Multi-parameter experimental method for simulating seabed jet flow tuberculosis collection process

Abstract

The invention discloses a multi-parameter experiment method for simulating a seabed jet flow tuberculosis collection process, which comprises an experiment table, the experiment table comprises an observation water tank, an experiment water tank is arranged in the observation water tank, and a pressure monitoring module is arranged on a bottom plate of the experiment water tank; two groups of jet nozzles are oppositely arranged above the experimental water tank; during testing, the height, the spraying angle and the spraying flow speed of the jet nozzles and the distance between the two sets of jet nozzles are preset, simulated sediment is placed on a bottom plate of the experimental water tank, and water flow is sprayed into the water tank through the jet nozzles so as to simulate the jet collection process; the method comprises the following steps of: establishing a mathematical model by taking collected particle carrying efficiency data as a response variable and taking the height of a jet nozzle, the angle of the jet nozzle, the jet flow velocity and the distance between two groups of jet nozzles as input variables; according to the method, the design means of multi-parameter flexible adjustment and mathematical model analysis are adopted, and technical support with theoretical depth and engineering practicability is provided for efficient collection of deep sea polymetallic nodules.

Description

Technical Field

[0001] The present invention relates to the technical field of marine mineral resource collection, in particular to a multi-parameter experimental method for simulating a seabed jet nodule collection process. Background Art

[0002] Seafloor polymetallic nodules, a significant marine mineral resource, are widely distributed across flat deep-sea terrain, offering enormous development potential. In recent years, with the advancement of deep-sea resource development technologies, the collection of seafloor nodules has become a research priority. Among these, the use of fluidics for non-contact disturbance and collection has garnered significant attention due to its simple structure, adaptability, and minimal impact on the seafloor environment.

[0003] Traditional jet collection research relies heavily on numerical simulations or experimental verification under idealized conditions, which struggle to fully reflect the jet's perturbation and transport characteristics under complex seafloor topography and sediment conditions. Furthermore, most existing experimental platforms have fixed structures, making it difficult to flexibly adjust parameters such as nozzle position, angle, and velocity. Furthermore, their data collection capabilities are limited, limiting the systematic study of jet behavior under diverse operating conditions. Consequently, traditional experimental simulations struggle to realistically and objectively simulate the process of seafloor jet collection of nodules.

[0004] Therefore, there is an urgent need for an experimental platform and experimental method that can more realistically simulate the seabed environment and has highly flexible parameter adjustment functions, so as to achieve a comprehensive analysis of the flow field distribution, particle disturbance and transport process under the action of the jet, provide theoretical support and experimental basis for the optimal design and parameter selection of actual seabed collection equipment, and promote the development of seabed jet collection technology. Summary of the Invention

[0005] The purpose of the present invention is to solve the deficiencies in the prior art and to provide a multi-parameter experimental method for simulating the process of collecting nodules by seabed jets.

[0006] The purpose of this method is achieved through the following technical solution: a multi-parameter experimental method simulating the process of collecting nodules by seabed jets, comprising an experimental platform, an observation water tank, an experimental water tank provided in the observation water tank, and a pressure monitoring module arranged on the bottom plate of the experimental water tank; the pressure monitoring module detects the impact pressure distribution information on the bottom plate; two groups of jet nozzles are arranged above the experimental water tank relative to each other, and the two groups of jet nozzles are respectively installed on adjustment devices, and the height of the jet nozzles, the angle of the jet nozzles, and the spacing between the two groups of jet nozzles are adjusted by the adjustment devices; During the experiment, the height, spray angle, spray velocity of the jet nozzles, and the spacing between the two sets of jet nozzles were preset. Simulated sediment was placed on the bottom plate of the experimental water tank, and water was sprayed into the water tank through the jet nozzles to simulate the jet collection process. The particle transfer and deposition area was obtained by tracking the particle transport path and speed. The mass of the particles deposited in the particle transport and deposition area was counted to calculate the transport efficiency. The collected particle transport efficiency data were used as the response variable, and the jet nozzle height, jet nozzle angle, jet flow rate and the distance between the two groups of jet nozzles were used as input variables. A mathematical model was established to fit the relationship between the input variables and the transport efficiency.

[0007] Preferably, the mathematical model is a multiple regression model or a neural network model.

[0008] Preferably, tracer particles are added to the simulated sediment, and the motion trajectories of the tracer particles are obtained by combining high-speed photography equipment and particle image velocimetry equipment, and the flow field changes of the jet are obtained by analyzing the motion trajectories of the tracer particles.

[0009] Preferably, the impact pressure distribution information on the bottom plate is detected by a pressure monitoring module to obtain the maximum pressure area and the minimum pressure area on the bottom plate; wherein the maximum pressure area is the area where the particles are easily transported, and the maximum pressure area is the area where the particles are easily deposited; The pressure monitoring module includes a plurality of pressure sensing units arranged in a matrix. The pressure sensing units detect the jet impact pressure acting on the pressure sensing units, collect the pressure detection data of all the pressure sensing units to obtain a pressure data matrix, and transmit the pressure data matrix to the image visualization module. A thermal map or a pseudo-color map is used to color-code different pressure intensities and output a two-dimensional pressure distribution map. Each pressure sensing unit corresponds to a pixel in the two-dimensional pressure distribution map, and the obtained data is recorded and saved in real time.

