SEABED MINING SYSTEM AND METHOD

Abstract

The disclosed seabed mining system and method may be used in marine excavation, i.e., extraction/mining of minerals buried under the seabed. The seabed mining system may be mounted or placed on board an ocean vessel, such as a cargo ship, or a collector ship. The system may include a tether with a distributed collection unit, configured to collect the minerals beneath the seabed without disrupting marine environment.

Claims

1. A seabed mining system deployable from an ocean vessel for mining a seabed, the seabed mining system comprising: a tether deployed from the ocean vessel; an array of collector units distributed on the tether, each collector unit comprising: a collection crate; at least one arm mounted on the collection crate; and an end effector movably coupled to the at least one arm; a collecting condition, wherein: the array of collector units is deployed on the seabed; and the at least one arm is extended from the collection crate, wherein each arm is distinctively extended such that each end effector traverses a trajectory on the seabed to collect at least one seabed nodule therefrom; and a recovery condition, wherein: the array of collector units with the collected at least one seabed nodule is lifted onboard the ocean vessel after completion of mining the seabed.

2. The seabed mining system of claim 1, wherein the trajectory comprises any one of: a discrete spiral trajectory, or a discrete circular trajectory.

3. The seabed mining system of claim and further comprising: a first anchor attached on a free end of the tether; and a second anchor positioned at a predefined length from the first anchor on the tether, wherein the array of the collector units is arranged between the first anchor and the second anchor.

4. The seabed mining system of claim 1, the collection crate comprises: a bottom; a top oppositely disposed to the bottom; at least one wall disposed between the top and the bottom to define a closed storage within the collection crate; a rotating linkage mounted on the top; and an arm base coupled to the rotating linkage configured to accommodate the at least one arm.

5. The seabed mining system of claim 4, wherein each arm from the at least one arm comprises: a proximal arm end pivotally coupled to the arm base; and a distal arm end coupled to the end effector.

6. The seabed mining system of claim 5, wherein each arm from the at least one arm comprises: a first hollow arm segment comprising: a first hollow arm segment distal end oppositely disposed to the proximal arm end by a predefined distance; and a second hollow arm segment comprising: a second hollow arm segment proximal end pivotally connected to the first hollow arm segment distal end, wherein the second hollow arm segment proximal end is oppositely disposed to the distal arm end.

7. The seabed mining system of claim 6 and further comprising: a first pivot joint configured to connect the first hollow arm segment to the arm base; and a second pivot joint configured to connect the first hollow arm segment to the second hollow arm segment.

8. The seabed mining system of claim 7, wherein: in the collecting condition: the first hollow arm segment is rotated in a clockwise direction about the first pivot joint, and the second hollow arm segment is rotated in a counterclockwise direction from the first hollow arm segment about the second pivot joint to distinctively extend each arm from the collection crate to traverse the trajectory on the seabed; and in the recovery condition: the first hollow arm segment is rotated in a counterclockwise direction about the first pivot joint, and the second hollow arm segment is rotated in a clockwise direction from the first hollow arm segment about the second pivot joint until the first pivot joint and the second pivot joint are arranged in a linear arrangement along an axis normal to the collection crate, to retract each arm from the seabed prior to recovery of the collectors array onboard the ocean vessel.

9. The seabed mining system of claim 8 and further comprising: a first conveyor screw rotatably accommodated within the first hollow arm segment and connected to the collection crate; and a second conveyor screw rotatably accommodated within the second hollow arm segment, wherein the second conveyor screw is configured to transmit the at least one seabed nodule from the end effector to the closed storage through the first conveyor screw.

10. The seabed mining system of claim 9, wherein the end effector comprises: a cylindrical brush comprising: an array of bristles distributed along a segment thereof; a ramp oppositely disposed and offset to the cylindrical brush to define an end effector inlet; and a conveyor system disposed in line to the ramp and configured to transmit the at least one seabed nodule collected from the end effector inlet to the second conveyor screw.

11. The seabed mining system of claim 10, wherein the end effector further comprises: a proximity sensor configured to detect at least one seabed nodule on the seabed; and a first driving unit rotatably coupled to the cylindrical brush.

12. The seabed mining system of claim 11 and further comprising: an electronics canister adjoined to the collection crate, the electronics canister comprising: a second driving unit coupled to the rotating linkage; and a control unit communicably connected to the proximity sensor, the first driving unit, and the second driving unit, wherein the control unit is configured to: actuate the first driving unit to rotate the cylindrical brush to collect the at least one seabed nodule on the seabed; and actuate the second driving unit to rotate the rotating linkage, thereby rotating the at least one arm in a discrete spiral trajectory on the seabed.

13. The seabed mining system of claim 1 and further comprising: a buoy attached to the tether; and a vertical mast and rigging system coupled to the collection crate, comprising: a vertical mast; and a clamp positioned on the vertical mast; wherein the clamp is configured to couple and lock the collection crate to the tether.

14. The seabed mining system of claim 13 and further comprising: a first failure point between the collection crate and the at least one arm; and a second failure point between the collection crate and the tether, wherein: a tension from the tether on the vertical mast and rigging system exceeding a first threshold activates the first failure point to disconnect the at least one arm from the collection crate; and the tension on the vertical mast and rigging system exceeds a second threshold, and upon failure in activation of the first failure point, the second failure point is activated to disconnect the collection crate from the tether, wherein the buoy is configured to recover the tether from the seabed when the first failure point, or the second failure point is activated.

15. A seabed mining method for extracting at least one seabed nodule from a seabed, the seabed mining method comprising: providing an ocean vessel; deploying a tether from the ocean vessel; providing an array of collector units distributed on the tether, each collector unit comprising: a collection crate; and at least one arm mounted on the collection crate; providing an end effector, wherein the end effector is coupled to the at least one arm; and operating each collector unit between: a collecting condition, comprising: deploying the array of collector units on the seabed; and extending distinctively, at least one arm from the collection crate such that each end effector traverses a trajectory on the seabed to collectively scoop at least one seabed nodule therefrom; and and a recovery condition, comprising: lifting the array of collector units with the collected at least one seabed nodule, onboard the ocean vessel after completion of mining the seabed.

16. The seabed mining method of claim 15, wherein the trajectory comprises any one of: a discrete spiral trajectory, or a discrete circular trajectory.

17. The seabed mining method of claim 15 and further comprising: providing a first anchor on a free end of the tether; providing a second anchor, wherein the second anchor is positioned at a predefined length from the first anchor on the tether; and arranging the array of collector units between the first anchor and the second anchor.

18. The seabed mining method of claim 15, wherein arranging the array of collector units comprises each collector unit comprising: the collection crate comprising: a bottom; a top oppositely disposed to the bottom; at least one wall disposed between the top and the bottom to define a closed storage within the collection crate; a rotating linkage mounted on the top; and an arm base coupled to the rotating linkage configured to accommodate the at least one arm, wherein each arm from the at least one arm comprises: a proximal arm end pivotally coupled to the arm base; and a distal arm end coupled to the end effector.

19. The seabed mining method of claim 18, wherein each arm from the at least one arm comprises: a first hollow arm segment comprising: a first hollow arm segment distal end oppositely disposed to the proximal arm end by a predefined distance; and a second hollow arm segment comprising: a second hollow arm proximal end pivotally connected to the first hollow arm segment distal end, wherein the second hollow arm proximal end is oppositely disposed to the distal arm end.

20. The seabed mining method of claim 19 and further comprising: providing a first pivot joint connecting the first hollow arm segment to the arm base; and providing a second pivot joint connecting the first hollow arm segment to the second hollow arm segment.

21. The seabed mining method of claim 20, and further comprising: in the collecting condition: rotating the first hollow arm segment in a clockwise direction about the first pivot joint; and rotating the second hollow arm segment in a counterclockwise direction from the first hollow arm segment about the second pivot joint to extend each arm from the collection crate to traverse the trajectory on the seabed; and in the recovery condition: rotating the first hollow arm segment in a counterclockwise direction about the first pivot joint; and rotating the second hollow arm segment in a clockwise direction from the first hollow arm segment about the second pivot joint until the first pivot joint and the second pivot joint are arranged in a linear arrangement along an axis normal to the collection crate, for retracting each arm from the seabed; lifting the array of collectors, comprising: recovering the tether with a tether management system onboard the ocean vessel, wherein the tether management system is configured to pull the array of collector units and the collectively collected at least one seabed nodules.

22. The seabed mining method of claim 21 and further comprising: providing a first conveyor screw, wherein the first conveyor screw is rotatably accommodated within the first hollow arm segment and connected to the collection crate; and providing a second conveyor screw, wherein the second conveyor screw is rotatably accommodated within the second hollow arm segment, wherein the second conveyor screw is configured to transmit the at least one seabed nodule from the end effector to the closed storage through the first conveyor screw.

23. The seabed mining method of claim 22, and further comprising: providing a cylindrical brush in the end effector, the cylindrical brush comprising: an array of bristles distributed along a segment thereof; providing a ramp oppositely disposed and offset to the cylindrical brush to define an end effector inlet; and providing a conveyor system disposed in line to the ramp and configured to transmit the at least one seabed nodule scooped by the end effector inlet to the second conveyor screw.

24. The seabed mining method of claim 23 and further comprising: providing a proximity sensor in the end effector for detecting at least one seabed nodule on the seabed; and providing a first driving unit rotatably coupled to the cylindrical brush.

25. The seabed mining method of claim 24 and further comprising: providing a second driving unit coupled to the rotating linkage; providing an electronics canister adjoined to the collection crate, the electronics canister comprising: a control unit communicably connected to the proximity sensor and the first driving unit; actuating the first driving unit to rotate the cylindrical brush to collect the at least one seabed nodule on the seabed; and actuating the second driving unit to rotate the rotating linkage, thereby rotating the at least one arm in a discrete spiral trajectory on the seabed.

26. The seabed mining method of claim 15 and further comprising: providing a buoy attached to the collection crate; and providing a vertical mast and rigging system coupled to the collection crate, the vertical mast and rigging system comprising: a vertical mast; and a clamp positioned on the vertical mast; wherein the clamp is configured to couple and lock the collection crate to the tether.

27. The seabed mining method of claim 26 and further comprising: providing a first failure point between the collection crate and the at least one arm; providing a second failure point between the collection crate and the tether; activating a first failure point to disconnect the at least one arm from the collection crate when a tension from the tether on the vertical mast and rigging system exceeds a first threshold; activating the second failure point to disconnect the collection crate from the tether when the tension on the vertical mast and rigging system exceeds a second threshold, and upon failure in activation of the first failure point; and recovering the collection crate from the seabed using the buoy, upon activating the first failure point or the second failure point.

