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 belongs to the technical field of marine scientific research and environmental protection, and relates to a long-term observation device for organisms at the bottom of deep sea, which comprises a mounting frame, an observation cylinder, a suction pump, a control cabin, an energy storage assembly, a camera assembly and a light-emitting assembly. A hoisting connection position is arranged on the mounting frame and is matched with a submersible manipulator; the opening side of the observation cylinder is provided with an outlet of the suction pump, a camera shooting assembly and a light-emitting assembly; the energy storage assembly is provided with a control switch and is matched with the submersible manipulator. The underwater starting and stopping device is simple in structure and low in cost, accurate underwater putting and recycling of the submersible can be achieved through the matched lifting connecting position, at least part of functions of the underwater starting and stopping device of the manipulator of the submersible are achieved in combination with the control switch, an operator can autonomously select the switch according to task requirements, and laying of the underwater starting and stopping device of the manipulator of the submersible is more flexible; in-situ continuous and clear benthic organism stress reaction recording is realized, and effective support is provided for deep-sea mining environment influence assessment.