Deep-sea mining seabed plume diffusion comprehensive experiment equipment and control method thereof

Abstract

The invention discloses deep-sea mining seabed plume diffusion comprehensive experimental equipment and a control method thereof. The device belongs to the field of experimental pool design and is composed of an experimental pool, a sliding table module, a sediment mixing system, a camera system, an online turbidimeter group, an equipment control end, a sliding table controller, a camera sliding controller, a current generation controller and an experimental monitoring end. The constant-speed constant-turbidity coloring spray pump of the sediment turbid liquid is realized through flow generation of the circulating water tank and cooperation of online monitoring and an intelligent control method, the situation that the mixed liquid is directly sprayed into the water tank at an unstable stage to cause large experimental errors and pollute the experimental environment is avoided, and the experimental precision and practicability are improved; and through pixel size calibration and high-speed camera following, real-time visual presentation of the plume diffusion speed under the condition of large-range diffusion is realized.

Description

Technical Field

[0001] The invention belongs to the field of experimental water tank design and relates to a comprehensive experimental device for seabed plume diffusion in deep-sea mining and a control method thereof. Background Art

[0002] The exploitation of deep-sea mineral resources can effectively solve the problem of resource scarcity on land and meet the needs of social and economic development. However, deep-sea mineral resources are widely distributed on the seabed. If commercial exploitation is carried out rashly, it will inevitably have a huge impact on the marine ecological environment and even an irreversible destructive blow. The impact of deep-sea mining on the environment mainly includes noise, light and plumes in the mining process. Among them, the deep-sea mining plume includes the plume caused by the disturbance of seabed sediments by mining vehicles and the plume generated by the discharge of tailings from surface support ships. It will spread beyond the mining area and stretch for several kilometers to tens of kilometers or even farther. It is the most important pollution factor in the deep-sea mining process. Therefore, the study of deep-sea mining plume diffusion is very important. Laboratory monitoring has the advantages of simplicity, convenience and low cost. It is the main way to study the diffusion of deep-sea mining plumes. Therefore, based on existing research, the present invention focuses on the influence of seabed bottom currents on diffusion, sediment stabilization spray pumps, and large-scale diffusion rate monitoring. A comprehensive experimental equipment for deep-sea mining seabed plume diffusion and its control method are proposed. Summary of the invention

[0003] In view of the above problems, the present invention aims to propose a comprehensive experimental device for seabed plume diffusion in deep-sea mining and a control method thereof.

[0004] The technical solution of the present invention is: a deep-sea mining seabed plume diffusion comprehensive experimental equipment of the present invention comprises an experimental water pool, a slide module, a sediment mixing system, a camera system, an online turbidity meter group, an equipment control terminal, a slide controller, a camera slide controller, a flow controller and an experimental monitoring terminal;

[0005] The experimental pool includes an outer wall of a laboratory pool, an inner wall of a laboratory pool and a flow module.

[0006] The outer wall of the laboratory water pool and the inner wall of the laboratory water pool form a circulating water tank.

[0007] The flow-making module is composed of arranged water-spraying propellers and is connected to a flow-making controller through a wire, and the flow-making controller is connected to a device control terminal through a wire.

[0008] Further, the slide module is placed in the experimental water pool, including an X-axis slide rail, a Y-axis slide rail, a Z-axis slide rail and a support platform, the support platform is placed at the connection between the Y-axis slide rail and the Z-axis slide rail, and a sediment mixing system is placed on the support platform;

[0009] The slide module is connected to the slide controller via a wire, and the slide controller is connected to the device control end via a wire.

