Apparatus for retrieving deep-sea nodules
A deep-sea mining apparatus for retrieving deep-sea nodules is provided. The deep-sea mining apparatus includes a buoyancy system, a payload hopper, an underwater autonomous vehicle (UAV), and a collector system. The collector system includes a controller system and a perception system communicatively coupled to the controller system and configured to track the deep-sea mining system as the deep-sea mining system hovers over ore nodules laying on a seabed. The collector system further includes one or more robotic arms controlled via the controller system, wherein each of the one or more robotic arms is attached to a bottom surface of the UAV and is equipped with a grasping mechanism configured to pick up the ore nodules from the seabed.
1 . A collector system of a deep-sea mining apparatus for harvesting ore nodules, the collector system comprising:
a controller system;
a perception system communicatively coupled to the controller system configured to provide input data to the controller system from one or more cameras; and
one or more robotic arms controlled via the controller system, wherein each of the one or more robotic arms is fitted with an end effector configured to collect one ore nodule at a time from a seabed, and wherein the perception system is configured to use computer vision segmentation and stereoscopic localization processes that account for refraction through air/glass and glass/water interfaces to identify ore nodules on the seabed based on whether macro fauna is present on the ore nodules so that the one or more robotic arms harvest ore nodules without macro fauna thereon.
2 . The collector system of claim 1 , wherein the one or more robotic arms are delta robots.
3 . The collector system of claim 1 , wherein the end effector is a claw or a universal gripper.
4 . The collector system of claim 1 , wherein the perception system is further configured to provide input data comprising at least a map of ore nodules lying on the seabed.
5 . The collector system of claim 1 , wherein the perception system is further configured to provide input data comprising a location of ore nodules with macro fauna and ore nodules without macro fauna.
6 . The collector system of claim 1 , wherein the one or more robotic arms move in six dimensions.
7 . The collector system of claim 1 , wherein the one or more robotic arms move in at least three dimensions.
8 . The collector system of claim 1 , wherein the one or more robotic arms comprise multiple kinematic chains or jointed arms connecting a fixed base to a movable triangular platform.
9 . The collector system of claim 8 , wherein the end effector is attached to a bottom end of the movable triangular platform.
10 . The collector system of claim 8 , wherein actuation of the kinematic chains or jointed arms is achieved via linear or rotational actuators.
11 . The collector system of claim 8 , wherein the kinematic chains or jointed arms are made from a composite material to reduce water drag during underwater movement of the one or more robotic arms.
12 . The collector system of claim 1 , wherein when the input data received by the controller system includes ore nodule macro fauna information, the controller system is configured to control the one or more robotic arms such that ore nodules with macro fauna are not harvested while ore nodules without macro fauna are harvested.
13 . A deep-sea mining apparatus for harvesting ore nodules, comprising:
a buoyancy system;
a payload hopper;
an underwater autonomous vehicle (UAV); and
a collector system comprising:
a controller system;
a perception system communicatively coupled to the controller system and configured to use computer vision segmentation and stereoscopic localization processes that account for refraction through air/glass and glass/water interfaces to track motion and identify nodules with macro fauna thereon for selective harvesting of ore nodules lying on a seabed; and
one or more robotic arms controlled via the controller system, wherein each of the one or more robotic arms is attached to a bottom surface of the UAV and is equipped with a grasping mechanism configured to pick up ore nodules without macro fauna from the seabed.
14 . The deep-sea mining apparatus of claim 13 , wherein the one or more robotic arms comprise delta robots and the grasping mechanism is a universal gripper.
15 . The deep-sea mining apparatus of claim 13 , wherein the controller system is configured to control a movement of the one or more robotic arms so that the one or more robotic arms are harvesting ore nodules without macro fauna while avoiding ore nodules with macro fauna.
16 . The deep-sea mining apparatus of claim 13 , wherein the grasping mechanism is a universal gripper comprising a flexible waterproof bladder containing granules with a diameter of 1 mm dispensed in an incompressible liquid.
17 . The deep-sea mining apparatus of claim 16 , wherein the granules are steel ball bearings.
18 . The deep-sea mining apparatus of claim 16 , wherein the incompressible liquid is water or oil.
19 . The deep-sea mining apparatus of claim 13 , wherein the one or more robotic arms comprise delta robots and the grasping mechanism is a claw.