Mining Car Bumps The Probe Compensation Research On The Seabed Microtopography

In order to achieve the optimal cutting of Cobalt crusts,it is necessary to explore the tiny-terrain of the seabed and constrct an accurate regular grid DEM of the tiny-terrain. Inaccuracy of measurement would be brought in, as the tiny-terrain exploring system fixed on the mining vehicle would bump along with the mining vehicle advancing due to the rugged submarine topography. For the compensation of the tiny-terrain exploration data, it is proposed to utilize the electronic compass to measure the real-time position and pose of the transducer in this dissertation. This research is of great significance to obtain the seabed tiny-terrain data and caculate the best cutting depth of the mining vehicle to realize the optimal mining.After the in-depth analysis of the status quo to the seabed tiny-terrain exploration and thorough analysis of compensation status quo to wave effect in the ocean sounding at home and broad, two kinds of compensation algorithm are put forward with the fact of the seabed tiny-terrain exploration. Compared with the two types of algorithm,am ideal one is selected at last. By predicting the height to compensated data horizontally with SVM and Linear Interpolation,the regular grid DEM of tiny-terrain at intervals of 25mm is established and the tiny-terrain is visualized.Then,in the pool of laboratory, various kinds of terrain are explored and reconstructed on the simulant bump conditions and the verisimilitude of the reconstructed tiny-terrain is evaluated by the calculation of volume and surface area. The high accuracy and real-time of the compensation algorithm of the seabed tiny-terrain exploration precision influenced by the bump of the mining vehicle are proved valid and the reconstruction method of tiny-terrain is feasible. The research of this paper lays a solid foundation for realizing the best cutting of deep-sea mining.