| 摘要: |
| 多金属结核是当前深海矿产资源开发的关注热点，其开采过程需要采矿车在海底大面积行 走采集结核，行走路径对采集效率及底质扰动影响重大。文章对多金属结核采矿车作业过程行走 路径规划开展研究，梳理了多金属结核采矿车行走路径规划研究情况及现有行走路径方案，分析 了深海多金属结核采矿作业对采矿车行走路径的基本要求， 以商业开采为背景， 设计了“ 灯泡” 形、“钥匙孔”形及“绳结”形 3 种调头方式的采矿车横向折返式行走路径方案。在此基础上，通过对不同路径上行走及结核采集情况的分析，提出了有效结核采集空间和时间的概念，并以一次 折返行程中有效结核采集空间和时间占比来评价不同路径方案的结核回采率和采集效率，结果表明，“钥匙孔”形调头的行走方案结核回采率和采集效率高于“灯泡”形和“绳结”形行走方案。进一步提出了尽可能减小采矿车转弯半径、在反向圆弧路径连接处增加过渡直线等行走路径方案 的改进措施。 |
| 关键词: 路径规划 深海采矿 结核采矿车 回采率 采集效率 |
| DOI：10.20016/j.cnki.hykfygl.2025.11.010 |
| 投稿时间：2025-04-15修订日期：2025-11-05 |
| 基金项目:国家自然科学基金“废水排放驱动的深海采矿矿物提升系统方案及关键技术研究”（52201314）． |
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| Study on Travel Path Planning of Deep-Sea Nodule Collector During Collection Operation |
| KANG Yajuan |
| School of Mechatronics Engineering and Automation，Foshan University |
| Abstract: |
| Polymetallic nodules are a current focus in the development of deep-sea mineral resources．The mining process requires nodule collectors to travel over large areas on the seafloor for nodule harvesting，and the travel path has significant impacts on both collection efficiency and seabed disturbance．This paper studies the travel path planning of nodule collector during operation．It reviews the research status and existing path schemes for such systems，analyzes the basic requirements for travel paths in deep-sea polymetallic nodule mining operations， and designs three lateral reciprocating path patterns with different turnaround configurations-Light bulb turn， Keyhole turn，and Knot turn-under commercial mining scenarios．Through analysis of collector movement and nodule collection across different paths，the concept of effective nodule collection space and time is proposed．The nodule recovery rate and collection efficiency of different path schemes are evaluated using the proportion of effective nodule collection space and time within a complete round-trip cycle．The results showed that the nodule recovery rate and collection efficiency of“Keyhole turn”are higher than the“Light bulb turn”and“Knot turn”． Furthermore，some measures to improve the travel path scheme are proposed，including minimizing the turning radius of collectors and adding transition straight lines at reverse-arc path junctions. |
| Key words: Path planning,Deep-sea mining,Nodule collector,Recovery rate,Collection efficiency |