28-65. (canceled)

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The accompanying figures of the drawing, which are included to provide a further understanding of general aspects of the system/method, are incorporated in and constitute a part of this specification. These illustrative aspects of the system/method, together with the detailed description, explain the principles of the system. No attempt is made to show structural details in more detail than necessary for a fundamental understanding of the system and various ways it is practiced. The following figures of the drawing include:

[0014] FIG. 1 illustrates a perspective view of a seabed mining system deployed on the seabed;

[0015] FIG. 2 illustrates a process of operating the seabed mining system in the collecting configuration of FIG. 1;

[0016] FIG. 3 illustrates a deployed state of the seabed mining system of FIG. 1;

[0017] FIG. 4 illustrates a recovery process of the seabed mining system of FIG. 1;

[0018] FIG. 5 illustrates a releasing process of an anchor and a tether into the sea;

[0019] FIG. 6 illustrates a releasing process of the second anchor and the collector units mounted on the tether into the sea;

[0020] FIG. 7A illustrates a dropping of collector units after dropping the first anchor in the sea;

[0021] FIG. 7B illustrates a dropping of a second anchor after dropping the collector units;

[0022] FIG. 8 illustrates a positioning schematic of the first anchor, the collector units, and the second anchor on the seabed;

[0023] FIG. 9 illustrates a layout of a control system of the seabed mining system;

[0024] FIG. 10 illustrates a perspective view of the collector unit;

[0025] FIG. 11 illustrates a perspective view of a collection crate;

[0026] FIG. 12 illustrates a sectional view of the collection crate;

[0027] FIG. 13 illustrates a perspective view of the arm base assembly;

[0028] FIG. 14 illustrates a sectional view of the electronics canister;

[0029] FIG. 15 illustrates a perspective view of the clamp in engaged condition;

[0030] FIG. 16 illustrates a perspective view of an engagement process of the clamp to the tether;

[0031] FIG. 17 illustrates a perspective view of a tether 108 with a ferrule;

[0032] FIG. 18 illustrates a perspective view of a tether 108 without the ferrule;

[0033] FIG. 19 illustrates a perspective view of the collector unit of FIG. 10 in a storage, deployment, and recovery process;

[0034] FIG. 20 illustrates a top view of the collector unit of FIG. 10 in the storage, deployment, and recovery process;

[0035] FIG. 21 illustrates a left view of the collector unit of FIG. 10 in the storage, deployment, and recovery process;

[0036] FIG. 22 illustrates a right view of the collector unit of FIG. 10 in the storage, deployment, and recovery process;

[0037] FIG. 23 illustrates a perspective view of the collector unit of FIG. 10 in a deployed condition;

[0038] FIG. 24 illustrates a top view of the collector unit of FIG. 10 in the deployed condition;

[0039] FIG. 25 illustrates a left view of the collector unit of FIG. 10 in the deployed condition;

[0040] FIG. 26 illustrates a right view of the collector unit of FIG. 10 in the deployed condition;

[0041] FIG. 27 illustrates a side view of the collector unit of FIG. 10 in a fully extended condition;

[0042] FIG. 28 illustrates another side view of the collector unit of FIG. 10 in the fully extended condition;

[0043] FIG. 29 illustrates a perspective view of the collector unit of FIG. 10 in the fully extended condition;

[0044] FIG. 30 illustrates a top view of the collector unit of FIG. 10 in the fully extended condition;

[0045] FIG. 31 illustrates a perspective view of the second hollow arm segment and the end effector;

[0046] FIG. 32 illustrates another perspective view of the second hollow arm segment and the end effector;

[0047] FIG. 33 illustrates another perspective view of the second hollow arm segment and the end effector;

[0048] FIG. 34 illustrates another perspective view of the second hollow arm segment and the end effector;

[0049] FIG. 35 illustrates another perspective view of the second hollow arm segment and the end effector;

[0050] FIG. 36 illustrates another perspective view of the second hollow arm segment and the end effector;

[0051] FIG. 37 illustrates another perspective view of the second hollow arm segment and the end effector;

[0052] FIG. 38 illustrates a top view of the ocean vessel;

[0053] FIG. 39 illustrates a side view of the ocean vessel of FIG. 38;

[0054] FIG. 40 illustrates a rear sectional view of the ocean vessel of FIG. 38; and

[0055] FIG. 41 illustrates a flowchart for seabed mining method.

[0056] Similar components and/or features may have the same numerical reference label in the appended figures. Further, various components of the same type may be distinguished by following the reference label with a letter. If only the first numerical reference label is used in the specification, the description applies to similar components and/or features with the same first numerical reference label, irrespective of the suffix.

DETAILED DESCRIPTION

[0057] Illustrative configurations are described with reference to the accompanying drawings. Wherever convenient, the same reference numbers are used throughout the drawings to refer to the same or similar parts. While examples and features of disclosed principles are described herein, modifications, adaptations, and other implementations are possible without departing from the spirit and scope of the disclosed configurations. The following detailed description is intended to be considered as illustrative only, with the true scope and spirit indicated by the following claims.

[0058] It should be noted that the following description is configured for a seabed mining system and method. The system may be configured to excavate or perform mining on the seabed to obtain seabed nodules. The seabed nodules may include deep-sea polymetallic nodules. Conventional systems and methods may include auto-propelled bottom dredging equipment for collecting nodules and riser pipes for transferring the seabed nodules from the seabed to the ocean vessel. The ocean vessel may include a cargo-ship, a collector ship, or a ship with an on-board mineral processing system.

[0059] First, the proposed auto-propelled dredger in conventional systems moves about the seabed and indiscriminately removes a trench of material at the bottom. About 95% of the silts are released as a plume following the passage of the dredging unit. The riser pipe transports the remaining 5% with seabed nodules. Due to the economics of this system, which may require a large dredging unit, nearly 1 m.sup.3 of silts may be released per second in the trail of the unit, forming a plume. This plume may extend for multiple kilometers on the seabed, modifying the chemistry and environmental condition of the water near the seabed. Furthermore, the mineral nodule may support/enhance local life as an anchoring point and a source of other minerals to sustain the marine environment. The trenches formed by the dredging equipment may be dead zones for the local environment, while the plume formed by the process may disrupt the environment at large distances from the actual mining operation.

[0060] Second, the conventional systems using a riser pipe for increasing the potential throughput of the mineral nodule may significantly increase the amount of sediment and deep waters being lifted at surface level, at a ratio of 50 tons of water to the sediment per ton of mineral nodule. Such throughput may result in a considerable potential for environmental damage due to the release of these sediment and water, first by the potential for a plume of sediment and second by local modification of water. Modification of water may change temperature and salinity due to the difference of water at the seabed and the expected release of the wastewater and sediments in the water near the surface or the seabed.

[0061] To this end, a seabed mining system is disclosed, which may rely on the technological element related to a combination of a polymer tether, fishing, and dredging rigging technologies, progress on unpressured remotely operated underwater vehicle (ROUV) electronics, power technologies, and agricultural rock picking technologies. The system differs considerably from the conventional approaches for collection described earlier, principally in its environmental impact and operational footprint. The system may include distributed collector units on a tether to minimize the time wasted during the descent and recovery of the tether, which abates the economic constraints on tether technology. In some situations, using a tether transportation system may significantly reduce water and sediment transport from the bottom, reducing the environmental impact caused by seabed nodules to the ocean vessel.

[0062] FIG. 1 illustrates a perspective view 100 of one configuration of a seabed mining system 102 deployed on the seabed 104. The illustrative seabed mining system 102 may include an array of collector units 106a, 106b, 106c (hereinafter referred to as collector units 106) distributed on a tether 108. The tether 108 may be deployed from a tether management system installed on an ocean vessel, such as a cargo ship, a tanker, a specialty vessel, or similar transportation device.

[0063] In an illustrative configuration, the collector units 106 may be deployed on the seabed 104 so that each collector unit 106 may be distant from the other collector unit by a distance ranging between a meter to 100s of meters (or in some configuration more). Each of the collector units 106 may include a collection crate (illustrated as 1002 in FIG. 10) and at least one arm 112 distinctively extending from the said collection crate. Each arm from the at least one arm 112 may be configured to rotate about the collection crate. Each arm 112 may be coupled to an end effector. The end effector may be configured to traverse discrete trajectories 110a, 110b, 110c (hereinafter referred to as trajectories 110) and create a scooping action on the seabed 104 when the arm may be rotated, such a scooping action aiding to collect the nodules or other minerals from the seabed. Accordingly, at least one seabed nodule from the seabed 104 may be collected. For example, the end effector on a collector unit 106a may traverse a trajectory 108a, the end effector on a collector unit 106b may traverse a trajectory 110b, to collect at least one seabed module from the seabed 104. Due to the distance between the collector units 106, the trajectories 110 traversed by each end effector of one collector unit may be distinct from the trajectories 110 traversed by the end effector(s) of adjacent collector units 106. In most configuration, but not all, the trajectories 110 traversed by arms of each collector units 106 may be separate to avoid overlapping therebetween, and prevent over-digging of the seabed 104.

[0064] In the case of multiple arms extending from a single collection crate, each end effector on each arm may be configured to traverse discrete spiral trajectories. For example, a first end effector on a first arm from the collector crate may be configured to traverse a first spiral trajectory on the seabed, and a second end effector on the second arm from the same collector crate may be configured to traverse a second spiral trajectory on the seabed. In such scenario, the first spiral trajectory and the second spiral trajectory may be completely discrete, i.e., different, and the first spiral trajectory may not overlap the second spiral trajectory. These first and second spiral trajectories may be nested to cause a non/limited of their individual trajectories. Such discrete spiral trajectories may be enabled by distinctively extending, or extending each arm in a distinct (or separate) lengths. Distinct length of the first arm and the second arm may imply the first length being different from the second length. For example, the first arm may be extended up to a first length which may result in the first end effector to traverse the first spiral trajectory, and the second arm may be extended up to a second length which may result in the second end effector to traverse the second spiral trajectory, which may be different than the first spiral trajectory.

[0065] With continued reference to FIG. 1, the trajectories 110 of each arm may influence the shape and extent of local impact by removing a fraction of the seabed nodules. While a conventional dredgers/seabed mining system(s) may create a large dead zone in its path, the disclosed seabed mining system 102 may allow for tailored trajectory-based removal which the existing fauna and flora may influence. For instance, if lifeforms are colonizing some of the nodules to be collected, the trajectory of the arms may be optimized to avoid colonized nodules, adapt to topography and avoid obstacles. Similarly, even if nodules are not colonized, the local ecosystem may be preserved by only removing a fraction of the mineral nodule. This approach may not be possible with a dredging unit because the dredging unit warrants total removal of the seabed nodules. Instead, the number/quantity of seabed nodules collected by the seabed mining system 102 may only depend on the ratio of range per collector unit and mineral density, which may be easily increased by using more collector units or modifying the collector units. After the seabed nodules may be collected, the seabed mining system 102 may be operated in the retracting configuration, in which the arms may be retracted and the collector units 106 may be collected by the ocean vessel. The process of operating the seabed mining system 102 in the collecting configuration and the retracting the seabed mining system 102 is illustrated in the following configurations of the disclosure.

[0066] In an illustrative configuration shown in FIG. 2, a process 200 of operating the seabed mining system 102 in the collecting configuration of FIG. 1. As described earlier, the seabed mining system 102 may be operated and deployed from an ocean vessel 202. The seabed mining system 102 may include a tether 108, a first anchor 204, a second anchor 206, and the collector units 106. The tether 108 may include a proximal end and a distal end. The proximal end may be defined as the end rolled on the tether management system on the ocean vessel 202. Further, the distal end of the tether may be defined as a free end of the tether to which the first anchor 204 may be adjoined. Further, the second anchor 206 may be attached to the tether 108 at a predefined distance from the first anchor 204. The predefined distance between the first anchor 204 and the second anchor 206 may range tens of meters (e.g., 50 m). Further, in the predefined distance between the first anchor 204 and the second anchor 206 on the tether 108, the collector units 106 may be distributed.

[0067] With continued reference to FIG. 2, the seabed mining system 102 deployment may occur in multiple stages. Initially, the ocean vessel 202 may arrive at a location on the sea and proximal to a potential mining site. The mining site on seabed 104 may be situated at a depth in the sea, which may range between 4 kilometers to 6 kilometers. After arrival, the tether 108 may be deployed from the ocean vessel 202 by initiating the dropping of the first anchor 204 into the sea. The tether 108 may be uncoiled and dropped in the sea at a predefined uncoiling speed relative to the current of the seawater. Following the first anchor 204, the collector units 106 adjoined to the tether 108, and may be dropped into the sea. After a predefined number of collector units 106 are dropped into the sea, the second anchor 206 adjoined to the tether 108 may be dropped into the sea. In an illustrative configuration, the tether 108 may be uncoiled and dropped in the sea at a speed that maximizes uncoiling speed while maintaining dynamic load on the tether 108 under an acceptable operational maximum, irrespective of the condition and direction of the ocean current. The speed may, therefore, change or remain static during the deployment of the tether 108.

[0068] The first anchor 204 may be configured to optimize the tension of the tether segment, especially the predefined length between the first anchor 204 and the second anchor 206. A pulling force may generate tension by a drag force (illustrated as F.sub.D in FIG. 5) on the first anchor 204 in a direction opposite to the motion of the ocean vessel 202, along with a hydrodynamic force (illustrated as F.sub.H in FIG. 5) while falling towards the seabed 104. The object of this tension generated between the first anchor 204 and the second anchor 206 is to maintain distance between the collector units 106 and avoid fouling of the tether 108. After a substantial release of the tether 108, the first anchor 204 and the second anchor 206 may approach a landing on the seabed mining system 102 with respective terminal velocities, and therefore, the second anchor 206 may anchor the tether 108 to the seabed. After anchoring, the speed of the ocean vessel 202 and the uncoiling speed may be adjusted to avoid any drag on the tether 108.