[0010] Preferably, a collection head simulation component for simulating the collection head is arranged in the test space, and the collection head simulation component is placed at a set position. High-speed photography equipment and particle image velocimetry equipment are used to record the velocity field distribution, shear layer structure and local vorticity changes around the collection head simulation component; at the same time, a pressure monitoring device is used to record the negative pressure range and negative pressure fluctuation intensity of the rear area of ​​the collection head simulation component in real time to reflect the suction capacity and flow stability of the collection head simulation component.

[0011] Preferably, tracer liquids of different colors are added to the jets ejected from the two groups of jet nozzles, so that the two groups of jet nozzles form jets with different colors, which are used to intuitively identify the liquid flow path, velocity distribution and turbulent mixing area.

[0012] Preferably, a wall-attached jet guide baffle is set at a preset angle in the test space. The wall-attached jet guide baffle is used to guide the jet to develop along the wall of the wall-attached jet guide baffle and form a wall-attached jet. The wall-attached jet is visualized and data collected by high-speed photography equipment and particle image velocimetry equipment to study wall adhesion, reflection, and jet shear characteristics.

[0013] Preferably, an independent experimental water tank is placed inside the transparent observation water tank, and the top of the experimental water tank is slightly lower than the top of the observation tank. When the jet water is continuously injected into the experimental water tank, the excess water flows into the external observation water tank, and an overflow port is provided at the bottom of the observation water tank; a water storage tank is provided below the observation water tank, and the overflow port is connected to the water storage tank through a return pipe to ensure that the water depth in the experimental water tank is always maintained constant, creating a stable water environment.

[0014] Preferably, the adjusting device includes a horizontal guide rail and a horizontal adjustment screw rod arranged on the top of the observation water tank, the horizontal guide rail is slidingly provided with a horizontal adjustment nut seat, the horizontal adjustment screw rod and the horizontal adjustment nut seat are threadedly engaged, the horizontal adjustment screw rod is connected to the horizontal adjustment motor, and the two adjacent horizontal adjustment screw rods are disconnected by an isolation component; a horizontal moving frame is provided on the horizontal adjustment nut seat, the horizontal moving frame is provided with a vertical guide rail and a vertical adjustment screw rod, the vertical guide rail is slidingly provided with a vertical adjustment nut seat, the vertical adjustment nut seat and the vertical adjustment screw rod are threadedly engaged; the vertical adjustment screw rod is connected to the vertical adjustment motor, and the vertical adjusting nut seat is provided with a vertical moving frame, and a first rotating shaft and a second rotating shaft are rotatably provided on the vertical moving frame, and the first rotating shaft and the second rotating shaft are both rotatably connected to the vertical moving frame; the jet nozzle is installed on the second rotating shaft, the first rotating shaft and the second rotating shaft are connected by a third belt, and the first rotating shaft is connected to the rotation driving device; a water inlet tank is provided below the observation water tank, and the jet nozzle is connected to the water inlet tank through a hose. Both the vertical adjustment motor and the vertical adjustment motor are servo motors, which give the nozzle full electronic control and real-time three-dimensional spatial adjustment capabilities, and can ensure the adjustment accuracy; the first rotating shaft is connected to the rotation drive device to achieve 360° real-time and precise rotation of the nozzle.

[0015] Preferably, the nozzle adopts a replaceable and adjustable structure, the nozzle is connected to the pipe through a thread, and different nozzle heads or internal guides can be replaced to produce different forms of jets (such as straight jets, fan jets, rotating jets, etc.).

[0016] Preferably, a crawler conveyor is placed at the bottom of the water tank, and the collected particles are laid on the crawler to simulate the relative movement of the particle collection process, and the collection speed requirement is achieved by changing the crawler conveyor speed of the crawler conveyor.

[0017] Preferably, the angle of the jet nozzle is fed back through a position encoder on the rotary drive device, and a flow meter is provided on the hose to feed back the flow rate of the jet nozzle through the flow meter; the angle and flow rate of the jet nozzle are monitored in real time, the measured values ​​are compared with the target values, the deviation value is calculated, and a PID closed-loop control loop is established; The deviation value is fuzzified by fuzzy control, corrected by the fuzzy rule base, and then clarified to obtain the output value; Combining the neural network model with fuzzy PID control, the deviation between the measured value and the target value and the rate of change of the deviation are adaptively adjusted. The specific method is as follows: first, the deviation value and the rate of change of the deviation are input, and the input value is fuzzy processed using the Gaussian function. Then, the rule fitness is calculated according to the fuzzy rule base, and the learning error objective function is defined as: ; Where: is the sampling time, and They are The target value and actual value at the moment; use the gradient descent method to search and obtain the central value of the membership function ,width and weights , the specific formula is as follows: ; Where, is the momentum factor, is the learning rate; according to the output value and weight Calculate PID increments.

