CN115057379A - Low-energy-consumption green hoisting deep sea mining system - Google Patents

Abstract

The invention discloses a low-energy-consumption green hoisting deep sea mining system which comprises a mother ship on the water surface, mooring ropes and a transfer box, wherein guide pulleys are respectively arranged on the bow and the stern of the mother ship on the water surface; two ends of the cable are wound around the guide pulleys on the two sides and then fixed with a transfer box; an inner side box body and a displacement object with the density larger than that of the pre-mining object are arranged in a cabin of the water surface mother ship; the surface mother ship is also provided with a heavy suspender and calipers; the transfer box comprises an outer box body and an inner box body, and the outer box body of the transfer box is provided with a pose sensor, a stable pose propeller and an information processor which are respectively connected with the power supply module; and the information processor obtains the movement of the displacement attitude control stable attitude propeller of the transfer box through fusion calculation according to the received original data, and then controls the movement of the transfer box. The system can realize efficient green mining of deep sea minerals, solves the technical problems of poor system stability, poor commercial mining economy, incapability of meeting environmental protection requirements and the like, and provides reference and reference for the actual deep sea mining engineering.

Description

Low-energy-consumption green hoisting deep sea mining system

Technical Field

The invention relates to deep sea mining equipment, in particular to a hoisting deep sea mining system.

Background

Mineral resources are the material basis on which human society relies for survival and development. Human beings gradually recognize that the ocean occupying about 71% of the surface area of the ball contains abundant mineral resources, and the range is wide, and the reserve amount is far beyond the terrestrial mineral resources. Among the discovered deep sea mineral resources, the major ones having great application value to human production and life are polymetallic nodule, cobalt-rich crust, polymetallic sulfide, etc., and these minerals are rich in nickel, cobalt, copper, manganese, noble metals such as gold and silver, etc. The development of deep-sea mineral resources has important strategic significance and national public interest attributes, the current deep-sea mining technology is limited by commercial mining economy and environmental protection requirements of international seabed management bureaus, and the development does not fully meet the engineering requirements of low energy consumption, greenness and high efficiency.

The existing mining methods mainly comprise a bucket type, a continuous rope bucket type, a shuttle boat type and a pipeline lifting type. The bucket mining system is composed of a mining ship, a towing cable and a towing bucket, wherein the bucket is freely lowered to the seabed and dragged to be retracted after being filled with tuberculosis minerals, the mining system can hook the seabed, the danger is high, the operability is poor, and the capacity of the bucket is small due to the strength of a rope, so that the acquisition efficiency is low, and the target of commercial mining is difficult to realize; the continuous rope bucket type mining system consists of a mining ship, a towing rope, a pulling bucket and a tractor, the motion attitude of the mining system on the seabed cannot be controlled, the ropes are easy to tangle, the danger is high, the volume of the rope bucket is small, and the mining efficiency and the resource recovery rate are low due to the opening at the upper end; the shuttle boat type mining system is formed by submerging a shuttle boat similar to a submarine onto the surface of a seabed to adopt combined minerals, and unloading the combined minerals on the water surface after the combined minerals are filled, the mining scheme is high in manufacturing cost, the problems that the performance of the existing materials cannot meet requirements and the power of the system is difficult to solve, the variable cost is high, and the investment recovery period is long; the pipeline lifting type system mainly comprises a lifting power pump (hydraulic type and pneumatic type), a conveying hose, a relay bin, a lifting pipe (hard pipe), a heave compensation device, a control valve, a connector, a storage cabin and the like.

The research on the prior technical documents shows that the mining mode at the present stage has the problems of poor economy, poor operability, no environmental protection requirement and the like. And along with the continuous increase of mining degree of depth, deep sea mining equipment power is bigger and bigger, and motor power can reach several megawatts level, compares with land electric wire netting, and boats and ships electric wire netting capacity is very little, and high-power motor direct start can cause serious impact to the boats and ships electric wire netting, and high-power mining energy consumption still can greatly shorten mining continuation of journey time, and present prior art adopts the soft starting drive of thyristor formula to start the motor, has the motor can't start, voltage resonance, umbilical cable insulation breakdown etc. a great deal of power supply problem, can't satisfy the engineering technical demand of deep sea mining. Therefore, the invention of a low-energy-consumption green hoisting deep sea mining system is urgently needed to realize technical breakthrough.