[0069] The terminal velocities of the first anchor 204 and the second anchor 206 may be optimized such that first anchor 204 and the second anchor 206 may land on the seabed 104, almost simultaneously. To facilitate such landings, the tether 108 may be uncoiled at a speed that may result in the second anchor 206 sinking faster than the first anchor 204. In addition to increasing the landing speed by varying the uncoiling speed of the tethers, a plurality of fins (not shown in the figure) may protrude from the first anchor 204 and the second anchor 206. The plurality of fins may be shaped and oriented to allow active control during release into the sea, such that the speed at which the second anchor 206 may sink in the sea may be greater than the speed of first anchor 204.

[0070] In some implementations, the release may be configured so that the first anchor 204 along with the tether 108 may be subjected to a low tension force (e.g., ranging from a pound to tons) from the ocean vessel 202. For example, the tether management system may be configured to uncoil the tether 108 so that a low tension may be subjected on the tether 108 and the first anchor 204 during deployment. Low tension between the ocean vessel 202 to the first anchor 204 along with the tether 108 may result in non-disruption of the deployment process. Alternatively, the speed of the ocean vessel 202 and the release of the tether 108 may be actively controlled to modify the tension of the tether 108 and releasing of the first anchor 204.

[0071] With continued reference to FIG. 2, after the second anchor 206 may be anchored to the seabed mining system 102, the collector units 106 may be positioned on the seabed mining system 102. Initially, the collector units 106 may be clamped or adjoined on the tether 108 so that each collector unit may be distant from the adjacent collector unit by a distance to prevent stacking of the collector units 106 on each other when deployed. Following the placement of the collector units 106 on the seabed, the second anchor 206 may be anchored onto the seabed mining system 102, thereby completing the seabed mining system 102 deployment. After anchoring, the speed of the ocean vessel 202 and the uncoiling speed may be adjusted to avoid dragging the collector units 106, tether 108, the first anchor 204, and the second anchor 206 on the seabed 104. In one configuration, active stabilization systems configured as propellers may be installed on the collector unit 106 for stabilizing and improving the descent of the collector units 106 during landing conditions.

[0072] In an illustrative configuration, now referring to FIG. 3 illustrating a deployed state 300 of the seabed mining system 102. After deployment, the tether 108 may be unhooked from the ocean vessel 202, and a floating buoy 302 may be adjoined to the tether 108. The floating buoy 302 may be provided with a communications module (not shown in the figure). The floating buoy 302 may be configured to relay the status of each collector to the ocean vessel 202 through wireless or satellite communication and may receive and pass commands for the collector units 106 to alter their programmed behavior (e.g., abort gathering, proceed with emergency line separation, proceed with unjamming, send pictures, etc.). In typical operation, when all collector units 106 are done collecting nodules and are secured in a/the transport configuration, the floating buoy 302 may communicate with the ocean vessel 202 on the readiness for line surfacing and transmit a geographical coordinate for initiating the recovery process.

[0073] The surface buoy 302 may be positioned at the surface end of the tether 108, i.e., the part of the tether 108 at the water surface when deployment is complete, such that the tether 108 may be recovered after completion of the collecting condition. Such configuration may free the ocean vessel 202 to perform another deployment with another tether 108. The surface buoy 302 may be designed to be unsinkable and may include multiple subsystems for communication with the ocean vessel 202. The surface buoy 302 may include enhanced visibility to reduce the impact risk with other ocean vessels 202. The surface buoy 302 may be stored upside down on a storage rail on the ocean vessel 202 (or in any suitable configuration) during storage and may be connected to the tether 108 using a similar connection system to the other components connected to the tether 108. For communication, a larger bandwidth protocol and physical layer may be used for communication with probes relaying high-resolution information, such as sonar scans of the seabed 104. In this case, glass fiber communication may also be supported for communication with the sonar/sensor probes. Further, the surface buoy 302 may include a light beacon as an indication for the passing ocean vessels 202, and may also use a close distance transponder to be identified by nearby ocean vessels 202. In some configurations, the surface buoy 302 may also include a location sensor, such as Global Positioning System (GPS), Global Navigation Satellite System (GNSS), and the like. The location sensor may be configured to indicate the position of the surface buoy 302 and transmit the location information to the ocean vessel 202. In one configuration, the surface buoy 302 may include solar cells. The solar cells may harness solar energy to power communication and support other systems. The surface buoy 302 is configured to respond to queries from the ocean vessel 202 and function as an intermediary for relaying commands and messages between the ocean vessel 202 and the collector units 210. If the surface buoy 302 loses connectivity with the ocean vessel 202 and may be unable to reestablish the connection, an emergency beacon is activated by the surface buoy (302) to facilitate its retrieval and the retrieval of the tether (108). Additionally, the surface buoy (302) incorporates redundant systems, exemplified by two communication systems, to enhance overall robustness.

[0074] An illustrative configuration of a recovery process 400 of the seabed mining system 102 is shown in FIG. 4. As illustrated in FIG. 4., the recovery process 400 may be the reverse of the tether deployment process. In the recovery process 400, the surface buoy 302, the collector units 106, the tether 108, the first anchor 204, and the second anchor 206 may be pulled back, or recovered by the ocean vessel 202. With continued reference to FIG. 4, the floating buoy 302 may, initially, be recovered by the ocean vessel 202 followed by reverse-coiling of the tether 108 at a predefined speed by the tether management system. Further, the floating buoy 302 may be disengaged from the tether 108 and may be mounted on a storage rail of the ocean vessel 202. It should be noted that unlike the deployment process, the ocean vessel 202 may be in a static position on the sea, such that the tether 108, the collector units 106, may not be dragged on the seabed 104. During the recovery process 400, the tether 108 may be reverse coiled on to the drum, as a result of which the first anchor 204 may be recovered first from the sea, followed by the collector units 106, and the second anchor 206. This process may be continued until the first anchor 204 may be completely recovered from the sea.

[0075] FIG. 5 illustrates a releasing process 500 of the tether 108 and the first anchor 204 into the sea. As described earlier in text referencing FIG. 2 but with reference to FIG. 5, the ocean vessel 202 may be oriented in the direction of the current of the seawater at a relative speed ranging between 0-10 m/s (for e.g., 2 m/s) with respect to the current of the seawater. After orientation, the ocean vessel 202 and may start uncoiling the tether 108. Alternatively, the ocean vessel may 202 be oriented irrespective of the direction of the current of the seawater, but at any suitable location at a relative speed ranging between 0-10 m/s (for e.g., 2 m/s) relative to the speed of ocean current at the seabed 104, and may start uncoiling the tether 108. Simultaneously, the first anchor 204 clamped to the end of the tether 108 may be uncoiled at a few meters per second speed (e.g., 2 m/s). As may be appreciated, the uncoiling speed may be adjusted to optimize the tension during the landing of the collector units 106 to avoid fouling the tether 108. The tether 108 may be sufficiently longer than a perpendicular distance between the ocean vessel 202 to the bottom to account for sagging and for recoiling on the ship by a predefined distance (e.g., 1 km longer than the perpendicular distance between the ocean vessel 202 to the seabed 104).

[0076] FIG. 6 is an illustrative configuration of a releasing process of the second anchor 206 and collector units 106 mounted on the tether 108 into the sea, the collector units 106 may be distributed on the tether 108 and then dropped into the sea. The speed of the ocean vessel 202 may be reduced to the uncoiling speed when drag added by the collector units 106 becomes consequent. Alternatively, the speed of the ocean vessel 202 may be adjusted to a speed based on but different to the uncoiling speed when drag added by the collector units 106 becomes consequent. The speed of the ocean vessel 202 and the uncoiling speed of the tether 108 may be adjusted to improve and maintain tension in the tether 108 under an inflection-point load to facilitate ease of deployment.

[0077] With continued reference to FIG. 6, and described earlier, the tether 108 may be connected to the tether management system 502. The tether management system may include a tether drum on which the tether 108 may be coiled (in recovery condition) or uncoiled (in the collecting condition). The tether 108 may be guided on the back of the ocean vessel 202 using a tether management system 502. The tether management system 502 may be positioned at a predefined elevation (for example, 10-15 meters) over a rear deck of the ocean vessel 202.

[0078] An illustrative configuration in FIG. 7A is a dropping process 700A illustrating the process of dropping the collector units 106, after successfully dropping the first anchor 204. Further, referring to FIG. 7B illustrating a process 700B of dropping the second anchor 206, after successfully dropping the collector units 106 and the first anchor 204.

[0079] As described earlier, the first anchor 204 and the second anchor 206 may be equipped with a sonar probe 702. The sonar probe may be configured to identify the position of the first anchor 204 and the second anchor 206 with respect to the seabed 104 and generate a location sensor signal SL, and the expected tension between them to generate a tension sensor signal S.sub.T. It should be noted that the positioning of the sonar probe 702 may not be limited to the first anchor 204 and the second anchor 206. The sonar probe 702 may also be positioned at the tether 108 for determining the tension therein. In an illustrative configuration, the sonar probe 702 may be communicably coupled to the communication module of the surface buoy 302 (refer to FIG. 3) and may communicate the status of tension tether 108, as well as the location of the first anchor 204 and the second anchor 206.

[0080] FIG. 8 illustrates a representative configuration of a positioning schematic 800 of the second anchor 206, the collector units 106, the first anchor 204 and the second anchor 206 on the seabed 104. In another configuration of the deploying condition, the first anchor 204 may initially landing on the seabed 104, followed by the second anchor 206. After the first anchor 204 and the second anchor may be anchored on the seabed 104, the collection units 106 may touch-down on the seabed 104. The second anchor 206 may protect the collector line, or the collector units 106 from drag induced by the remaining tether 108 and from tension from the ocean vessel 202. The geometry of the first anchor 204 and the second anchor 206 may also be used to improve the spreading of the collector units 106 by using hydrodynamic forces. As described earlier, such geometries may include the addition of fins on the body of the first anchor 204 and the second anchor 206. For instance, the fins on the first anchor 204 may enhance drag against the tether 108 by generating a hydrodynamic force while sinking. Inversely, the second anchor 206 may do the same in the opposite direction. Accordingly, the drag induced by both the first anchor 204 and the second anchor 206 may result in tensioning of the tether 108, thereby resulting in improved spread between the collector units 106 on the seabed 104. In an illustrative configuration, a segment of tether 108 past the second anchor 206 may be terminated by the surface buoy 302. The segment of the tether 108 past the second anchor 206 may have a length greater than the depth to the seafloor to minimize tension applied to the second anchor 206.

[0081] Exploration and assessment of potential mining sites on the seabed play a role in the strategic planning and successful deployment of seabed mining system 102. Before venturing into the extraction of seabed nodules from the seabed 104, it is advantageous to conduct thorough analysis of the seabed 104. Such analysis, if provided, serves as an informative step in understanding the geological, environmental, and logistical aspects of the targeted mining area on the seabed 104. For example, the analysis for geological aspects may include analyzing the seabed structure, presence of obstacles, tectonic activity, geological hazards, mineral deposits, sediment composition, and seabed topography. Further, the analysis for environmental aspects may include assessing flora and fauna on the seabed and their activity. The environmental aspect may also include sediment resuspension, regeneration, and recovery-post mining. Further, the analysis of the logical aspects may include assessment of transportation and access to the seabed, vessel coordination, communication infrastructure feasibility, emergency response planning, and resource management.

[0082] Now referring to FIG. 9 illustrating a layout 900 of a control system 902 of the seabed mining system 102. The control system 902 may include a control unit 904 installed on the ocean vessel 202, a collector unit sensor module installed in the collector units 106 or the tether 108, and the sonar probe 702 installed on the tether 108. The control system 902 may be configured to facilitate the analysis (geological, environmental, etc.), especially before the collecting condition. The collector unit sensor module and the sonar probe 702 may be connected to the control system 902 through a wired connection, a wireless connection, or a combination of both. For example, the collector unit sensor module and the sonar probe 702 may be connected to the surface buoy 302 via a wired communication, and the surface buoy 302 may be connected to the control unit 904 through a wireless communication.