[0018] The beneficial effects of the present invention are: 1. The present invention adopts a design method of flexible multi-parameter adjustment + mathematical model analysis, breaking through the technical bottleneck of traditional jet collection experiments and achieving a leap from "idealized simulation" to "real environment reproduction". It can simulate the collection operation process under different seabed working conditions and optimize the operating parameters (jet nozzle angle, flow rate, jet nozzle height, etc.), providing technical support with both theoretical depth and engineering practicality for the efficient collection of deep-sea polymetallic nodules, and is of significant significance for promoting the sustainable development of the marine mineral resource development industry.

[0019] 2. The present invention can achieve the ability to coordinate the adjustment of multiple parameters. The height, angle, jet velocity and spacing between the two sets of nozzles can be adjusted in real time through the adjustment device, breaking through the limitations of traditional fixed-structure experimental platforms, meeting the simulation requirements under different working conditions, and simulating the jet behavior under complex seabed terrain (such as slopes and bosses) and sediment conditions.

[0020] 3. When analyzing experimental data, the present invention uses jet nozzle height, angle, flow rate, and spacing as input variables, and transport efficiency as the response variable. A mathematical model is used to establish a mapping relationship between the input and response variables. The model is then trained, corrected, and iteratively optimized using the extensive raw data provided by the test bench, improving its accuracy. The optimal parameter combination ultimately derived from the mathematical model can be used as a standard configuration for specific particle sizes, sedimentary structures, or acquisition target scenarios, and can also serve as a parameter reference for actual deep-sea jet acquisition equipment. This entire optimization process improves the systematicity, efficiency, and reproducibility of acquisition experiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural schematic diagram of the experimental platform of the present invention.

[0022] Figure 2 This is a side view of the experimental platform of the present invention after removing the observation water tank.

[0023] Figure 3 It is a top view of the experimental platform of the present invention.

[0024] Figure 4 for Figure 1 Enlarged view of part A in the middle.

[0025] In the figure: 1. Observation water tank, 2. Experimental water tank, 3. Water inlet tank, 4. Water storage tank, 5. Hose, 6. Regulating valve, 7. Jet nozzle, 8. Horizontal guide rail, 9. Horizontal adjustment screw, 10. Horizontal movable frame, 11. First belt, 12. Overflow port, 13. Return pipe, 14. Horizontal adjustment nut seat, 15. Vertical guide rail, 16. Vertical adjustment nut seat, 17. Vertical adjustment screw, 18. Vertical movable frame, 19. Second belt, 20. First rotating shaft, 21. Second rotating shaft, 22. Rotary drive device, 23. Third belt, 24. Crawler conveyor, 25. Isolation component, 26. Horizontal adjustment motor, 27. Vertical adjustment motor. DETAILED DESCRIPTION

[0026] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention are within the scope of protection of the present invention.

[0027] It should be understood by those skilled in the art that, in the disclosure of the present invention, the terms "longitudinal", "transverse", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, the above terms should not be understood as limiting the present invention.

[0028] It is to be understood that the term "one" should be understood as "at least one" or "one or more", that is, in one embodiment, the number of an element may be one, while in another embodiment, the number of the elements may be multiple, and the term "one" should not be understood as a limitation on the quantity.

[0029] like Figures 1 to 4 As shown, a multi-parameter experimental method for simulating the process of seabed jet nodule collection includes an experimental platform, which includes an observation water tank 1, an experimental water tank 2 is provided in the observation water tank 1, and a pressure monitoring module is arranged on the bottom plate of the experimental water tank 2; the impact pressure distribution information on the bottom plate is detected by the pressure monitoring module; a crawler conveyor 27 is provided at the bottom of the experimental water tank 2; two groups of jet nozzles 7 are relatively arranged above the experimental water tank 2, and the two groups of jet nozzles 7 are respectively installed on an adjusting device, and the height of the jet nozzle 7, the angle of the jet nozzle 7 and the distance between the two groups of jet nozzles 7 are adjusted by the adjusting device; during the test, the height of the jet nozzle 7 is preset , injection angle, injection velocity and the distance between the two sets of jet nozzles 7, simulated sediments are placed on the bottom plate of the experimental water tank 2, and water is sprayed into the water tank through the jet nozzle 7 to simulate the jet collection process; the particle transfer deposition area is obtained by tracking the particle transport path and speed, and the mass statistics of the particles deposited in the particle transport deposition area are performed to calculate the transport efficiency; the collected particle transport efficiency data are used as the response variable, and the height of the jet nozzle 7, the jet nozzle 7 angle, the injection velocity and the distance between the two sets of jet nozzles 7 are used as input variables, and a mathematical model is established to fit the relationship between the input variables and the transport efficiency.

