An equipment and application method for sinkage detection and active escape of deep-sea mining vehicle, comprising: the sinkage detection and warning devices and the self-escape equipment. The sinkage detection and warning devices are installed on the left and right sides of each track of the deep-sea mining vehicle, and it monitors the contact conditions between the tracks and the sediment, and the distance from the bottom of the track to the device is measured. The self-escape equipment comprises the active interactive grouting system, which connects to intelligent steering and retractable grouting heads. The intelligent steering and retractable grouting heads are also located on the left and right sides of each track. This invention can detect the complex driving environment of the seafloor automatically and combine the existing grouting technology and materials to achieve active grouting escape in case of excessive sinkage.

An equipment and application method for sinkage detection and active escape of deep-sea mining vehicle, comprising: the sinkage detection and warning devices and the self-escape equipment. The sinkage detection and warning devices are installed on the left and right sides of each track of the deep-sea mining vehicle, and it monitors the contact conditions between the tracks and the sediment, and the distance from the bottom of the track to the device is measured. The self-escape equipment comprises the active interactive grouting system, which connects to intelligent steering and retractable grouting heads. The intelligent steering and retractable grouting heads are also located on the left and right sides of each track. This invention can detect the complex driving environment of the seafloor automatically and combine the existing grouting technology and materials to achieve active grouting escape in case of excessive sinkage.

A vehicle (6) apparatus for removing material from the seabed is disclosed. The vehicle comprises first thrusters (10) for moving the vehicle vertically and second thrusters (12) for moving the vehicle horizontally. A collector unit (16) removes material from the seabed, and a latching mechanism (42) is adapted to be connected to a riser to enable removed material to be transported to a vessel on the surface.

A vehicle (6) apparatus for removing material from the seabed is disclosed. The vehicle comprises first thrusters (10) for moving the vehicle vertically and second thrusters (12) for moving the vehicle horizontally. A collector unit (16) removes material from the seabed, and a latching mechanism (42) is adapted to be connected to a riser to enable removed material to be transported to a vessel on the surface.

This disclosure addresses the problem of preventing sediment laden water (sediment slurry) resulting from hydraulic collection of nodules from the seabed from entering the riser and lift system that carries the nodules to the surface as a slurry. An example includes collecting nodules from the seabed by hydraulic suction, separating the nodules utilizing an inverse hydrocyclone.

This disclosure addresses the problem of preventing sediment laden water (sediment slurry) resulting from hydraulic collection of nodules from the seabed from entering the riser and lift system that carries the nodules to the surface as a slurry. An example includes collecting nodules from the seabed by hydraulic suction, separating the nodules utilizing an inverse hydrocyclone.

A system for underwater payload estimation in a dragline bucket of a dragline machine includes a sensing module disposed on the dragline bucket. The sensing module is configured to generate a plurality of signals indicative of a distance value between the sensing module and payload in the dragline bucket. The system includes a controller including at least one memory and at least one processor communicably coupled with the at least one memory and the sensing module. The at least one processor is configured to receive, from the sensing module, the plurality of signals indicative of the distance value between the sensing module and the payload in the dragline bucket, when the dragline bucket is underwater. The at least one processor is configured to estimate a volume of the payload in the dragline bucket when the dragline bucket is underwater, based on the plurality of signals received.