[0083] In an illustrative configuration, the wired or the wireless network or a combination thereof can be implemented as one of the different types of networks, such as intranet, local area network (LAN), wide area network (WAN), Bluetooth, IEEE 802.11, the internet, Wi-Fi, LTE network, CDMA network, etc. Further, the wired or the wireless network can either be a dedicated network or a shared network. The shared network represents an association of the different types of networks that use a variety of protocols, for example, Hypertext Transfer Protocol (HTTP), Transmission Control Protocol/Internet Protocol (TCP/IP), Wireless Application Protocol (WAP), etc., to communicate with one another. Further the wired or the wireless network can include a variety of network devices, including routers, bridges, servers, computing devices, storage devices, etc.

[0084] In an illustrative configuration, the control unit 904 may include one or more processors 908. The one or more processor(s) 908 may be implemented as one or more microprocessors, microcomputers, single board computer, microcontrollers, digital signal processors, central processing units, graphics processing units, logic circuitries, and/or any devices that manipulate data based on operational instructions. Among other capabilities, the one or more processor(s) 908 are configured to fetch and execute computer-readable instructions stored in a memory 910 of the control unit 904. The memory 910 may store one or more computer-readable instructions or routines, which may be fetched and executed to create or share the data units over a network service. The memory 910 may include any non-transitory storage device including, for example, volatile memory such as RAM, or non-volatile memory such as EPROM, flash memory, etc.

[0085] With continued reference to FIG. 9, the control unit 904 may also include input/output devices 906. The input/output devices 906 may include variety of interface(s), for example, interfaces for data input and output devices, and the like. The input/output devices 906 may facilitate inputting of instructions by a user, such as a ship operator communicating with the control unit 904, or extension of arms on the seabed 104. In an embodiment, the input/output device 906 may be wirelessly connected to the control unit 904 through wireless network interfaces such as Bluetooth, infrared, or any other wireless radio communication known in the art. In one configuration, the input/output devices 906 may be connected to a communication pathway for one or more components of the control unit 904 to facilitate the transmission of inputted instructions and output the results of data generated by various components such as, but not limited to, processor(s) 908 and memory 910.

[0086] The control unit 904 may further include a communication engine 912. The communication engine 912 may be implemented as a system responsible for transmitting and receiving electronic signals from the collector unit sensor module and the sonar probe 702 via the surface buoy 302. For example, the communication engine 912 may include a transmitter (not shown) and a receiver (not shown), which may be configured to wirelessly communicate with the surface buoy 302 to receive sensor outputs and sensor probe information from the collector unit sensor module, as well as the sonar probe 702.

[0087] With continued reference to FIG. 9, the illustrative collector unit sensor module, previously described, may include a sensor communication engine 914, an environmental sensor 916, an ultrasound sensor 918, one or more optical sensors 920, and other sensors 922. The collector unit sensor module may be configured to obtain and transmit various sensor outputs to the surface buoy 302 using the sensor communication engine 914. The sensor communication engine 914 may be configured to transmit the sensor outputs to the surface buoy 302 through a wired connection formed through the tether 108, or an undersea transmission protocol using Underwater Wireless Sensor Networks (UWSNs) which may use acoustic signals commonly used in undersea communications.

[0088] In an illustrative configuration, with continued reference to FIG. 9, the sensor communication engine 914 may be communicably coupled to the surface buoy 302 via at least one repeater (not shown in figures) distributed over the tether 108. The at least one repeater may be configured to amplify and retransmit the sensor signals from the collector unit sensor module, along with compensation for signal loss that occurs while the sensor signal is transmitted to the surface buoy 302 over the length of the tether 108.

[0089] In an illustrative configuration, the environmental sensors 916 may include, but not limited to, at least one of seafloor temperature sensor, depth sensor/pressure sensor, sediment composition sensor, magnetic field sensors, hydrophone, and the like. The environmental sensor 916 may be configured to sense environmental attributes such as the presence of flora and fauna or marine wildlife, pressure or depth at the seabed 104, mineral composition of the seabed 104, ocean noise, and the like. For example, environmental sensors 916 such as current and turbulence may be configured to sense the speed and direction of ocean currents on the seabed. Further, the environmental sensor 916 may be configured to generate environmental sensor outputs based on the environmental attributes, which may be further transmitted to the control unit 904. The control unit 904, after receiving the environmental sensor outputs may be configured to analyze the environmental aspects before operating the seabed mining system 102 in the collecting condition.

[0090] In an illustrative configuration, the ultrasound sensors 918 may include ultrasonic sensors. Further, the ultrasound sensor 918 may be configured to ensure accurate data collection, monitoring of the seabed, and safety of the collector units 106. For example, ultrasound sensor 918 may be configured to measure the thickness of sediment layers covering the mineral deposits on the seabed, map the seabed 104 and survey mining areas on the seabed 104 to identify mineral-rich zones. Additionally, the ultrasound sensor 918 may also be configured to detect obstacles on the seabed 104, such as a rock, a shipwreck, trash, etc., thereby helping the collector units 106 to avoid collisions with geological features or other infrastructure present on the seabed 104. The ultrasound sensor 918 may generate an ultrasound sensor signal, which may be transmitted along the sensor outputs of the environmental sensor 916 to the control unit 904.

[0091] With continued reference to FIG. 9, the illustrative optical sensors 920 may include image and video capturing devices(s) such as marine camera fluorometers or thermal imaging sensors such as IR sensors, and the like. The optical sensors 920 may be configured to capture visual images, videos, or spectrum profiles of the seabed 104, providing valuable information about geological features, marine life (in addition with detection by the environmental sensor 916), and potential mining sites on the seabed 104. Along with the environmental sensor 916 and the ultrasound sensor 918, the detection by the optical sensors 920 in the form of optical sensor signals may be transmitted to the control unit 904. The control unit 904, on analysis of the sensor signals, may be configured to assess the geological, environmental aspects, and logistical aspects of the seabed 104.

[0092] In one illustrative configuration, the collector unit sensor module may also include other sensors 922, or auxiliary sensors such as but not limited to magnetic sensors, orientation sensors, and the like, to detect variations in the Earth's magnetic field or detect changes in inclination or orientation of the collector units 106. The auxiliary sensors 922, when integrated into the seabed mining system 102 systems or underwater platforms, provide a comprehensive understanding of the underwater environment and contribute to the success of various marine-related activities.

[0093] FIG. 9 may further illustrate the control unit 904 configured to operate the seabed mining system 102 based on the analysis of sensor signals received from both the collector unit sensor module and the sonar probe 702. The functioning of the seabed mining system 102 may be contingent upon a predefined set of rules, established by the processor(s) 908 executing programs stored in the memory 910. These rules encompass various conditions, including but not limited to confirming the absence of marine wildlife at the seabed 104, detecting a high concentration of seabed nodules without any obstructions, and similar criteria. Following the analysis of sensor signals by the control unit 904, if the results align with the conditions specified in the set of rules (e.g., minimal or no presence of marine wildlife, a high concentration of seabed nodules, and a seabed 104 free of obstructions), the control unit 904 is configured to generate a command to initiate the extension of arms from the collection crate to dig the seabed 104 along discrete spiral trajectories. In contrast, any breach from the predefined set of rules may prompt control unit 904 to prevent the extension of arms and initiate the recovery condition of the collector units 106. The mechanism of the extension of the arms in the collecting condition of the collector units 106, as well as retraction of the arms in the recovery condition of the collector units 106 is described in following configurations of this disclosure.

[0094] Now referring to FIG. 10 illustrating a perspective view 1000 of one of the collector units 106, the illustrative configuration of the collector units 106 may include a collection crate 1002, and a plurality of feet 1022(a), 1022(b), 1022(c) and 1022(d) (hereinafter collectively referred to as feet 1022) onto which the collection crate 1002 may be rested. In one configuration, the feet 1022 may be provisioned with appropriate dampers, or miniature shock absorbers, for damping or nullifying the shock experienced by collector units 106 during landing on the seabed 104.

[0095] In the illustrative configuration, the collection crate 1002 may include the at least one arm 112 and each of the least one arm 112 may include a plurality of arm segments. Each arm segment may further include a first hollow arm segment 1004 and a second hollow arm segment 1006. As the name suggests, the first hollow arm segment 1004 and the second hollow arm segment 1006 may be formed as hollow cylindrical segments, configured to allow passage of seabed nodules therethrough. In the same configuration, the first hollow arm segment 1004 may include a first hollow arm segment proximal end, and a first hollow arm segment distal end oppositely disposed to the first hollow arm segment proximal end. The first hollow arm segment may also act as a proximal end of the arm. In one configuration, the second hollow arm segment 1006 may further include a second hollow arm segment proximal end and a second hollow arm segment distal end. The second hollow arm segment distal end may also act as the distal arm end for the complete arm.

[0096] In an illustrative configuration, the first hollow arm segment proximal end of the first hollow arm segment 1004, or the proximal arm end may be adjoined to an arm base assembly 1014 about a first pivot joint 1007. The arm base assembly 1014 may be rotatably mounted to the collection crate 1002 and may allow the rotation of the arm around a vertical axis of the collection crate 1002. In one configuration, the arm base assembly 1014 may be shared by more than one arms such that all the arms 112 may rotate concurrently around the vertical axis of the collection crate 1002.

[0097] In another illustrative configuration, with continued reference to FIG. 10, the first hollow arm segment 1004 and the second hollow arm segment 1006 may be coupled via a second pivot joint 1008. The second pivot joint 1008 may allow the second hollow arm segment 1006 to swivel and move transversely with respect to the first hollow arm segment 1004, for extending or retracting the arm on the seabed 104. For example, in the collecting condition, the first hollow arm segment 1004 may be rotated in a clockwise direction about the first pivot joint 1007, and the second hollow arm segment may be rotated in a counterclockwise direction from the first hollow arm segment about the second pivot joint 1008 to distinctively extend each arm from the collection crate to traverse the trajectory on the seabed. Further, in the recovery condition, the first hollow arm segment 1004 may be rotated in a counterclockwise direction about the first pivot joint 1007, and the second hollow arm segment 1006 may be rotated in a clockwise direction from the first hollow arm segment 1004 about the second pivot joint 1008 until the first pivot joint 1007 and the second pivot joint 1008 are arranged in a linear arrangement along an axis normal to the collection crate.

[0098] In an illustrative configuration, with continued reference to FIG. 10, each arm of the collector units 106 may be connected to an end effector 1016. The end effector 1016 may be coupled to the second hollow arm distal end of the second hollow arm segment 1006. In one configuration and described earlier by way of an example, the end effector 1016 may be configured to collect at least one seabed nodules from the seabed 104 using a scooping, or a digging action on the seabed 104. The first hollow arm segment 1004 and the second hollow arm segment 1006, with the second pivot joint 1008, may allow projection or extension of the end effector 1016 away from the collection crate 1002 towards the seabed, such that the end effector 1016 may be dug into the seabed 104 at a depth greater than the center of mass of the at least one nodule. At this depth, the end effector 1016 may be configured to efficiently lift the at least one seabed module from the seabed 104, and hence, the at least one seabed nodule may be grossly separated from silts and other debris present on the seabed 104. In one configuration, the lifting or collecting of the seabed nodules by the end effector 1016 may be enhanced by the action of rotating bristles that may apply a sweeping action on the seabed nodule. In one configuration, the attitude of the end effector 1016 may be enhanced by the presence of a wheel mechanism in contact against the seabed (e.g., wheels with spring suspensions), that maintains a parallel positioning of the end effector 1016 with respect to the seabed 104.

[0099] In one illustrative configuration, the collector units 106 may include a vertical mast and rigging system. The vertical mast and rigging system may include a mast 1010 connected to the collector units 106, and a clamp 1020 at the top of the mast 1010 configured to allow mechanical and electrical connection and disconnection of the collector units 106 to a ferrule (not shown in figure) positioned on the tether 108. Alternatively, the clamp 1020 may be configured to provide mechanical and electrical connection and disconnection to the tether 108, irrespective of a ferrule on the tether 108. Further, a ballast 1012 may be fastened to the mast 1010. The mast 1010 may provide a height clearance necessary for the stowing of the arms without interfering with the tether 108. Further, the ballast 1012 may be configured to provide stability to the collector units 106 when deployed. In some configurations, the mast 1010 may be augmented by a cage to protect the arms 112 from impacts in the collecting configuration, or impacts that can occur during deployment or recovery of the tether 108. In some configurations, the mast 1010 may also support fins in order to reduce the oscillation of the collector units 106 during deployment and ensure that the collector units 106 reaches the seabed 104 with the least amount of angular deviations. The weight of the collection units 106 may be evenly distributed in order to landing feet first without tipping over on sloped or uneven ground.