[0030] The experimental platform of the present invention uses an adjustment device to finely adjust multiple parameters such as the spatial position, jet angle, and flow rate of the jet nozzle 7, accurately reproducing complex submarine working conditions and enhancing the authenticity of the experimental scene. The water tank is made of transparent acrylic or glass, allowing experimenters to observe the internal conditions from the edge. The massive parameter combination data obtained by fine-tuning various parameters can support machine learning model training and provide a data foundation for the derivation of theoretical formulas.

[0031] The space inside the experimental water tank 2 is the experimental space. During the experiment, simulated sediment is placed in the experimental space. The side walls of the experimental water tank 2 have a certain height. When water is continuously sprayed into the experimental water tank 2, the water will overflow from the top of the experimental water tank 2 into the water tank, keeping the water depth in the experimental space at a stable height, thus ensuring the stability of the experimental water depth environment.

[0032] The present invention enables coordinated multi-parameter adjustment. The height, angle, jet velocity, and spacing between the two nozzles of the jet nozzle 7 can be adjusted in real time through an adjustment mechanism. This overcomes the limitations of traditional fixed-structure experimental platforms and meets the simulation requirements of various working conditions. It can simulate jet behavior under complex seabed terrain (such as slopes and ridges) and sediment conditions. For example, by adjusting the nozzle angle to 30° and lowering the height to 0.5 meters, it is possible to simulate the jet impact effect of deep-sea hilly terrain, whereas traditional platforms are limited to horizontal jet experiments.

[0033] The pressure monitoring module on the bottom plate (such as an array pressure sensor) can capture the pressure field distribution when the jet impacts the sediment. The pressure data collected by the pressure monitoring module can reversely map the difference between the impact pressure at the center of the flow and the diffusion pressure at the edge, providing data support for analyzing the particle starting conditions.

[0034] During the experimental data analysis, the height, angle, flow rate, and spacing of the jet nozzle 7 were used as input variables, and the handling efficiency was used as the response variable. A mathematical model was used to establish a mapping relationship between the input and response variables. The model was then trained, corrected, and iteratively optimized using the large amount of raw data provided by the test bench to improve its accuracy. The optimal parameter combination ultimately obtained through the mathematical model can be used as a standard configuration for specific particle sizes, sedimentary structures, or acquisition target scenarios, and can also be used as a parameter reference for actual deep-sea jet acquisition equipment. This entire optimization process improves the systematicity, efficiency, and reproducibility of acquisition experiments.

[0035] The present invention adopts a design method of flexible multi-parameter adjustment + mathematical model analysis, breaking through the technical bottleneck of traditional jet collection experiments and achieving a leap from "idealized simulation" to "real environment reproduction". It can simulate the collection operation process under different seabed working conditions and optimize the operating parameters (angle, flow rate, height of the jet nozzle 7, etc.), providing technical support with both theoretical depth and engineering practicality for the efficient collection of deep-sea polymetallic nodules, and has significant significance for promoting the sustainable development of the marine mineral resources development industry.

[0036] Wherein, the mathematical model is a multiple regression model or a neural network model.

[0037] Tracer particles are added to the simulated sediment, and the motion trajectory of the tracer particles is obtained by combining high-speed photography equipment and particle image velocimetry equipment. The flow field changes of the jet are obtained by analyzing the motion trajectory of the tracer particles.

[0038] The impact pressure distribution information on the bottom plate is detected by the pressure monitoring module, and the maximum pressure area and the minimum pressure area on the bottom plate are obtained; wherein, the maximum pressure area is the area where particles are easily transported, and the maximum pressure area is the area where particles are easily deposited; the pressure monitoring module includes a plurality of pressure sensing units, and the pressure sensing units are arranged in a matrix manner. The jet impact pressure acting on the pressure sensing unit is detected by the pressure sensing unit, and the pressure detection data of all the pressure sensing units are collected to obtain a pressure data matrix. The pressure data matrix is ​​transmitted to the image visualization module, and different pressure intensities are color-coded using a thermal map or a pseudo-color map to output a two-dimensional pressure distribution map, and each pressure sensing unit corresponds to a pixel in the two-dimensional pressure distribution map.

[0039] The pressure sensing unit is made of a variable resistance conductive film material. The resistance of the pressure sensing unit is determined by the material geometric effect and resistivity: ; Where, is the resistance, is the resistivity, is the length of the material, is the material area. When the pressure sensing unit is subjected to the impact pressure of the water flow, the geometric structure of the material changes, which causes its resistivity to change. The specific formula is as follows: ; Where, The electrical signal of each pressure sensing unit is collected in real time through a bridge circuit and an analog-to-digital converter (ADC). The electrical signal reflects the instantaneous pressure state of each pressure sensing unit in the area.

