The invention relates to a
seabed mining vehicle underpan, a
seabed mining vehicle and a controlling method for the
seabed mining vehicle. The mining vehicle underpan comprises four electric-driving type
caterpillar band walking mechanisms, four hanging mechanisms, an underpan frame and an underpan
control system, the four electric-driving type
caterpillar band walking mechanisms are mounted on the four hanging mechanisms correspondingly, and each electric-driving type
caterpillar band walking mechanism is mounted on a bearing rod of the corresponding hanging mechanism through a caterpillar band frame; the bearing rods are connected with a steering lever through nuts and screw rods, and the inner ends of the steering levers are connected with hanging seats of the underpan frame through sliding bearings; and the underpan
control system which is mounted on the underpan frame comprises an electronic bin, an acoustic
beacon and an inertial navigation
assembly. When the seabed mining vehicle is in the running process, calculating is conducted by the underpan
control system according to data collected by a sensor to adjust all the caterpillar band walking mechanisms in real time, and the height of each caterpillar band walking mechanism can be adjusted independently, so that the mining vehicle keeps balance in the walking process, the
terrain adaptive capacity and the over-obstacle capacity of the mining vehicle are improved, and the mining vehicle can better adapt to a complex seabed environment.