[0100] In an illustrative configuration, the collector units 106 may include an electronics canister 1018. The electronics canister 1018 may be configured to accommodate a plurality of electronic components, such as for example, the collector unit sensor module, communication module, wiring harnesses for wiring connectivity with a tether 108, and the like. The electronics canister 1018 may also be configured to accommodate a collector control unit (CCU). The CCU may be implemented as an underwater processing unit (UPU) which may be configured to carry out various processing tasks at the seabed 104. The CCU may be communicably connected to the control unit 904 (refer to FIG. 9) of the ocean vessel 202, and may be configured to implement the commands issued from the control unit 904 when the conditions on the seabed 104 are within the established set of rules. The electronics canister 1018 is described in detail in FIG. 14.

[0101] Now referring to FIG. 11 illustrating a perspective view 1100 of a collection crate 1002 of the collector units 106, and FIG. 12 illustrating a sectional view 1100 of the collection crate 1002 of the collector units 106. The collection crate 1002 may be configured to collect and store at least one seabed nodules from the seabed 104. In one configuration, the collection crate 1002 may be structurally defined as a cube which may include a top 1102, a bottom 1104, and at least one wall 1106a, 1106b, 1106c, and 1106d (hereinafter referred to as walls 1106) disposed between the top 1102 and the bottom 1104. Between the top 1102, the bottom 1104, and the walls 1106, a closed storage 1202 may be defined. The closed storage 1202 may be configured to accommodate and store the seabed nodules collected and transported by at least one arm 112. In one configuration, the top 1102, the bottom 1104, and the walls 1106 may be designed with a metallic rigid mesh to minimize a drag experienced by the collection crate 1002 when deployed. The mesh size of the rigid metallic mesh may be selected to be small enough to contain the mineral nodule but large enough to allow smaller debris and lifeform to escape the crate (e.g., 5 cm). Due to the metallic rigid mesh, the collection crate 1002 may be largely negatively buoyant to act as the anchoring part of the collector units 106.

[0102] The top 1102 of the collection crate 1002 may include attachment points (not shown in figure) to facilitate fastening the electronics canister 1018 of the collector units 106. The bottom 1104 of the collection crate 1002 may include hinged grate gates (not shown in figure). The hinged grate gates when opened, may be configured to allow the release of the seabed nodules a seamless transfer to a bunker of the ocean vessel 202. In one configuration, the approximate weight of the collection crate 1002 may be in few hundreds of kilos (e.g., 300 kg) and low displacement (e.g., 40 L) to act as an anchor. The top 1102 of the collection crate 1002 may be mainly open to facilitate loading of the mineral nodule from the top by the at least one arm 112 during the collecting condition. As described earlier, the top 1102 may be configured to accommodate an arm base assembly 1014. For example, the top 1102 may include an arm base housing 1110, which may be configured to rotatably accommodate the arm base assembly 1014. The arm base assembly 1014 may act as a rotating linkage which may freely rotate relative to the top 1102. Rotating the rotating linkage may allow rotation of the arm base assembly 1014, thereby allowing rotation of the at least one arm about the collector crate.

[0103] FIG. 13 illustrates a perspective view 1300 of an arm base assembly 1014. The arm base assembly may include an arm plate 1302, a fixed base 1304, a first driving unit 1306, a pinion 1308 extending from the first driving unit 1306, a rack 1310 formed at an inner circumference of the fixed base 1304 and a plurality of fasteners 1312 extending from the fixed base 1304.

[0104] In one configuration, the arm base assembly 1014 may function analogous to a bearding assembly, i.e., the arm plate 1302 may be rotatable about the fixed base 1304 by introducing rotary elements such as plurality of balls (not shown in figure) therebetween. Such assembly may enable the arm plate 1302 to smoothly rotate about the fixed base 1304 with low friction. In one configuration, the fixed base 1304 may be formed as a circular ring complementing the shape of the arm base housing 1110. Further, the fixed base 1304 may be affixed to the arm base housing 1110 using the plurality of fasteners 1312. For example, the plurality of fasteners 1312 may include a plurality of head pins configured to engage slots on the arm base housing 1110 in a pin-and-slot arrangement.

[0105] In one configuration, the arm plate 1302 may be formed as a circular shaped ring, which may complement the shape of the fixed base 1304. In one configuration the arm plate 1302 may include at least one extended flange 1314. The at least one extended flange 1314 may extend from the circumference of the arm plate 1302, and may be configured to engage the first pivot joint 1007. As described earlier, the first pivot joint 1007 may be coupled to the proximal end of the arm, thereby affixing each arm to the arm plate 1302. In one configuration, the arm plate 1302 may be configured to accommodate the driving unit 1306, such as a motor. E.g., the driving unit 1306 may be mounted on the arm plate 1302 such that the driving shaft therefrom may extend vertically downwards towards the fixed base 1304. In one configuration, the driving shaft may be equipped with a pinion 1308 which may be configured to mesh, or engage to the rack 1310 disposed in the inner circumference of the fixed base 1304. The driving unit 1306 when operated, may be configured to drive the pinion 1308 on the rack 1310 for rotating the arm plate 1302 about the fixed base 1304.

[0106] In one configuration, the driving unit 1306 may be electronically connected to and operated by the collector control unit (CCU). For example, the CCU may be configured to drive the first driving unit 1306 based on the instructions received from the control unit 904 of the ocean vessel 202. In one configuration, and described earlier, the CCU may be accommodated in the electronics canister 1018 which may be further mounted on the collection crate 1002. The electronics canister 1018 is described in detail with the following configurations of the present disclosure.

[0107] Now referring to FIG. 14 illustrating a sectional view 1400 of an electronics canister 1018 adjoined to the collector units 106. The electronics canister 1018 may include a casing 1410. The casing may be covered by flanges 1412. The casing 2310 may be configured to accommodate an electronics package 1402, a battery 1406, a bulkhead connector 1408, and an equalizer valve 1414.

[0108] With continued reference to FIG. 14, the electronics package 1402, the lithium polymer battery 1406, the bulkhead connector 1408, and the equalizer valve 1414 may be immersed in a non-conductive oil bath 1404. In the same configuration, the oil bath 1404 may be maintained at a slight overpressure compared to the hydrostatic pressure exerted by seawater using a mechanical oil compensator. The mechanical oil compensator may maintain a slight overpressure utilizing a bladder exposed to ambient pressure in the ocean, and may be configured to adjust the pressure of the oil bath following (or informed by) the ambient pressure sensed by the bladder. In some configuration/situations, the role of the mechanical oil compensator may include compensation for variation of compressibility between the oil and sea water and to ensure that no sea water penetrates seals of the electronics canister 1018. In an alternative configuration, the oil bath 1404 and equalizer valve 1414 may be shared by all the actuators and the electronic canisters 1018, or may be unique and separated for individual subsystem of the electronic canisters 1018.

[0109] With continued reference to FIG. 14, the electronics package 1402 may include the collector unit sensor module, and the collector control unit (CCU) connected to the collector unit sensor module. The electronics package 1402 may be packaged in sub-modules that may be easily removed without disrupting other components, such as the battery 1406, and other components. The electronics package 1402 may operate the programing for the normal and emergency operation of the collector units 106. Further, the electronics package 1402 may be connected to the battery 1406 and the bulkhead connector 1408. The battery 1406 may include specialized batteries to power equipment such as the CCU and the collector unit sensor module in the harsh underwater environment. The battery 1406 may include alkaline batteries, lithium batteries, Nickel-Metal Hydride batteries (rechargeable), and the like.

[0110] In one configuration, the electronics package 1402 and the battery 1406 may be connected to the bulkhead connector 1408. Further, the bulkhead connector 1408 may be connected to a power transmission line (not shown in figure) spanning the collector units 106. Further, the bulkhead connector 1408 may be configured to enable communication between the CCU and the control unit 904 of the ocean vessel 202. For example, the CCU may be connected to the bulkhead connector 1408, and the bulkhead connector 1408 may be connected to a wired communication line between the collector unit 106 and the surface buoy 302, and the surface buoy 302 may be communicably coupled to the control unit 904. Such connectivity may enable communication between the control unit 904 and the electronics package 1402. Further, the bulkhead connector 1408 may also configured to connect the battery 1406 to the power transmission line. For rechargeable batteries, the bulkhead connector 1408 may be configured to transmit electrical power from the ocean vessel 202 or the surface buoy 302 to the battery 1406, to prevent depletion of the battery 1406 due to operation on the seabed 104.

[0111] In one illustrative configuration described earlier, the clamp 1020 may be configured to provide mechanical and electrical connection and disconnection to the tether 108. Therefore, the clamp 1020 may be configured to connect the bulkhead connector 1408 to the tether 108. FIG. 15 illustrates a perspective view 1500 of the clamp 1020 in an engaged condition. FIG. 16 illustrates a perspective view 1600 of an engagement process of the clamp 1020 to the tether 108. The clamp 1020, as described regarding FIG. 10, may be fixated on the vertical mast and rigging system. The clamp 1020 may include an upper bracket 1502 a lower bracket 1504, a clamping spring 1508, and a latch 1506. The clamp 1020 may be configured to securely connect the collector units 106 to the tether 108 during the process's deployment, recovery and collection phases, by latching on to a ferrule 1510 on the tether 108. Further, the clamp 1020 may also be used to fasten the collector units 106 to a storage rail during storage and operations of the ocean vessel 202. In some configurations, the clamp 1020 may be operated by the collector units 106 for emergency unfastening from the tether 108.

[0112] As described above and illustrated in FIGS. 15 and 16, the clamping mechanism may be bistable such that the clamp 1020 may remain in an open configuration under a specific compression of the clamping spring 1508. The clamping spring 1508 may be compressed by engaging the latch 1506. The latch 1506 may be disengaged to release the compression of the clamping spring 1508, which may result in closing of the clamp 1020 to a closed configuration, as illustrated in FIG. 15. The ferrule 1510 over the tether 108 may be used to facilitate the closing of the clamp 1020 and its positioning over the tether 108. The clamp 1020 may use electrical contacts to connect the bulkhead connector 1408 to the power and communication transmission lines over the ferrule 1510. Alternatively, clamp 1020 may be directly mounted on the tether 108 in applications that do not require power or data transmission through the tether 108. As may be appreciated, the tension of the clamping spring 1508 may be set to resist peak loads expected during the normal operations of the tether 108, such that the collector units 106 may be securely fastened to the tether 108. To disconnect the collector units 106 from the tether 108, the clamp 1020 may be opened such that the tether 108 and the ferrules may run freely through the clamp 1020, and may be separated from the upper bracket 1502 and the lower bracket 1504. Accordingly, the collector units 106 may be repositioned on the tether 108. During storage and operations of the ocean vessel 202, the clamp 1020 may be operated in an open configuration to reposition, or change the position of the collector units 106 on the storage rail.

[0113] FIG. 17 illustrates a perspective view 1700 of a configuration of the tether 108 with a ferrule 1510. FIG. 18 illustrates a perspective view 1800 of the tether 108 of FIG. 17 without the ferrule. With continued reference to FIGS. 17 and 18, the tether 108 may further include a braid of polymer fibers 1702. The polymer fibers 1702 may include ultra-high-molecular-weight polyethylene fibers or aramid fibers which may be structurally braided to increase tensile strength and rigidity of the tether 108. Optionally, the polymer fibers 1702 may be jacketed with a woven layer to avoid abrasion thereon. In the same configuration, a wire 1704 may be externally wounded on the braid, and may be connected to the ferrule 1510. The 1704 may be representative of the power and communication transmission line which is connected to the control unit 904 of the ocean vessel 202. Therefore, connecting the clamp 1020 to the 1510 may establish a connection between the control unit 904 and the collector units 106.

[0114] In one illustrative configuration, referring to FIG. 18, the tether 108 may be illustrated in purely structural form. In the same configuration, the tether 108 may not be capable of relaying communication and may play only a structural role, for instance when a wireless communication may be established. In this purely structural role, the wire 1704 may not be used. In the purely structural configuration, the ferrule may not be provided on the tether 108. Instead, collector units 210, buoy 302 and anchors 208 and 204 may be connected directly to the tether using any subsea wireless communication protocol described earlier. The tether 108 in the structural form may use segments that may not be made of braid of polymer fibers but instead chain links, for the purpose of damping dynamic load over the tether 108. In particular, during rough sea, the tension of the tether 108 may change chaotically resulting in shock going therethrough. To mitigate such shocks, dampener and other attachable elements may be added to the tether 108 dampen the shock experienced by the tether 108. Additionally, sections of chains may be used to connect the first anchor 204 and the second anchor 206 from being dislodged from the seabed 104.