[0040] In this embodiment, the pressure monitoring module consists of 16×16 pressure sensing units, each corresponding to an independent detection pixel, forming a raw pressure matrix. Pressure values ​​are obtained through a polynomial fitting function. The raw pressure data is normalized to bring the pressure values ​​of each pressure sensing unit into a uniform range. Median filtering and Gaussian filtering algorithms are used to smooth out abnormal data or edge fluctuations, resulting in a more continuous pressure data matrix.

[0041] To analyze the intensity of jet disturbance on seafloor sediments and the key areas for particle collection, this experimental rig indirectly measures and evaluates bottom pressure variations. During the jet impact process, different areas of the flume floor experience significant differences in pressure, and this distribution reflects the extent and intensity of the flow field disturbance. The jet impact creates a localized high-pressure zone at the flume floor. This pressure is generally proportional to the vertical component of the jet's kinetic energy. Higher pressures facilitate particle transport, while lower pressures promote particle aggregation. A two-dimensional pressure distribution map visualizes the intensity and extent of the jet impact on different areas of the flume floor, simultaneously outputting pressure values ​​for each unit, enhancing the intuitiveness of experimental observations and the ability to conduct quantitative analysis. This two-dimensional pressure distribution map visually demonstrates the local pressure intensity and distribution within the jet impact zone, enabling researchers to intuitively determine the locations of areas prone to transport and deposition, providing a valuable data foundation for studying the entire particle transport process.

[0042] To ensure the long-term and stable operation of the pressure monitoring module, a waterproof coating is added to the surface of the device. All circuit boards are insulated from the water and led out through wires wrapped in an insulating layer, effectively preventing the risk of circuit short circuits or corrosion, and meeting the safety and reliability requirements for continuous operation in underwater environments.

[0043] A collection head simulation piece used to simulate the collection head is arranged in the test space and placed at a set position. High-speed photography equipment and particle image velocimetry equipment are used to record the velocity field distribution, shear layer structure and local vorticity changes around the collection head simulation piece. At the same time, a pressure monitoring device is used to record the negative pressure range and negative pressure fluctuation intensity of the area behind the collection head simulation piece in real time to reflect the suction capacity and flow stability of the collection head simulation piece. By adding the collection head simulation piece to the experiment, the actual working conditions can be simulated more realistically, and the influence of the collection head simulation piece on the actual collection operation can be studied. The collection head simulation piece is designed into a conical guide cover, a bell mouth, a straight mouth and other structural forms to simulate the structural forms of different collection heads in a real environment. The relative angle and distance between the jet nozzle 7 and the collection head simulation piece are adjusted to simulate the suction state and flow field guidance mode of the collection head under different working conditions. High-speed photography equipment and particle image velocimetry equipment are used to record the velocity field distribution, shear layer structure and local vorticity changes around the collection head simulation component; at the same time, the pressure monitoring module is used to record the negative pressure range and fluctuation intensity in the area behind the baffle in real time to reflect the suction capacity and flow stability of the collection head; by tracking the particle trajectory, the movement path, start-up time and final lifting position of the particles under different collection head structures are recorded; based on the above data, a comprehensive performance index system is constructed to further evaluate the flow field organization characteristics and particle lifting capacity under different collection head structures, so as to obtain more convincing experimental basis and provide experimental support for the optimal design of the collection head structure.

[0044] In order to improve the visualization of the jet flow trajectory, tracer liquids of different colors are added to the jets ejected from the two groups of jet nozzles 7, so that the two groups of jet nozzles 7 form jets with different colors, which are used to intuitively identify the liquid flow path, velocity distribution and turbulent mixing area.

[0045] A wall-attached jet guide baffle is set at a preset angle in the experimental space. The wall-attached jet guide baffle is used to guide the jet to develop along the wall of the wall-attached jet guide baffle and form a wall-attached jet. The wall-attached jet is visualized and data collected by high-speed photography equipment and particle image velocimetry equipment to study the wall adhesion, reflection, and jet shear characteristics.

[0046] During the experiment, the jet nozzle's injection angle relative to the wall-coda jet guide baffle was adjusted between 5° and 90°. Within the 5° to 30° range, a stable flow field exhibiting adhesion and slip along the wall of the wall-coda jet guide baffle was formed. This flow field was used to observe the Coanda effect, shear layer development, and the evolution of vortex structures. A 90° injection angle allowed for investigation of jet reflection processes caused by vertical impact. When the ratio h / d (the distance from the wall to the jet orifice diameter d) was less than 1, significant wall-coda flow was likely to form. Furthermore, when the Reynolds number ranged from 5000 to 20000, indicating controlled turbulence or laminar-turbulent transition, a significant shear layer developed, velocity gradients, and typical shear boundary structures were readily formed, facilitating the study of shear stress and turbulent diffusion. By gradually adjusting the height, angle, and velocity, the effects of different parameter combinations on the wall flow regime were explored. The test bench supports adjusting the physical properties of the influent liquid (such as density, viscosity, or temperature) to simulate changes in jet behavior under different working conditions, thereby exploring the differences in flow field evolution and acquisition mechanisms under different physical property conditions.