Disclosure of Invention

Aiming at the defects that the existing deep sea mining system is poor in stability, poor in commercial exploitation economy, and incapable of meeting the environmental protection requirement, the invention provides the low-energy-consumption green hoisting deep sea mining system, which can realize efficient green exploitation of deep sea minerals, solves the technical problems that the system is poor in stability, the commercial exploitation economy is poor, the environmental protection requirement is not met, and the like, and provides reference and reference for the deep sea mining engineering practice.

In order to solve the technical problems, the low-energy-consumption green hoisting deep sea mining system comprises a mother ship on the water surface and a cable, wherein calipers for fixing the cable are arranged on a ship body of the mother ship on the water surface, and the head end and the tail end of the ship body of the mother ship on the water surface are respectively provided with a guide pulley of the cable; two ends of the mooring rope respectively pass around the guide pulleys at the head end and the tail end of the ship body and then are fixed with transfer boxes; an inner box body and a displacement object are arranged in a cabin of the mother ship on the water surface, and a heavy suspender for hoisting the inner box body and the displacement object is also arranged on the mother ship on the water surface; the transfer box comprises an automatic attitude control device arranged on the outer box body, and the automatic attitude control device comprises a pose sensor, a stable attitude propeller and an information processor which are respectively connected with the power supply module; the pose sensor is connected with the information processor through an I2C bus, and the information processor is connected with the stable attitude propeller through a PWMX6 cable; the stable attitude propeller consists of four underwater propellers matched with the brushless electric controller; the pose sensor is integrated with a triaxial accelerometer, a gyroscope, a magnetometer and a depth sensor, the pose sensor feeds back raw data of the triaxial accelerometer, the gyroscope, the magnetometer and the depth sensor to the information processor, and the information processor performs fusion and calculation according to the received raw data to obtain the displacement attitude of the transfer box so as to control the motion of the underwater propeller and further control the motion of the transfer box; the density of the displacement is greater than that of the pre-mined minerals.

Further, the low-energy-consumption green hoisting deep sea mining system provided by the invention comprises:

the inner box body and the outer box body are quadrangular box bodies which are mutually sleeved; the four underwater propellers are respectively arranged on the four outer side walls of the outer side box body.

The density of the displacement is 1.5-2.5 times of the density of the pre-mined mineral.

The displacement is one or more of cement blocks, cheap stone blocks and packaging soil, and the packaging soil is soil blocks packaged by degradable plastics.

Compared with the prior art, the invention has the beneficial effects that:

the low-energy-consumption green hoisting deep sea mining system is simple and convenient in structure and simple in equipment arrangement; the hoisting quality is large, and the efficiency is high; the replacement objects and the pre-mining objects with different densities are adopted to realize micro-power lifting by utilizing gravity difference, so that the cost is low, and the commercial exploitation economy is good; the posture of the operation box is automatically regulated and controlled, and the cable is not easy to wind; the system has stable structure, low failure rate and good stability; the green displacement substance has no pollution to the ocean and meets the requirement of environmental protection.

Drawings

FIG. 1 is a schematic view of the overall construction of a hoisted deep-sea mining system of the present invention;

FIG. 2 is a schematic view of the construction of a transfer box according to the present invention;

fig. 3 is a block diagram showing the configuration of the automatic attitude control device according to the present invention.

In the figure:

1-mother vessel on water surface 2-cable 31-transfer box at bow side

32-stern-side running box 4-displacer 5-inside box

6-caliper 7-heavy suspender 8-guide pulley

9-outer box 10-information processor 11-pose sensor

12-underwater propeller 13-power supply module

Detailed Description

The invention will be further described with reference to the following figures and specific examples, which are not intended to limit the invention in any way.

