ROV智能型深海底采矿系统关键技术的基础研究

鉴于目前国内外在研的深海采矿系统存在的难点，本申请项目将水下机器人（ROV）引入深海采矿系统，提出一种新型的ROV智能型深海采矿系统。该采矿系统采矿车综合吸收了海底自行式采矿车和海底拖曳式采矿车的优点，其一体化管道水力输送提升系统使ROV型深海采矿系统具有简单合理、整体运动智能化、可靠性与提升输送效率高的特点。通过ROV的测控，可以控制海面采矿船、提升泵站和由ROV拖曳的海底采集装置三者之间的相对位置，保证采集装置在采矿船允许的范围内按照一定的采矿路线进行采矿，使采矿系统处于协调、和谐和可调的运动之中和使采矿系统的运动进一步智能化，以解决目前采矿系统的自行式采矿车在海底沉积物上行走困难、中间仓运动不可控和管道输送系统过于复杂的问题。申请项目针对海洋复杂动力环境下ROV智能型深海采矿系统，开展ROV型深海采矿系统的整体动力学模型、复杂海洋动力环境下ROV型深海采矿系统的动力学特性分析、ROV型深海采矿系统海底矿石浆体一体化管道水力输送提升特性理论研究以及一体化管道水力输送提升特性试验等主要研究内容的研究工作，探究深海采矿的新型技术，拟解决复杂偶联系统整体动力学建模方法、复杂海洋动力环境下深海采矿系统耦合动力特性分析及匹配参数设计、ROV型深海采矿系统一体化管道系统输送提升等关键科学问题；获得ROV型深海采矿系统的采集装置与海底沉积物的相互作用和采矿船和管泵系统对ROV工作特性要求、海底矿石浆体一体化管道水力输送提升特性理论等研究结果，提出ROV智能型深海采矿系统设计参数匹配要求，形成新的深海采矿技术体系及其理论，使深海采矿技术向智能化发展而形成新一代智能型的深海采矿系统，推进深海采矿技术的创新发展。同时深海底采矿技术的发展对经济社会发展和国家资源安全保障与国家海上力量具有重要作用。

In view of the difficulties existing in deep sea mining systems under research at home and abroad, it is proposed in this project that a new-type of remote-operated vehicles (ROV) is introduced into deep sea mining systems, so as to construct a new type of ROV-based intelligent deep-sea mining system. The mining vehicle in the deep-sea mining system will integrate the advantages of the seabed self-propelled mining vehicles and the seabed towed mining vehicles. With an integrated pipeline lifting system for hydraulic transportation, the ROV-based deep-sea mining system is characterized by simple operation, intelligent movement, high reliability and high transportation efficiency. By the measurement and control of the ROV, it is possible to control the relative positions of mining vessel on the sea, the lifting pump station and the seabed collecting device towed by the ROV, which can ensure the collecting device follows a certain mining route within the motivation range allowed by the mining vessel, making the movement of the mining system in a coordinated, harmonious and adjustable state, with further intelligentalizaion. As a result, the existing difficulties for the mining system, including the difficulty for self-propelled mining vehicles to walk on the seabed sediment, the uncontrollable movement of buffer and the complication of pipeline transportation system can be solved. This application, aiming at the ROV-based intelligent deep-sea mining system in the complicated and dynamic marine environment, will carry out series of research, including establishing an overall dynamic model for the ROV-based deep-sea mining system, analysis of dynamic characteristics of the ROV-based deep-sea mining system in the complicated and dynamic marine environment, theoretical study of the lifting characteristics for the hydraulic transportation with an integrated pipeline in ROV-based deep-sea mining system for seabed ore slurry, and the research tests on the lifting characteristic of hydraulic transportation with an integrated pipeline, exploration of new technologies for deep-sea mining, thus solving some key technical problems, including dynamic modeling method with a complex coupling system, coupled dynamic characteristics analysis and the matching parameters design for deep-sea mining system under complex and dynamic ocean environment, transportation and lifting with an integrated pipeline system in the ROV-based deep-sea mining system, etc.; The following research results will be obtained: the interaction between the collecting device of the ROV-based deep-sea mining system and the seabed sediment, the requirements of the ROV's working characteristics by the mining vessels and the pipeline pump system, and the theory of the lifting characteristics of the integrated pipeline for hydraulic transportation of the seabed ore slurry. Based on the research, the designing parameters and other matching requirements for the ROV-based intelligent deep-sea mining system will be proposed, and a new technical system and theories for deep-sea mining will be developed, which can drive the deep-sea mining technology developed to be with more intelligence and innovation. The progress in the deep sea mining technology is vital to economic and social development, resource security, as well as possession of sea power for a country.