[0010] Furthermore, the camera system includes a track module and a high-speed camera mounted on the track module;

[0011] The online turbidity meter group is connected to the high-speed camera through a wire, the track module is connected to the camera sliding controller through a wire, and the camera sliding controller is connected to the device control terminal through a wire;

[0012] Furthermore, the sediment mixing system is connected to the equipment control end through a wire, and includes a sediment mixing and stirring barrel, a coloring sampling tank, a first metering pump, a second metering pump, an online flow meter, an online turbidity meter, a three-way solenoid valve, a single-chip microcomputer and a nozzle interface;

[0013] The sediment mixing and stirring barrel comprises a stirring barrel body and a stirring barrel top cover, wherein the stirring barrel top cover is installed above the stirring barrel body through a latch switch, a stirring paddle is arranged in the stirring barrel body, a stirring motor is arranged at the top of the stirring paddle, and a water injection port and a material port are respectively opened at both ends of the stirring barrel top cover;

[0014] The coloring sampling tank body comprises a coloring sampling tank body and a coloring sampling tank top cover, a coloring sampling tank stirring paddle is arranged in the coloring sampling tank body, a mixing motor is arranged at the top of the coloring sampling tank stirring paddle, and a sampling port plug and a colorant port are respectively opened at both ends of the coloring sampling tank top cover.

[0015] Furthermore, a first metering pump is arranged in the line connecting the sediment mixing and stirring barrel and the coloring sampling tank, and a second metering pump is arranged in the line connecting the coloring sampling tank and the online flow meter, and the first metering pump and the second metering pump are connected by a wire.

[0016] The online flow meter is connected to the online turbidity meter through a line, and the online turbidity meter is connected to the nozzle interface through a line.

[0017] A three-way solenoid valve is arranged on the line connecting the online turbidity meter and the nozzle interface;

[0018] The online flow meter, online turbidity meter and three-way solenoid valve are connected to the single-chip microcomputer through a line, the hybrid motor is connected to the single-chip microcomputer through a line, and the other end of the single-chip microcomputer is connected to the device control end through a line;

[0019] The three-way solenoid valve is also connected to the sediment mixing and stirring barrel through a line;

[0020] The second metering pump, the online flow meter, the online turbidity meter, the three-way solenoid valve and the pipe system together form a cycle.

[0021] Furthermore, the nozzle interface connection end is provided with a threaded interface to facilitate installation of different forms of injection structures.

[0022] Furthermore, the device control terminal and the experiment monitoring terminal are connected via a wireless signal.

[0023] Furthermore, a spray port or a movable mine car model connected with a spray nozzle is fixed at the bottom of the Z-direction slide rail of the slide module;

[0024] A mine car model motion controller may also be arranged on the support platform, and the mine car model motion controller is connected with the movable mine car model through a line.

[0025] Furthermore, the outer wall and the inner wall of the laboratory pool are both made of a wall with a reinforced frame, and the material used is one of a glass-steel frame structure, a concrete-steel frame structure or an acrylic plate-steel frame structure;

[0026] The outer wall surface of the laboratory water pool corresponding to the camera system side is composed of glass or a transparent acrylic plate.

[0027] Furthermore, the control method of the deep-sea mining seabed plume diffusion comprehensive experimental equipment has the following specific operating steps:

[0028] 1. The control steps of the mixing spray pump of the sediment mixing system are as follows:

[0029] (1): Arrange the experimental device and inject the experimental amount of water and sediment into the sediment mixing and stirring barrel; start the stirring motor to stir;

[0030] (2): Input the target test speed V, target test turbidity U, injection pipe diameter D, monitoring period T, allowable relative speed error e1, and allowable relative concentration error e2 at the equipment control end;

[0031] The target experimental speed V = M / 4ΠD 2 ; The actual control signal is the unit flow rate M of the metering pump;

[0032] (3): The single chip microcomputer controls the first metering pump to operate at a speed corresponding to the target experimental speed V at time t;

[0033] (4): The microcontroller determines whether t≥R / 8V*Πd 2 ; R is the volume of the coloring sampling tank, d is the diameter of the connecting pipe; this formula is used to control the pumping volume of the mixture to half the volume of the coloring sampling tank;

[0034] (4.1): When the single-chip microcomputer determines that \(t\geq\frac{R}{8V}\times\pi d\), 2 it proceeds to step (5);

[0035] (4.2): When the single-chip microcomputer determines that there is no \(t\geq\frac{R}{8V}\times\pi d\), 2 it returns to step (3) for looping;