[0115] In one configuration, and illustrated by FIGS. 17-18, the tether 108 may be configured to endure a nominal tensile strength of 100 tons, and an ultimate tensile strength of 500 tons. The polymer fibers 1702 of the tether 108 may be connected to a repeater, or a series of repeaters. The repeaters may be configured to transmit electronic signals from the collector units 106 to the ocean vessel 202.

[0116] In an illustrative configuration, with continued reference to FIGS. 17-18, the length of the tether 108 may depend on the number of collector units 106, clearance between collector units 106, depths of the seabed mining system 102 and allowed slack. For example, using 50 collector units separated by 50 meters at a depth of 6 km with a 1 km slack, a tether of approximately 9.5 km may be needed. In some configurations, the diameter of the tether 108 may depend upon the total load carried by the filled collector units 106. The diameter of the tether 108 may also depend on the dry weight of the collector units 106, the density of the equipment, seabed nodules and water, the pulling speed and advance speed of the ocean vessel 202 and of the ocean currents, drag of the tether 108 and attached equipment and the safety coefficient and tensile strength of the cable. For example, pulling a mass of 150 tons of seabed nodules of density 2 kg/cm.sup.3 with 40 tons of equipment of average density 4.5 kg/cm.sup.3 at speeds of 2 m/s may need a Dyneema cable of 100 to 200 mm diameter cross-section depending on the safety coefficient chosen.

[0117] After attaching the collector units 106 on the tether 108, the seabed mining system 102 may be operated in the deployed condition and the recovery condition. FIG. 19 illustrates a perspective view 1900 of the collector units 106; FIG. 20 illustrates a top view 2000 of the collector units 106; FIG. 21 illustrates a left view 2100 of the collector units 106; and FIG. 22 illustrates a right view 1400 of the collector units 106.

[0118] With reference to FIGS. 19-22 the collector units 106 may be in a storage, deployment, and recovery processes. During the storage, deployment, and recovery processes, the preferred operation of the at least one arm may be in the recovery condition. In one configuration, recovery condition may include folded first hollow arm segment 1004 and the second hollow arm segment 1006 in a linear alignment such that the folded arm segments are proximal to the vertical mast and parallel to the vertical axis, or an axis vertically perpendicular to the collection crate 1002. The role of the recovery condition may include minimizing drag during deployment and recovery of the tether 108 and reducing the risk of fouling of the tether 108.

[0119] Now, referring to FIG. 23 illustrating a perspective view 2300 of the collector units 106 in a deployed condition, FIG. 24 illustrating a top view 2400 of the collector units 106 in the deployed condition, FIG. 25 illustrating a left view 2500 of the collector units 106 in the deployed condition, and FIG. 26 illustrates a right view 1800 of the collector units 106 in the deployed condition.

[0120] As illustrated in FIGS. 23-26, in the deployed condition, the second hollow arm segment 1006 may move transversely with respect to the first hollow arm segment 1004 about the second pivot joint 1008. In the deployed condition, the first hollow arm segment 1004 and the second hollow arm segment 1006 may enter a gathering phase. The gathering phase may include operational subphases: (I) settling and initiation, (II) scanning of a gathering zone, (III) collecting, and (IV) readiness for transport.

[0121] During the settling and initiation, the collector units 106 may not move and may be configured to assess readiness for mining. Readiness of the collector units 106 may include indication of correct orientation and readiness of subsystem of the collector units 106. After landing of the collector units 106, a settling time may be used to let silts from landing settle back on the seabed mining system 102. Meanwhile, during settling of the silt, the at least one arms 112 may be used to correct the orientation of the collector units 106. For example, if the collector units 106 may be placed inadvertently on a side rather than resting on the seabed mining system 102, and the mast vertical and the bottom of the collection crate 1002 is placed on the seabed mining system 102, the correction in orientation of the collector units 106 may be achieved by extending the free arm upward and pushing the other arm against the seabed mining system 102. The force of the arm against the seabed mining system 102, together with the modification of the center of mass position of the collector unit 106 may be sufficient to correct the orientation of the collector units 106. In case of failure, the at least one arm 112 may attempt to return to the retracted condition and no attempt of collecting seabed nodules will be done during the collecting phase.

[0122] Scanning a gathering zone may include actuating the arm to enhance the sensor information. For example, imaging or transducer sensors, or in general, proximity sensors, or scanning sensors, may be positioned on the end effector 1016. The arms may be actuated such that the end effector 1016 may hover over the bottom to scan the seabed. One of the roles of the end effector 1016 may include detection of obstruction, identifying the terrain and the mineral nodule which may be gathered. In some embodiment, the scan may lead to aborting the gathering or to avoid certain areas in the gathering range. During scanning, the first hollow arm segment 1004 and the second hollow arm segment 1006 of each of the arms may extend in a manner described above, and illustrated by FIGS. 23-26 until the end effector 1016 is in close proximity to the seabed 104.

[0123] The scanned data may be transmitted to the control unit 904. Further, the control unit 904 may be configured to analyze the scans and may be configured to determine if the conditions of the seabed 104 fall under the established set of rules. When it may be established that the conditions are favorable for extraction, the control unit 904 may transmit an instruction, or command to the CCU to initiate the collecting condition. In the collecting condition, the at least one arm 112 may be fully extended about the collection crate 1002 to collect the at least one seabed nodule from the seabed 104.

[0124] Referring to FIG. 27 illustrating a side view 2700 of the collector units 106 in a fully extended condition, FIG. 28 illustrating another side view 2800 of the collector units 106 in the fully extended condition, FIG. 29 illustrating a perspective view 2900 of the collector units 106 in the fully extended condition, and FIG. 30 illustrating a top view 3000 of the collector units 106 in the fully extended condition.

[0125] As illustrated by FIGS. 27-30, the arms of the collector units 106 may be in a fully extended condition. The extension of the at least one arm 112 may be defined by length, which signifies a range around the collection crate where the mineral nodule may be reached for collection. In the fully extended condition, the length of the arm may extend up to the range of collection. For example, a 20-meter radius range of collection implies that the at least one arm 112 extends at or past 20 meters when fully extended.

[0126] In the collecting condition, as described above, the weight of the collection units 106 may be distributed in order to land on the seabed 104 without tipping over on sloped or uneven ground. Further, the at least one arms 112 may be fully deployed such that the end effector 1016 may be proximal to the seabed mining system 102. Accordingly, the CCU may be configured to operate the driving unit 1306 to rotate the at least one arm 112. Rotation of the arms may enable the end effector 1016 to traverse a trajectory on the seabed to collect (e.g., by scooping or excavating) the seabed nodules, or a fraction of the seabed nodules, and transmit the excavated seabed nodules into the collection crate 1002. In one configuration, the trajectory traversed by the end effector 1016 may include discrete spiral trajectories or discrete circular trajectories. As described earlier, for multiple arms 112 extending from the collection crate 1002, each arm may be rotated so that the end effector 1016 on each of the arm may be configured to traverse a discrete trajectory on the seabed 104. For example, the end effector 1016a on the arm 112a may be configured to traverse a first spiral trajectory, and the end effector 1016b on the arm 112b may be configured to traverse a second spiral trajectory. In such conditions, the first spiral trajectory may differ from the second spiral trajectory, and the first spiral trajectory may not overlap the second spiral trajectory to prevent over-digging or scooping the seabed 104. Due to discrete trajectories, the amount of local and remote environmental disruption may be significantly reduced, providing a net benefit to the mining process. While a similar amount of silt may be disrupted by the collection process using the seabed mining system 102, both the speed and local intensity of the disruption may be lower than the conventional systems, resulting in almost no disruption of the local ecosystem by the simple fact of the spatial dilution of the plume. Each collector unit may only disrupt less than 1 liter (0.001 m.sup.3) of sediment per second. As a result, the resulting plume may be quickly dissipated in a few meters and a few minutes.

[0127] In one configuration, the discrete spiral trajectories may be achieved using various configurations of the at least one arm 112. For example, the length of the arms may be distinct, such that any degree of extension of the arms having distinct length may result in the arms getting distinctively extended, and hence, resulting in respective end effectors 1016 traversing the discrete, non-overlapping spiral trajectories on the seabed. For example, with continued reference to FIG. 30, the length of the second hollow arm segment 1006b of the arm 112b may be substantially less than the length of the second hollow arm segment 1006a of the arm 112a. As a result, when extended, the first spiral traversed by the end effector 1016a may be discrete from the second spiral traversed by the end effector 1016b. Alternatively, in an illustrative configuration, each of the first pivot joint 1007 and the second pivot joint 1008 may include a first segment motor, and a second segment motor, respectively (not shown in figures). The first segment motor may be configured to rotate the first arm segment about the arm plate 1302, and the second segment motor may be configured to drive the second hollow arm segment 1006 against or towards the first hollow arm segment 1004. As may be appreciated, the CCU may be configured to operate the first segment motor and the second segment motor for extending the arm 112 on the seabed 104. To achieve discrete spiral trajectories, each of the first segment motors and the second segment motors of each arm may be operated distinctively compared to the other arms, such that the resulting spiral trajectories may be discrete. It must be noted that the spiral trajectories may be initiated from the collection crate 1002 and may increase gradually against, or away from the collection crate 1002. Alternatively, the spiral trajectories may also be initiated from a predefined radius form the collection crate 1002, and may terminate at the collection crate 1002. The selected trajectory may depend on the expected yield of the seabed mining system 102, the presence of obstacles, number of arms and the expected ratio of harvested area to total gathering range. In some configurations, the gathering may be optimized to minimize the local impact of gathering the seabed nodules for environmental reasons, such as preserving a fraction of the local habitat. In some configurations, the gathering trajectory may be programmed ahead of time, updated by an operator in real time, or automatically updated based on scanning information gathered during scanning.

[0128] With continued reference to FIGS. 27-30, the collection speed may also be optimized for reducing the disruption of the sediment and may operate at rhythms of several nodule collected per collector per second (e.g., 1 per second, 2 per second, etc.). This speed allows for economic competitiveness while minimizing damage to the environment. The at least one arm may proceed with collecting the seabed nodules in a radius of the seabed mining system 102 which may range between 5 meters to 20 meters around the collector units 106, until their respective collection crate 1002 may be filled entirely, hence reaching a desired weight or until all accessible seabed nodules may be collected. The collection units 106 may proceed to communicate the status of the collector units 106 through the tether 108 to the surface buoy 302.

[0129] The surface buoy 302 may receive and pass commands from the control unit 904 to alter the programmed behavior of the collector units 106 (e.g., abort gathering, proceed with emergency line separation, proceed with unjamming, capturing pictures, etc.). In one configuration, the collecting condition may be completed when the expected mass of seabed nodules may be collected in the closed storage 1202 of the collection crate 1002. A degree of occupancy, or volumetric capacity of the closed storage 1202 may be sensed by the ultrasound sensor 918 (refer to FIG. 9) to analyze volume of the seabed nodules occupying the closed storage 1202. The sensor data from the ultrasound sensor may be analyzed by the control unit 904, and hence, occupancy of the closed storage may be determined. In one configuration, if the at least one arm 112 concludes their trajectories without attaining a desired quantity of seabed nodules, an instruction to cease the collection of seabed nodules by the collection units 106 may be transmitted by the control unit 904 to the collector control unit (CCU).

[0130] As described earlier, the first hollow arm segment 1004 and the second hollow arm segment 1006 of the at least one arm 112 may formed as hollow cylindrical shaped members. To gather the seabed nodules in the closed storage 1202, the first hollow arm segment 1004 and the second hollow arm segment 1006 may include a conveyor. The conveyor may include an auger, or a similar screw-mechanism which may be configured to collect and transmit the seabed nodules from the end effectors 1016 to the closed storage 1202. The collection mechanism of the end effectors and the sugar mechanism is described in detail in following configurations of this disclosure.

