Design Of Cobalt-Rich Crust Sampler Electronic Control System

With the increasing demand for various mineral resources in human society and the gradual decrease of the land resource consumption,the demand for marine mineral resources by human beings has become greater and greater.The exploitation and utilization of the ocean is very important to alleviate human resource shortage and to push the world economy forward.Cobalt-rich crust is a shell-like deposit which is rich in manganese,cobalt,platinum and rare earth elements,and is named as cobalt-rich crust because the cobalt content is about 3 times of polymetallic nodules.In the ocean,the reserves of Cobalt-rich crust mineral resources are up to one billion tons,and the value of resources exceeding hundreds of billions of dollars.Since the 1980 s,the development of cobalt-rich crusts in the world has been a hot spot,and our country officially opened the survey in the middle of 1990 s too.It is of great significance for the development of our economy to march into the ocean and let the marine resources serve mankind.In this paper,the electronic measurement and control system of the cobalt-rich crust sampler is designed,which mainly includes underwater embedded system and deck monitoring system.The underwater embedded system is connected with the mechanical structure of the scale sampler to collect the sensor data of the sampler and control the mechanical structure according to the instruction of the deck monitoring system.The deck monitoring system transmits the sensor data and the underwater video data to detect the scale sampler through the underwater embedded system,and sends the control command down according to the technician's operation.The underwater embedded system is installed in a high pressure silo fixed on the scale sampler,connected with the mechanical structure by the water-tight plug-ins drawn from the hatch canopy,and the one million meters photoelectric composite cable is connected with the embedded system through the watertight connector and the underwater communication.When the system is working,first of all,according to the seafloor terrain information obtained by multi-beam,GPS positioning information and so on,select the appropriate sitting position,then the scale sampler is decentralized to the target location,then the system can be used for mining the seabed cobalt-rich crusts after power on.Technicians control the milling head of the sampler with the deck monitoring software to break the shell,and the broken shell is sucked into the storage tank by the pump suction device of the sampler.After the milling task is finished,the scale sampler is pulled onto the deck,which completes the mining sampling of cobalt-rich crusts.This paper completes the design of the hardware circuit of the underwater embedded system,the embedded software on the board,the deck monitoring software and the construction and debugging of the whole system.At the same time,in order to meet the working parameter condition of Milling head,the system adapts to various types of cobalt-rich crust milling,and after analysis of the mathematical model of milling head motor,a control algorithm of milling and digging motor based on sliding variable structure algorithm is designed,which can work in any terrain,and the milling head motor can work in the safe parameters range.After the laboratory and workshop debugging,the system can achieve a variety of predetermined functions and parameters.