深海采矿扬矿管处于海洋环境之中，受海浪、海流以及采矿船拖航的影响，会发生大的偏移。
Deep ocean mining pipe has a large deflective displacement under the wave, currents and dragging by mining vessel in ocean environment.
但确定集矿机与采矿船的行走路线是深海采矿的难题。
However, determining the traveling route of both collector and mining ship is a difficult problem on deep sea mining.
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