[0131] Now referring to FIG. 31, which illustrates a perspective view of 3100 of the second hollow arm segment 1006 and the end effector 1016, FIG. 32 illustrating another perspective view 3200 of the second hollow arm segment 1006 and the end effector 1016, FIG. 33 illustrating another perspective view 3100 of the second hollow arm segment 1006 and the end effector 1016, FIG. 34 illustrating another perspective view 3100 of the second hollow arm segment 1006 and the end effector 1016, FIG. 35 illustrating another perspective view 3100 of the second hollow arm segment 1006 and the end effector 1016, FIG. 36 illustrating another perspective view 3100 of the second hollow arm segment 1006 and the end effector 1016, and FIG. 37 illustrating another perspective sectional view 2400 of the arm segment and the effector of the collector unit, respectively.

[0132] As described earlier, the first arm segment 1006 and the second hollow arm segment 1006 may be formed as the hollow cylinder. The hollow cylinder of the first hollow arm segment 1004 and the second hollow arm segment 1006 may include a conveyor 2408. The conveyor 2408 may include an auger, or a similar screw-mechanism. Further, to the second hollow arm segment distal end, the end effector 1016 may be connected.

[0133] With continued reference to FIGS. 31-37, the end effector 1016 may include a cylindrical brush 3104. The cylindrical brush 3104 may include a rotatable cylinder equipped with a plurality of bristles placed on the outer circumference thereof. In some configurations, the rotatable cylinder 2704 may be placed adjacent to a ramp 3106, which may act as the lower jaw. The cylindrical brush 3104 may be rotated by another driving unit (not shown in the figure). The CCU based on command received from the control unit 904, may be configured to actuate the driving unit to rotate the cylindrical brush 3104. The cylindrical brush 3104 may rotate towards the ramp 3106, in the opposite direction of a motion of the effector 1016, such that any mineral nodule may be pushed against the ramp 3106 and may be fed in the conveyor. In one configuration, the ramp 3106 may include openings or slits to reduce the amount of sediments, silts and other debris being fed to the conveyor. The region between the cylindrical brush 3104 and the ramp 3106, may serve as an end effector inlet.

[0134] In one configuration, the bristles my include thin flexible rods that may apply a brooming force on the seabed nodules positioned in a predefined range of the end effectors 1016. Because of the thin cross-section, the bristles minimally disturb the sediment layer on the seabed 104. Additionally, due to flexibility, the bristles may tend to bend when immersed in the seabed, such as below the seabed nodules, to prevent jamming during collection. This bending action may generate an additional force, causing seabed nodules to be conveyed over the ramp 3106 through the end effector inlet.

[0135] The action of the end effector 1016 on the seabed 104 may be constituted of three phases, which may include initiation phase, advancing phase, and a clearing phase. Referring to FIG. 31, the end effector 1016 in this configuration may operate in the collecting phase. In this phase an initial contact of the effector 1016 against the seabed 104 may be established. Further, the ramp 3106 may be positioned parallel to the seabed 104. The teeth of the ramp 3106 may be adjacent to the seabed nodule. Further, the teeth may include a cutting edge, and a leading edge (not shown in figure). The cutting edge of the set of teeth may be positioned against the upper region of the sediments on the seabed (e.g., in the first few centimeters of sediments), and the leading edge of the set of teeth may be positioned lower than the center of mass of the seabed nodule. The positioning of the lower jaw of the effector relative to the seabed may be achieved by the operation of the mechanism of the arm segments and by the presence of an alternative stabilizing system (e.g., wheels along with suspensions) in the end effector 1016, to keep the attitude of the end effector 1016 consistent on the seabed 104.

[0136] Now, with continued reference to FIGS. 31-34, after positioning of the end effectors 1016 on the seabed 104, the end effector 1016 may operate in the advancement phase, i.e., the end effector 1016 may advance forward (i.e., by rotating the arm 112). In some configuration(s), the end effector 1016 may advance by a distance corresponding to the median nodule size to engage a first load of nodules against the ramp 3106. The cylindrical brush 3104 may then be rotated clockwise so that the bristles may contact the first load of seabed nodule. After contact, the first load of seabed nodule may be pushed along the ramp 3106 into the end effector inlet. In an alternative operation, the advancement phase may also include concurrent operation of the cylindrical brush 3104 and the ramp 3106 than a sequential action.

[0137] In an illustrative configuration, with continued reference to FIG. 31-34, the size and spacing of the bristles may be optimized to match the expected size and burying depth of the seabed nodule. In one configuration, the seabed nodules to be sought may be buried within the first 20 cm of silts at the bottom. The size of the seabed nodules may vary from 2 cm to 30 cm in diameter, depending on the nodule field. Correspondingly, the cylindrical brush 3104 and the ramp 3106 may be selected based on the gathering field's expected nodule size. By way of an example, cylindrical brush 3104 in the end effector 1016 for a 5 cm average diameter nodule picking may be replaced by another cylindrical brush 3104 having a greater length and greater space therebetween, to collect a 20 cm average diameter nodule. The length of the brush may range between 5 centimeters and 50 centimeters.

[0138] The third phase may include a cleaning phase, which may further include clearing the end effector 1016 illustrated by FIGS. 35-36. The collected seabed nodule may be transmitted through the rest of the arm 112 using conveyor mechanisms 3702, such as augers internally disposed in the first hollow arm segment 1004 and the second hollow arm segment 1006. The auger mechanism is illustrated in detail in the following configuration of the disclosure.

[0139] With continued reference to FIG. 37, the seabed nodules may be collected by a conveyor system or a similar transmission mechanism internally disposed in the end effector 1016. In one configuration, the conveyor system may be connected to the conveyor mechanisms 3702. The conveyor system may feed the seabed nodules to the conveyor mechanisms 3702. In one configuration, the conveyor mechanisms 3702 may include an auger, or a similar screw mechanism configured to collect the seabed nodule from the conveyor system. The conveyor mechanisms 3702 may include a first conveyor screw disposed in the first hollow arm segment 1004, and a second conveyor screw disposed in the second hollow arm segment 1006. The second conveyor screw may be configured to collect the seabed nodule from the conveyor system, and may further transmit the collected seabed module to the first conveyor screw, as indicated by the indicia. Further, the first conveyor screw may be configured to transmit the collected seabed nodule to the collection crate 1002.

[0140] In one configuration, the speed of the conveyor may be modified based on the rate of feed (seabed nodules) collected from the end effector 1016. The end effector 1016 feeding inlet may be positioned tangentially to the arc of the arm. In another configuration, the extension and height of the arm may vary during collecting such that the end effector may maintain a proper gathering attitude with respect to the seabed 104, such that a speed at which the seabed nodules are excavated may match and maintain a feeding speed, especially when the trajectory of the arms covers new unfathered ground.

[0141] In one configuration, the effector 1016 may use passive mechanisms to improve the attitude and position of the effector 1016 with respect to the seabed 104. For instance, the end effector 1016 may be equipped with wheels along with suspensions to maintain the end effector 1016 parallel to the ground. The suspension may redistribute the force applied by the arm if the force may not be perfectly normal to the ground and insure the effector attitude.

[0142] In one configuration, the end effector 1016 may be equipped with auxiliary sensors. The auxiliary sensors may include optical, multispectral, contact-based, imaging or non-imaging sensors and emitters. It should be noted that in some implementations, the ultrasonic transducers may be advantageous to optical sensors because of their robustness in identifying and verify the presence of a load of nodules in close proximity of the end effector 1016. For example, sensors such as ultrasonic transducers may be embedded in the end effector 1016. The ultrasonic transducers may be configured to extract a profile data of a seabed nodule in front of the end effector 1016. Such data may then be used to vary the advancing speed of the effector 1016 over the seabed as well as the attitude of the effector. Indeed, in an area devoid of the seabed nodules, the end effector 1016 may be lifted off the seabed 104 to minimize the disruption of sediments. Further, in a variably dense field of nodules, the advancing speed may be modified to provide a consistent excavation rate. Therefore, the presence of lifeform may be identified and colonized nodules may be avoided.

[0143] Jamming may occur during gatherings. The mechanism of the end effector 1016 as well as the conveyor mechanisms 3702 may be operated in reverse to attempt unjamming. A remote operator may assist by sending commands and receiving feedback from the collector units 106. In some configurations, the jamming may be identified automatically (e.g., torque monitoring of the first driving unit by the CCU) and a programmed unjamming routine may be automatically attempted. In some configurations, one of the arm operations may be suspended in case of issue and the trajectory of the remaining operational arms may be updated to complete the collecting operations.

[0144] Finally, for readiness and transportation, the at least one arm may be repositioned into retracted condition, which is described above and illustrated by FIGS. 19-22. Each of the collector in the collector units 106 may communicate readiness for transport to the surface buoy 302. The readiness of transport may be achieved when the at least one arm are in position or may conversely relate to a failure of operation. The collector units 106 may release a sonar reflector for the purpose of identifying collection ranges when deploying more tethers 108. The surface buoy 302 may inform the ocean vessel 202 of the position and status for recovery of the tether 108 using satellite communication.

[0145] Now, referring to FIG. 38 illustrating a top view 3800 of an ocean vessel 202, FIG. 39 illustrating a side view 3900 of the ocean vessel, and FIG. 40 illustrating a rear sectional view 4000 of the ocean vessel 202. The ocean vessel 202 may be 25 to 300 meters in length, and capable of operating a plurality of tethers and collector units, with a storage capacity of approximately 100 to 30000 mT capacity of seabed nodules.

[0146] In an illustrative configuration, the ocean vessel 202 may include a storage system. The storage system may include acceleration and deceleration mechanism (e.g., a plurality of drums 3802 of varying spinning speed) and storage system. The storage system may be configured to hold in storage the collector units 106, anchors 204, 206, buoys 302 and other elements to be clamped on the tether 108, which may be retracted or rolled back in a roll-back condition after completion of the collecting condition. It may also facilitate servicing, unloading of the collection unit and replacement of the units. Since more than one tether 108 may be operated by each vessel, more than one storage system may be used.

[0147] In one illustrative configuration, the storage system may include a bunker 3806 that may be positioned at the stern of the ocean vessel 202. The stern, as commonly known, is located opposite the bow. Further, the stern may be configured to accommodate a lifting mechanism, which may include a plurality of drums 3802, a transmission assembly such as plurality of links 3804 corresponding to the plurality of drums 3802, and a bunker 3806. On the ocean vessel 202, the collection units 106, the sonar and the surface buoy 302 may be plugged to power, fluids, and data outlets for charge, fluid replenishment, and diagnosis. Defective subsystems (e.g., sonar, buoy, collector units) may be singled out and removed from the storage system for maintenance and replacement based on their operation performance, diagnostic results, and inspection. Deck covers are removed from the deck to expose the grates leading to the bunkers 3806. When the collector units 106 are received by the storage systems, the collector units 106 may be unclamped from the tether 108. The collector units 106, when emptied, may be clamped again to the tether 108 for re-deployment.

[0148] While re-deploying, the storage system may utilize the plurality of wheels 3808, each wheel spinning at increasing speed to accelerate a collector unit 106 from rest to the speed of the tether 108. This may be implemented, for example, by using gearboxes between each of the wheels from the plurality of wheels 3808, that may be connected mechanically to a lifting motor or a winch mechanism. Moreover, the lifting motor or the same winch mechanism may be configured to uncoil the tether by rotating the plurality of drums 3802. In some embodiment, each wheel may be spun independently at a predefined speed determined by a control mechanism. In other configurations, the wheel may use a mixture of mechanical reduction and independent control. For instance, if 3 sets of wheels are used, the first wheel may be spun at the speed of the third wheel, and the second wheel at the speed of the third wheel, the third wheel providing an advance speed of a collector unit 106 comparable to the tether 108. In practice, several (e.g., 10) sets of wheels may be used, with each consecutive wheel spinning at a fraction of the wheels spinning at a speed compatible to the uncoiling speed of the tether 108. The fraction of speed may be determined such that the acceleration of the collector units 106 may be approximately constant or follow a predefined acceleration curve. During coiling of the tether, or when pulling load back onboard ship, the plurality of wheels 3808 may be spun in the opposite direction with a predefined deceleration to slowly pull the collector units 106.