[0047] To study the gradual forward movement of the collection head relative to the seabed during the collection process, a crawler conveyor 24 was installed at the bottom of the experimental water tank 2, and the collection particles were placed above the crawler conveyor 24. When the crawler conveyor 24 was activated, it drove the collection particles to simulate the relative movement between the collection head and the seabed during the particle collection process. The forward speed requirement of the collection equipment was achieved by varying the speed of the crawler conveyor 24.

[0048] The adjustment device includes a horizontal guide rail 8 and a horizontal adjustment screw rod 9 arranged on the top of the observation water tank 1, a horizontal adjustment nut seat 14 is slidably provided on the horizontal guide rail 8, the horizontal adjustment screw rod 9 and the horizontal adjustment nut seat 14 are threadedly matched, the horizontal adjustment screw rod 9 is connected to the horizontal adjustment motor 26, and the two adjacent horizontal adjustment screw rods 9 are disconnected by an isolation component 25; a horizontal moving frame 10 is provided on the horizontal adjustment nut seat 14, a vertical guide rail 15 and a vertical adjustment screw rod 17 are provided on the horizontal moving frame 10, a vertical adjustment nut seat 16 is slidably provided on the vertical guide rail 15, and the vertical adjustment nut seat 16 is connected to the vertical adjustment motor 26. The adjusting screw 17 is threadedly engaged; the vertical adjusting screw 17 is connected to the vertical adjusting motor 27. A vertical movable frame 18 is provided on the vertical adjusting nut seat 16. A first rotating shaft 20 and a second rotating shaft 21 are rotatably provided on the vertical movable frame 18. The first rotating shaft 20 and the second rotating shaft 21 are both rotatably connected to the vertical movable frame 18. The jet nozzle 7 is mounted on the second rotating shaft 21. The first rotating shaft 20 and the second rotating shaft 21 are connected by a third belt 23. The first rotating shaft 20 is connected to the rotation drive device 22. A water inlet tank 3 is provided below the observation water tank 1. The jet nozzle 7 is connected to the water inlet tank 3 via a hose 5. The hose 5 is provided with a regulating valve 6 for adjusting the flow rate of the jet nozzle 7.

[0049] Among them, the two groups of jet nozzles 7 are respectively installed on two adjustment devices. The horizontal adjustment screw 9 is driven to rotate by the horizontal adjustment motor 26. The horizontal adjustment screw 9 is parallel to the horizontal guide rail 8. The horizontal adjustment nut seat 14 is driven by the horizontal adjustment screw 9 to slide along the horizontal guide rail 8 to realize the horizontal movement of the jet nozzle 7. Among them, the two adjacent horizontal adjustment screws 9 are disconnected by the isolation component 25, and the horizontal adjustment screws 9 on both sides of the isolation component 25 can rotate independently. The horizontal adjustment nut cooperates with the threaded section on the horizontal adjustment screw 9. The horizontal adjustment screws 9 on both sides of the isolation component 25 are independently connected to the horizontal adjustment motor 26, and the horizontal adjustment motor 26 can drive the two groups of jet nozzles 7 to move independently in the horizontal direction, thereby realizing the adjustment of the distance between the two groups of jet nozzles 7.

[0050] In order to improve the stability of horizontal movement, two sets of horizontal guide rails 8 and two sets of horizontal adjustment screw rods 9 are simultaneously provided at the upper end of the observation water tank 1. Each adjustment device also has two horizontal adjustment nut seats 14. The two horizontal adjustment nut seats 14 are respectively matched with the two horizontal adjustment screw rods 9. The adjustment device is driven to move horizontally at the same time by the two horizontal adjustment screw rods 9. The ends of the horizontal adjustment screw rods 9 are connected by a first belt 11. One of the horizontal adjustment screw rods 9 is connected to the horizontal adjustment motor 26, and the first belt 11 is used to ensure the synchronization of the rotation of the two horizontal adjustment screw rods 9.

[0051] The vertical adjustment motor 27 drives the vertical adjustment screw 17 to rotate, and the vertical adjustment screw 17 drives the vertical adjustment nut seat 16 to move along the vertical guide rail 15, thereby adjusting the height of the vertical movable frame 18 and the jet nozzle 7. Two vertical adjustment screws 17 are also provided on the horizontal movable frame 10. The upper ends of the two vertical adjustment screws 17 are connected by a second belt 19. One of the vertical adjustment screws 17 is connected to the vertical adjustment motor 27. The second belt 19 ensures the synchronization of the rotation of the two vertical adjustment screws 17.

[0052] The first rotating shaft 20 and the second rotating shaft 21 are parallel to each other. The first rotating shaft 20 is driven to rotate by the rotation driving device 22. When the first rotating shaft 20 rotates, the second rotating shaft 21 is driven to rotate. When the second rotating shaft 21 rotates, the angle of the jet nozzle 7 is adjusted.