The invention provides a low-energy-consumption green hoisting deep-sea mining system, which comprises a surface mother ship 1 and a cable 2, wherein a caliper 6 for fixing the cable 2 is arranged on a ship body of the surface mother ship 1, the caliper 6 adopts a double-wheel braking structure, and the cable 2 is clamped through double wheels when the cable 2 needs to be fixed; the head end and the tail end of the hull of the mother ship on the water surface 1 are respectively provided with a guide pulley 8 of a mooring rope, two ends of the mooring rope 2 respectively wind around the guide pulleys 8 at the head end and the tail end of the hull and then are fixed with a transfer box, and the mooring rope 2 is made of composite fiber materials and bears the tension force generated by the transfer box; the cable 2 is hung on the surface mother ship 1 through the directional pulleys 8, the cable 2 between the directional pulleys 8 at the head and the tail sides is basically kept in a horizontal state, and the part of the cable 2 outside each directional pulley 8 is basically kept in a vertical state. When it is desired that the cable is sliding along the guide pulley, the cable 2 is released by releasing the two wheels of the caliper 6. An inner side box body 5 and a displacement 4 are arranged in the cabin of the mother ship on the water surface 1. In the process of floating or descending of the operation boxes fixed at the two ends of the mooring rope 2, the two guide pulleys 8 are responsible for supporting the mooring rope 2, reducing the friction force in the process of lifting the mooring rope 2, reducing unnecessary energy loss and improving the efficiency of lowering the displacer 4 and lifting minerals. The density of the displacer 4 is far greater than that of the pre-mined mineral, the density of the displacer 4 is about 2 times that of the pre-mined mineral, the displacer 4 is a cement block or a cheap stone block or encapsulated soil, wherein the encapsulated soil is a soil block encapsulated by degradable plastics, or the displacer 4 can be made of green degradable waste, and the general principle is that the material of the displacer 4 does not pollute the marine environment. For the convenience of hoisting, the displacement 4 is arranged in the cabins of the mother ship 1 on the water surface close to the two ends. The surface mother ship 1 is also provided with a heavy suspender 7 for hoisting the inner side box body 5 and the replacer 4; the calipers 6 comprise two groups, the calipers are respectively distributed near the cabin where the inner side box body 5 is located, the two calipers 6 are symmetrically distributed, when the heavy suspender 7 is hoisted, the locking calipers 6 clamp the mooring rope 2 to guarantee the hoisting stability, when the operation box moves, friction force can be provided for the mooring rope 2 to further slow down the descending speed of the operation box, and the mineral hoisting stability is improved. The heavy suspender 7 is distributed in the middle of the cabin where the displacement object 4 is located and the cabin where the inner side box 5 is located, the heavy suspender 7 is of a type with a crane and is respectively responsible for hoisting the displacement object 4 and the empty inner side box 5 to the operation box and hoisting the inner side box 5 filled with minerals to the cabin of the mother ship 1 on the water surface; in the process of floating up or descending the operation box, the two guide pulleys 8 are responsible for supporting the mooring rope 2, reducing the friction force in the process of lifting the mooring rope 2, reducing unnecessary energy loss and improving the efficiency of lowering the replacer 4 and lifting minerals;

as shown in fig. 2 and 3, the transfer box 3 includes an attitude automatic control device disposed on the outer box 9, the attitude automatic control device includes an attitude sensor 11, a stable attitude propeller and an information processor 10 which are respectively connected to a power supply module 13, the power supply module 13 supplies stable power to the attitude sensor 11, the stable attitude propeller and the information processor 10 through a voltage stabilizer, the attitude sensor 11 is connected to the information processor 10 through an I2C bus, and the information processor 10 is connected to the stable attitude propeller through a PWMX6 cable; the posture stabilizing propeller is composed of four underwater propellers 12 matched with brushless electric regulation, the inner side box body 5 and the outer side box body 9 are quadrangular box bodies which are mutually sleeved, and the four underwater propellers 12 are respectively arranged on four outer side walls of the outer side box body 9. The inner box body 5 is used as a carrier of minerals and is embedded in the outer box body 9, and the outer box body 9 is used as a carrier of the inner box body 5 and has a net structure so as to reduce the mass and the load of the cable 2; the upper end of the outer box 9 is fixedly connected with the cable 2, and plays a role of bearing the inner box 5 or the displacer 4.

