COLLECTING DEVICE CONTROLLER OF MINING ROBOT FOR DEEP-SEABED MINERAL RESOURCE AND THE METHOD THEREOF

摘要

The present invention relates to a device for controlling a collecting device of a deep-sea ore mineral concentrating robot for controlling the height of the collecting device part according to the inclination and altitude of the deep sea floor and thereby protecting the collecting device part and improving the collecting efficiency of the deep-As a result,The apparatus for controlling a collecting unit of the deep sea mineral concentrating robot includes a sound wave detecting unit mounted on a front surface of a collecting unit to receive a reflected sound wave after transmitting a sound wave to the undersurface and output sound wave information and time information; A terrain computing unit for analyzing the transmission / reception sound wave information and the time information of the sound wave detecting unit to acquire the submarine topography information located on the running front of the light focusing robot; And a controller for calculating an attitude control cylinder driving signal for causing the collecting device to generate an optimal Coanda effect or a position that does not collide with the submarine obstacle by the position of the undersurface topography using the terrain information, And an attitude control cylinder driving operation unit for driving the attitude control cylinder,It is possible to protect the collecting unit of the light collecting robot and to improve the collection efficiency of the mineral when collecting the deep sea mineral.;