[0053] An overflow port 12 is provided at the bottom of the observation water tank 1; a water storage tank 4 is located below the observation water tank 1, and the overflow port 12 is connected to the water storage tank 4 via a return pipe 13. Water overflowing from the experimental water tank 2 will flow into the bottom of the observation water tank 1, out through the overflow port 12 at the bottom of the observation water tank 1, and then be collected in the water storage tank 4 through the return pipe 13.

[0054] Furthermore, the angle of the jet nozzle is fed back through a position encoder on the rotary drive device, and a flow meter is installed on the hose to provide feedback on the flow rate of the jet nozzle. The angle and flow rate of the jet nozzle are monitored in real time, the measured values ​​are compared with the target values, the deviation value is calculated, and a PID closed-loop control loop is established. The deviation value is fuzzified through fuzzy control, corrected using a fuzzy rule base, and then clarified to obtain the output value. Combining the neural network model with fuzzy PID control, the deviation between the measured value and the target value and the rate of change of the deviation are adaptively adjusted. The specific method is as follows: first, the deviation value and the rate of change of the deviation are input, and the input value is fuzzy processed using the Gaussian function. Then, the rule fitness is calculated according to the fuzzy rule base, and the learning error objective function is defined as: ; Where: is the sampling time, and They are The target value and actual value at the moment; use the gradient descent method to search and obtain the central value of the membership function ,width and weights , the specific formula is as follows: ; Where, is the momentum factor, is the learning rate; according to the output value and weight Calculate PID increments.

[0055] This invention introduces PID control based on a fuzzy neural network to improve adaptability. The advantages of fuzzy processing are as follows: continuous deviation values ​​(such as angle deviations between -5° and 5°) can be mapped to fuzzy sets, and uncertainty can be handled through membership functions (such as Gaussian functions), which is more flexible than traditional threshold judgment. For example, when the angle deviation is 2.3°, it may be simultaneously "positive small" (membership 0.7) and "zero" (membership 0.3). Fuzzy rules can comprehensively consider both states. A rule base based on expert knowledge or experimental data can be established to address nonlinear system characteristics. Compared with fixed-parameter PID control modes, fuzzy PID control modes can automatically adjust control parameters according to operating conditions, improving stability in complex environments.

[0056] By establishing an error minimization objective function and using the gradient descent method to iteratively update the membership function parameters (center value, width) and weights, the control response is made faster and the overshoot is smaller. Actual experiments show that after algorithm optimization, the system response speed is improved by 30%.

[0057] PID control is responsible for rapid response (capable of millisecond-level adjustment), fuzzy control is used to handle deviation uncertainty, and a neural network model achieves long-term optimization. These three elements form a hierarchical control architecture of "rapid adjustment + robust correction + adaptive evolution." This control method effectively reduces the impact of nonlinear disturbances on control accuracy, thereby jointly optimizing the nozzle angle and flow rate, ensuring efficient nodule collection while avoiding excessive disturbance of the sediment.

[0058] The present invention is not limited to the above-mentioned optimal implementation mode. Anyone can derive other forms of products under the inspiration of the present invention. However, no matter what changes are made in the shape or structure, any technical solution that is the same or similar to that of the present application falls within the scope of protection of the present invention.

Claims

1. A multi-parameter experimental method for simulating the process of collecting nodules by seabed jet flow, characterized in that: The experimental platform includes an observation water tank, an experimental water tank is provided in the observation water tank, and a pressure monitoring module is arranged on the bottom plate of the experimental water tank; the pressure monitoring module detects the impact pressure distribution information on the bottom plate; two groups of jet nozzles are arranged opposite to each other above the experimental water tank, and the two groups of jet nozzles are respectively installed on adjustment devices, and the height of the jet nozzles, the angle of the jet nozzles, and the distance between the two groups of jet nozzles are adjusted by the adjustment devices; During the experiment, the height, spray angle, spray velocity of the jet nozzles, and the spacing between the two sets of jet nozzles were preset. Simulated sediment was placed on the bottom plate of the experimental water tank, and water was sprayed into the water tank through the jet nozzles to simulate the jet collection process. The particle transfer and deposition area was obtained by tracking the particle transport path and speed. The mass of the particles deposited in the particle transport and deposition area was counted to calculate the transport efficiency. The collected particle transport efficiency data were used as the response variable, and the jet nozzle height, jet nozzle angle, jet flow rate and the distance between the two groups of jet nozzles were used as input variables. A mathematical model was established to fit the relationship between the input variables and the transport efficiency.

2. A multi-parameter experimental method for simulating the process of collecting nodules by seabed jet according to claim 1, characterized in that: The mathematical model is a multiple regression model or a neural network model.

3. The multi-parameter experimental method for simulating the process of collecting nodules by seabed jet according to claim 1, characterized in that: Tracer particles are added to the simulated sediment, and the motion trajectory of the tracer particles is obtained by combining high-speed photography equipment and particle image velocimetry equipment. The flow field changes of the jet are obtained by analyzing the motion trajectory of the tracer particles.