As shown in fig. 3, in the present invention, the position sensor 11 is integrated with a three-axis accelerometer, a gyroscope, a magnetometer and a depth sensor, the position sensor 11 can detect information such as an inclination angle and a speed of each side of the outer box 9 (i.e. the operation box), the position sensor 11 feeds back raw data of the three-axis accelerometer, the gyroscope, the magnetometer and the depth sensor collected to the information processor 10, the information processor 10 processes the received raw data, and obtains the overall displacement attitude information of the transportation box 3 after fusion and solution, so as to detect the state of the operation box, and according to the information obtained after fusion and solution, see whether it is necessary to adjust the motion of the underwater propellers 12 located on the four sides of the transportation box 3, when it is necessary to adjust, the information processor 12 controls the power supply module 13 to provide micro-power for the corresponding underwater propellers 12, the rotation speed of the underwater propeller 12 is controlled so that the outer case 9 is dynamically in a horizontal state at all times to ensure the stability of the operation tank 3.

The process of hoisting the deep-sea ores by using the system basically comprises the steps that operation boxes on the bow side and the stern side sequentially go through first sinking, seabed replacement, first lifting, seabed replacement and water surface replacement in an initial state; the above-described subsea and surface displacements are then repeated, thereby forming a closed loop operation of mineral lifting. The method comprises the following specific steps:

initial state: after the mother ship on the water surface 1 reaches an operation point of an offshore mining area, the mother ship is approximately stopped on the water surface through anchoring and dynamic positioning, a mooring rope 2 with proper length is selected, two ends of the mooring rope 2 are respectively hung with a transfer box, the two transfer boxes are put into the water, and the mooring rope 2 is hung on two guide pulleys 8 arranged at the bow and the stern.

Sinking for the first time: the inner tank 5 in the cabin is lifted out by the boom 7 and loaded into the outer tank 9 in the transfer tank 31 on the bow side of the surface mother ship 1, and the transfer tank 31 is freely sunk with the inner tank 5 therein.

Seabed replacement: when the transfer box 31 on the bow side of the surface mother ship 1 is lowered to the seabed, minerals are loaded into the inner box 5 in the transfer box 31 after the operations of a mining vehicle and a dump truck located on the seabed are completed.

The first promotion: the displacement 4 near the bow is lifted out of the cabin through a suspension rod 7 near the stern of the water surface mother ship 1 and is stored in an outer box body 9 of a running box 32 near the bow and is loaded into the stern side, the density of the displacement 4 is far larger than that of the pre-mined minerals, so that the outer box body 9 containing the displacement 4 sinks by utilizing gravity difference, the stern side running box 32 drives the outer box body 9 to sink to drive a transfer box 31 at the bow side of the water surface mother ship 1 to float upwards, when the transfer box 31 at the bow side lifts the minerals to be near the water surface, the cable 2 is braked through calipers 6, and when the speed of descending the transfer box 32 at the stern side is too high, the calipers 6 can be braked to provide a part of friction force to slow down the lifting speed of the running box 31 at the bow side, so that the lifting stability is guaranteed; the guide pulleys 8 carry the forces exerted by the running box on the cables 2 during the ascent or descent of the running box and transmit the forces to the surface mother vessel 1. In the sinking process of the operation box 32 at the stern side, the position and orientation information of the outer box body 9 is automatically acquired by the position and orientation sensor 11 arranged on the outer box body 9 of the operation box 32 and transmitted to the information processor 10, and after calculation, the information processor 10 transmits an instruction to the stable-posture propeller to control the driving force and the rotating speed of the four underwater propellers 12, so that the sinking stability of the operation box 32 is ensured.

Seabed replacement: since the length of the wire rope 2 is constant, the operation box 31 on the bow side of the inner box 5 containing the minerals is raised, and the transfer box 31 on the bow side is floated up to the vicinity of the water surface, that is, when the transfer box 32 on the stern side is lowered to the seabed at the same time, the displaced matter 4 in the transfer box 32 is taken out after the completion of the operation of the mining vehicle and the mining vehicle located on the seabed, and the minerals are loaded into the inner box 5 of the transfer box 32.