[0149] In one configuration, the plurality of wheels 3808 may accelerate and decelerate collector units 106 by applying a frictional force on the clamping mechanism. In other embodiment, the wheels may instead apply the frictional force on the feet or crate of each collector units. In yet other configuration, the plurality of wheels may be distributed around different contact area of the collector units 106 (clamp, feet, crate, etc.) to improve the stability of the collector units 106 during transfer to and from the tether. Note that a similar clamping mechanism and acceleration/deceleration system may be used to clamp anchors, buoys, repeaters and any other equipment to be fastened and unfastened to the tether.

[0150] In an illustrative configuration, referring to FIG. 38, the collector units 106 may be hinged to the plurality of links 3804, such that the collector units 106 may be positioned directly above the bunker 3806 and suspended from the plurality of links 3804. Each collector unit 106 may be opened (e.g., through unloading gates) such that the seabed nodules may be transferred to the bunker 3806 under the influence of gravity. The collection crates 1002 are then closed and deck covers may be replaced for subsequent operations.

[0151] In an illustrative configuration, referring to FIGS. 38-40, the seabed nodules may be moved through the bunker 3806 with the help of a conveyor system 4002 (e.g., screw conveyor) in order to distribute the mineral nodule in the bunker 3806. In another configuration, a pre-processing unit may be installed on the ocean vessel. The pre-processing unit may be configured to process the collected seabed nodules, to remove excess sea water therefrom. The excess seawater may be collected in a bilge and pumped overboard. The bilge water may be filtered to avoid releasing a plume of sediments and the excess sediment may be dredged off the bilge at the port. In the same configuration, the ocean vessel 202 may include a nodule elevator 4006. The nodule elevator 4006 may be accessed by an on-board personnel for maintenance or diagnostics to be carried out, if required. Alternatively, the seabed nodules may be instead stored in containers. Such containers may be moved within the ship for balance and for transshipment. Transshipments may be performed using a transshipment apparatus or by dropping containers in the sea (in the case of floating containers).

[0152] In an illustrative configuration, when the ship reaches maximum capacity or when it is favorable, the ocean vessel 202 may be equipped with the transshipment apparatus. The transshipment apparatus may be configured to transfer the seabed nodules to another transport vessel rather than returning to a port. In some configurations, an elevator may be positioned aft of the ocean vessel 202 to raise the seabed nodules from bunker 3806 to deck level. Alternatively, a conveyor belt mounted on a rotating boom may be positioned on the vessel's aft section to facilitate transshipment without risking close contact with other vessels. The mineral nodule may then be transferred to the storage compartment of a bulker vessel. Further, the seabed nodules may be moved forward and backward simultaneously by different systems in the vessel to avoid listing during transshipment.

[0153] In an alternative configuration, the ocean vessel 202 may store nodule in transfer containers within the bunker 3806. During transshipment, the containers may then be transferred using cranes to a transport or storage vessel and replaced with empty containers. A dedicated onboard system may move the containers around the vessel to simplify crane operations. For example, the containers may be mounted on rails and moved toward a loading and unloading area where a crane hook can operate without interfering with the other ship operations, such as the storage system. The crane may be part of the ocean vessel 202 or of the transport (e.g., bulker) or storage (e.g., barge) vessel. This storage method may also allow for loading and unloading at port.

[0154] In an alternative configuration, the ocean vessel 202 may be used to store and transfer seabed nodules in transshipment using floating containers. The floating containers may be rigid or flexible or formed by a net or mesh. The floating container may use buoys or rigid ballast for flotation. The floating containers may be pulled off directly into the sea and unloaded from the ship. Further, the floating containers may be fastened in a group for ocean storage. If rigid containers may be used, instead of floating containers, the rigid containers may be interlocked and form an unpropelled barge. The ocean vessel 202 may then pull the interlocked rigid containers to port when a maximum load is reached. Alternatively, interlocked rigid containers can be pulled to a site proximal to the mining operation and progressively loaded inboard during the mining voyage. Pulling them onto a storage barge using a crane is an option if flexible containers are utilized. Sufficient flexible containers may be stored within the ocean vessel 202 for an entire mining voyage, or loading directly from the storage barge is another possibility. Whether self-propelled or unpropelled, the barge can be pulled by the ocean vessel to the mining site and sea anchored when not in use. Equipping the barge and/or containers with beacons, visible markings, lights, wireless or satellite communications, and positioning sensors enables communication of their geographical coordinates to the ocean vessel when deployed at sea.

[0155] The seabed mining system illustrated by FIG. 1 may mine an uneconomical area for dredging (for example, less than 10 kg/m3 of mineral nodule or slope higher than 10 degrees). Indeed, a 20 m range for the collector arms may allow for economical collection at densities of 2.5 kg/m.sup.3 if 3 tons of seabed nodules per collector may be sought, and slopes higher than 20 degrees may be mined with this technique. Similarly, even if an impassable obstacle exists, the collector units 106 may be deployed between obstacles while the dredging unit needs clear flat runs.

[0156] In an alternative configuration, a strategy akin to bottom trawl net deployment may be used, in which the collector units 106 on a tether 108 may be trawled transversally to a course of the ocean vessel 202 between two tethers. In this embodiment, trawl doors may be used to create hydrodynamic forces for spreading the collector unit transversely to the course of the ocean vessel 202. When the correct separation between collector units 106 and depth of the tether 108 are reached, the ship speed may be abated, the trawl tethers may be released and the collector units 106 may be left to sink under ballistic trajectories, thereby maintaining their distances while sinking to the bottom. Sensor probes may be attached to the trawl doors to identify the position of the seabed mining system 102 with respect to the seabed mining system 102. Because two lines may be used, some redundancy can be achieved through this method and the deployment strategy may require less dry weight for anchoring, to the cost of a slightly more complex rigging system.

[0157] In another alternative configuration, the seabed mining system 102 may include emergency system. The emergency system may include a variety of protocols as a response to situations which may involve failure of the seabed mining system 102. Failure during the different phases of deployment, collection, recovery and storage may enable the emergency systems. During storage, some collection units 106 may be found inoperable due to not passing diagnostics. In that case, these collection units 106 may be removed from the storage rail for maintenance and or be replaced by replacement units.

[0158] During deployment or recovery, fouling of the tether 108 or jamming of the collector units 106 may lead to the inability to fully deploy or recover the tether 108. First, unjamming of machinery may be attempted to rectify the situation. Unjamming may include potentially restarting the deployment or recovery of the tether 108. In some instances, this is insufficient, and a section of the tether 108 may not be recoverable. In such a case the tether 108 may need to be cut in order to avoid trailing a fouled section of tether 108, which may stop the operation of the ship and create a potential danger to the ocean vessel 202 and the crew on-board. If cutting is the only option, the collector units 106 may enter an emergency mode in which the collection crate 1002 may be first jettisoned. This may be achieved by separating the collection crate 1002 from the rest of the collector units 106. This operation makes each collector unit positively buoyant since the ballast 1012 may offset the dry weight of the collection crate 1002. The collection crate 1002 may therefore sink and remain at the seabed mining system 102 and may not be recovered. The materials used in the construction of the collection crate 1002 may be specifically designed to minimize the disruption of the habitat at the seabed, when collection crate 1002 may be jettisoned. Similarly, any anchors and other negatively buoyant elements attached to the tether 108 may be jettisoned, such that the cut off segment of tether may be positively buoyant. Each collector units 106 may be equipped with a radio beacon to be activated in case of emergency in order to facilitate retrieval of the collector units 106. In some emergency situations, the collector units 106 may fully disconnect from the tether 108 as well as from the collection crate 1002, such that the collector units 106 may be recovered at the surface.

[0159] In another alternative configuration, the collector units 106 may include a plurality of failure points. The plurality of failure points may include a primary failure point between the collection crate 1002 and the at least one arm 112, and a secondary failure point located between the collection crate 1002 and the tether 108. In this configuration, if the tension applied by the tether 108 on the vertical mast and rigging system exceeds a predefined threshold, the first failure point is triggered, causing the detachment of the at least one arm 112 from the collection crate 1002. Moreover, if the tension on the vertical mast and rigging system exceeds a second threshold and the first failure point fails to activate, the second failure point comes may be activated, leading to the disconnection of the collection crate 1002 from the tether 108. Importantly, the surface buoy 302 is designed to facilitate the retrieval of the collection crate 1002 from the seabed when either the first or the second failure point is activated.

[0160] Now, referring to FIG. 41 illustrating a flowchart 4100 of a seabed mining method. In one illustrative configuration, a seabed mining method for extracting at least one seabed nodule from a seabed is disclosed.

[0161] At step 4102, an ocean vessel 202 may be provided. The ocean vessel 202 may include but not limited to cargo ships, tankers, specialty vessels, and the like. At step 4104, a tether from the ocean vessel may be deployed. The tether 108 may be deployed from a tether management system onboard the ocean vessel 202. The tether 108 may include a free end onto which the first anchor 204 may be affixed. Further, a second anchor 206 may be affixed at a predefined distance from the first anchor 206.

[0162] At step 4106, an array of collector units 106 may be distributed on the tether 108 between the first anchor 204 and the second anchor 206. Each collector unit may include a collection crate 1002. The collection crate 1002 may include a bottom 1104, a top 1102 oppositely disposed to the bottom 1104, and at least one wall 1106a, 1106b, 1106c, and 1106d disposed between the top 1102 and the bottom 1104 to define a closed storage 1202 within the collection crate 1002. The collector units 106 may include at least one arm 112 extending from the collection crate 1002. Each arm from the at least one arms may include a proximal arm end and a distal arm end.

[0163] At step 4108, an end effector 1016 may be provided. Further, the end effector 1016 may be movably coupled to the distal arm end. At step 4110, each of the at least one collector unit may be operated between a collecting condition and a recovery condition. In the collecting condition, at least one collector units 106 may be deployed on the seabed 104. Further, at least one at least one arm 112 from the collection crate 1002 may be distinctively extended. Further, at least one at least one arm 112 may be rotated such that each end effector 1016 traverses a discrete trajectory on the seabed to collectively collect at least one seabed nodule therefrom. In the recovery condition, each arm 112 from the seabed may be retracted, and linearly aligned along an axis normal to the collection crate 1002.

[0164] The methods, systems, devices, graphs, and/or tables discussed herein are examples. Various configurations may omit, substitute, or add various procedures or components as appropriate. For instance, in alternative configurations, the methods may be performed in an order different from that described, and/or various stages may be added, omitted, and/or combined. Also, features described with respect to certain configurations may be combined in various other configurations. Different aspects and elements of the configurations may be combined in a similar manner. Also, technology evolves and, thus, many of the elements are examples and do not limit the scope of the disclosure or claims. Additionally, the techniques discussed herein may provide differing results with different types of context awareness classifiers.

[0165] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly or conventionally understood. As used herein, the articles a and an refer to one or to more than one (i.e., to at least one) of the grammatical object of the article. By way of example, an element means one element or more than one element. About and/or approximately as used herein when referring to a measurable value such as an amount, a temporal duration, and the like, encompasses variations of 20% or 10%, 5%, or 0.1% from the specified value, as such variations are appropriate to in the context of the systems, devices, circuits, methods, and other implementations described herein. Substantially as used herein when referring to a measurable value such as an amount, a temporal duration, a physical attribute (such as frequency), and the like, also encompasses variations of 20% or 10%, 5%, or 0.1% from the specified value, as such variations are appropriate to in the context of the systems, devices, circuits, methods, and other implementations described herein.

[0166] As used herein, including in the claims, and as used in a list of items prefaced by at least one of or one or more of indicates that any combination of the listed items may be used. For example, a list of at least one of A, B, and C includes any of the combinations A or B or C or AB or AC or BC and/or ABC (i.e., A and B and C). Furthermore, to the extent more than one occurrence or use of the items A, B, or C is possible, multiple uses of A, B, and/or C may form part of the contemplated combinations. For example, a list of at least one of A, B, and C may also include AA, AAB, AAA, BB, etc.

[0167] While illustrative and presently preferred embodiments of the disclosed systems, methods, and/or machine-readable media have been described in detail herein, it is to be understood that the inventive concepts may be otherwise variously embodied and employed, and that the appended claims are intended to be construed to include such variations, except as limited by the prior art. While the principles of the disclosure have been described above in connection with specific apparatuses and methods, it is to be understood that this description is made only by way of example and not as limitation on the scope of the disclosure.