4. The multi-parameter experimental method for simulating the process of collecting nodules by seabed jet according to claim 1, characterized in that: The pressure monitoring module detects the impact pressure distribution information on the bottom plate and obtains the maximum pressure area and the minimum pressure area on the bottom plate; the maximum pressure area is the area where particles are easily transported, and the minimum pressure area is the area where particles are easily deposited; The pressure monitoring module includes a plurality of pressure sensing units arranged in a matrix. The pressure sensing units detect the jet impact pressure acting on the pressure sensing units, and the pressure detection data of all the pressure sensing units are collected to obtain a pressure data matrix. The pressure data matrix is ​​transmitted to the image visualization module, and different pressure intensities are color-coded using a thermal map or a pseudo-color map to output a two-dimensional pressure distribution map, in which each pressure sensing unit corresponds to a pixel in the two-dimensional pressure distribution map.

5. The multi-parameter experimental method for simulating the process of collecting nodules by seabed jet according to claim 1, characterized in that: A collection head simulation component used to simulate the collection head is arranged in the test space and placed at a set position. High-speed photography equipment and particle image velocimetry equipment are used to record the velocity field distribution, shear layer structure and local vorticity changes around the collection head simulation component. At the same time, a pressure monitoring device is used to record the negative pressure range and negative pressure fluctuation intensity in the area behind the collection head simulation component in real time to reflect the suction capacity and flow stability of the collection head simulation component.

6. The multi-parameter experimental method for simulating the process of collecting nodules by seabed jet according to claim 1, characterized in that: Tracer liquids of different colors are added to the jets ejected from the two groups of jet nozzles, so that the two groups of jet nozzles form jets with different colors, which are used to intuitively identify the liquid flow path, velocity distribution and turbulent mixing area.

7. The multi-parameter experimental method for simulating the process of collecting nodules by seabed jet according to claim 1, characterized in that: A wall-attached jet guide baffle is set at a preset angle in the experimental space. The wall-attached jet guide baffle is used to guide the jet to develop along the wall of the wall-attached jet guide baffle and form a wall-attached jet. The wall-attached jet is visualized and data collected by high-speed photography equipment and particle image velocimetry equipment to study the wall adhesion, reflection, and jet shear characteristics.

8. The multi-parameter experimental method for simulating the process of collecting nodules by seabed jet according to claim 1, characterized in that: The adjusting device includes a horizontal guide rail and a horizontal adjustment screw rod arranged on the top of the observation water tank, the horizontal guide rail is slidably provided with a horizontal adjustment nut seat, the horizontal adjustment screw rod and the horizontal adjustment nut seat are threadedly matched, the horizontal adjustment screw rod is connected to the horizontal adjustment motor, and the two adjacent horizontal adjustment screw rods are disconnected by an isolation component; a horizontal moving frame is provided on the horizontal adjustment nut seat, the horizontal moving frame is provided with a vertical guide rail and a vertical adjustment screw rod, the vertical guide rail is slidably provided with a vertical adjustment nut seat, the vertical adjustment nut seat and the vertical adjustment screw rod are threadedly matched; the vertical adjustment screw rod is connected to the vertical adjustment motor, and the vertical adjusting nut seat is provided with a vertical moving frame, and a first rotating shaft and a second rotating shaft are rotatably connected to the vertical moving frame; the jet nozzle is installed on the second rotating shaft, the first rotating shaft and the second rotating shaft are connected by a third belt, and the first rotating shaft is connected to the rotation driving device; a water inlet tank is provided below the observation water tank, and the jet nozzle is connected to the water inlet tank through a hose.

9. A multi-parameter experimental method for simulating the process of collecting nodules by seabed jet according to claim 8, characterized in that: An overflow port is provided at the bottom of the observation water tank; a water storage tank is provided below the observation water tank, and the overflow port is connected to the water storage tank through a return pipe.

10. The multi-parameter experimental method for simulating the process of collecting nodules by seabed jet according to claim 8, characterized in that: The angle of the jet nozzle is fed back through the position encoder on the rotary drive device, and the flow rate of the jet nozzle is fed back through the flow meter installed on the hose. The angle and flow rate of the jet nozzle are monitored in real time, and the measured values ​​are compared with the target values ​​to calculate the deviation value and establish a PID closed-loop control circuit. The deviation value is fuzzified by fuzzy control, corrected by the fuzzy rule base, and then clarified to obtain the output value; Combining the neural network model with fuzzy PID control, the deviation between the measured value and the target value and the rate of change of the deviation are adaptively adjusted. The specific method is as follows: first, the deviation value and the rate of change of the deviation are input, and the input value is fuzzy processed using the Gaussian function. Then, the rule fitness is calculated according to the fuzzy rule base, and the learning error objective function is defined as: ； Where: is the sampling time, and They are The target value and actual value at the moment; use the gradient descent method to search and obtain the central value of the membership function ,width and weights , the specific formula is as follows: ； Where, is the momentum factor, is the learning rate; according to the output value and weight Calculate PID increments.

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