Water surface replacement: after the completion of the seabed replacement, the inner tank 5 of the bow-side transport tank 31 containing minerals is lifted out by the boom 7 near the bow of the surface mother ship 1 and lifted into the cabin of the surface mother ship 1, and then the replacement 4 is lifted out again from the cabin and placed in the bow-side transfer tank 31 to be allowed to freely sink.

And repeating the steps of seabed replacement and water surface replacement to form a closed loop for mineral lifting, and recovering the operation box to the water surface mother ship 1 after the mineral lifting is finished.

The process of operation case recovery is: assuming that the final state is that the operation box 31 on the bow side of the surface mother ship 1 is near the water surface and the operation box 32 on the stern side is on the sea bottom, the inner box 5 containing minerals in the operation box 31 near the water surface is hoisted to the cabin near the bow of the surface mother ship 1 by the heavy boom 7, the outer box 9 of the operation box 31 is hoisted to the surface mother ship 1, the displacement 4 in the running box 32 at the stern of the mother ship 1 is taken out by the underwater mining machine and the mining machine, and the displacement 4 is hoisted out from the cabin at the bow of the mother ship 1 and connected to the cable 2 to freely sink, the operation box 32 at the stern side of the surface mother ship 1 can be lifted to the vicinity of the water surface, the outer box body 9 in the operation box is lifted to the stern of the surface mother ship 1, and (3) removing the restraint of the displacement 4 and the cable 2 at the bow side of the mother ship 1 on the water surface through an underwater mining machine and a concentrating machine, and finally withdrawing the cable 2.

While the present invention has been described with reference to the accompanying drawings, the present invention is not limited to the above-described embodiments, which are illustrative only and not restrictive, and various modifications which do not depart from the spirit of the present invention and which are intended to be covered by the claims of the present invention may be made by those skilled in the art.

Claims (5)

1. A low-energy-consumption green hoisting deep sea mining system comprises a mother water surface ship (1) and a cable (2), and is characterized in that calipers (6) for fixing the cable (2) are arranged on a ship body of the mother water surface ship (1), and guide pulleys (8) of the cable are respectively arranged at the head end and the tail end of the ship body of the mother water surface ship (1); two ends of the mooring rope (2) respectively pass through guide pulleys (8) at the head end and the tail end of the ship body and then are fixed with a transfer box; an inner side box body (5) and a displacement (4) are arranged in the cabin of the water surface mother ship (1); the water surface mother ship (1) is also provided with a heavy suspender (7) for hoisting the inner box body (5) and the displacement object (4);

the transfer box comprises an automatic attitude control device arranged on the outer box body (9), and the automatic attitude control device comprises an attitude sensor (11), a stable attitude propeller and an information processor (10) which are respectively connected with a power supply module (13); the pose sensor (11) is connected with the information processor (10) through an I2C bus, and the information processor (10) is connected with the stable attitude propeller through a PWMX6 cable;

the stable attitude propeller consists of four underwater propellers (12) matched with the brushless electric controller;

the position and posture sensor (11) is integrated with a triaxial accelerometer, a gyroscope, a magnetometer and a depth sensor, the position and posture sensor (11) feeds back the collected raw data of the triaxial accelerometer, the gyroscope, the magnetometer and the depth sensor to the information processor (10), and the information processor (10) performs fusion calculation according to the received raw data to obtain the displacement posture of the transfer box so as to control the motion of the underwater propeller (12) and further control the motion of the transfer box;

the density of the displacement (4) is greater than that of the pre-mined minerals.

2. The low energy consumption green lifting deep sea mining system according to claim 1, characterized in that the inner box (5) and the outer box (9) are quadrangular prism boxes nested with each other; the four underwater propellers (12) are respectively arranged on the four outer side walls of the outer box body (9).

3. The low energy consumption green lift deep sea mining system of claim 1, characterized in that the density of the displacer (4) is 1.5-2.5 times the density of the pre-mined ore.

4. The low energy consumption green-set deep sea mining system according to claim 3, wherein the displacer (4) is one or more of a block of cement, a block of cheap stone and an encapsulated soil, the encapsulated soil being a block of soil encapsulated with degradable plastics.

5. Low energy consumption green-lifting deep sea mining system according to claim 3, characterized in that the calipers (6) are of a two-wheel brake construction.

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