[0036] (5): The single-chip microcomputer controls the hybrid motor to work for stirring, controls the second metering pump to work at the rotational speed corresponding to the target experimental speed \(V\), and controls the three-way solenoid valve to connect to the sediment mixing and stirring tank; the online flowmeter and online turbidimeter continuously monitor the speed and turbidity of the flowing mixture and transmit the signals to the single-chip microcomputer; the single-chip microcomputer calculates the average speed \(v\) and average turbidity \(u\) within the monitoring period \(T\) based on the data transmitted by the online flowmeter and online turbidimeter. a and average turbidity \(u\) a ;

[0037] (6): The single-chip microcomputer determines whether \(\left|\frac{V - v}{V}\right|\leq e1\); a \(\left|\frac{V - v}{V}\right|\leq e1\);

[0038] (6.1): When the single-chip microcomputer determines that \(\left|\frac{V - v}{V}\right|\leq e1\), it proceeds to step (7); a \(\left|\frac{V - v}{V}\right|\leq e1\), it proceeds to step (7);

[0039] (6.2): When the single-chip microcomputer determines that there is no \(\left|\frac{V - v}{V}\right|\leq e1\), it returns to step (5) for looping; a \(\left|\frac{V - v}{V}\right|\leq e1\), it returns to step (5) for looping;

[0040] (7): The single-chip microcomputer determines whether \(\left|\frac{U - u}{U}\right|\leq e2\); a \(\left|\frac{U - u}{U}\right|\leq e2\);

[0041] (7.1): When the single-chip microcomputer determines that \(\left|\frac{U - u}{U}\right|\leq e2\), it proceeds to step (8); a \(\left|\frac{U - u}{U}\right|\leq e2\), it proceeds to step (8);

[0042] (7.2): When the single-chip microcomputer determines that there is no \(\left|\frac{U - u}{U}\right|\leq e2\), it returns to step (5) for looping; a \(\left|\frac{U - u}{U}\right|\leq e2\), it returns to step (5) for looping;

[0043] (8): Add coloring agent through the coloring agent port; at the same time, the single-chip microcomputer controls the three-way solenoid valve to connect to the nozzle interface;

[0044] II. The moving monitoring and control steps of the camera system are as follows:

[0045] (1): Adjust the window of the high-speed camera so that the jet source is located at the center of the window, and perform size calibration through the ratio of the actual size to the pixel size in the Z direction of the window, so as to convert the pixel size into the actual size during the experiment according to the calibrated ratio to calculate the diffusion of the plume;

[0046] (2): The experiment begins, and the high-speed camera monitors the diffusion morphology of the plume diffusion zone and transmits the image information to the experimental monitoring end in real time;

[0047] (3): The experimental monitoring end identifies the outermost edge contour of the plume diffusion and calculates the distance between the injection source and the outermost edge of the contour in the X direction. The distance l from the center of the window per unit time t to the outermost edge of the contour in the X direction t Initial value t1 , end value l t2 ;

[0048] (4): Through the formula (l t1 -l t2 ) / (t1-t2) calculates V in the high-speed camera window x , and through visualization, construct V x Graph of changes over time;

[0049] (5): The experimental monitoring end determines whether the jet source and the outermost edge of the plume contour in the X direction are both within the viewing window; the plume contour is identified using a grayscale processing algorithm;

[0050] (5.1): When the jet source and the outermost edge of the plume profile in the X direction are both within the viewing window, repeat the steps;

[0051] (5.2): When the jet source and the outermost edge of the plume profile in the X direction are not in the window at the same time, enter step;

[0052] (6): Based on the time t when the outermost edge of the jet source and plume profile in the X direction leaves the window f Speed ​​V xf , the device controller controls the camera sliding controller at a speed V xf Move in the X direction of the plume diffusion, while the high-speed camera monitors the diffusion morphology of the plume diffusion area and transmits the image information to the experimental monitoring end in real time;

[0053] (7): The experimental monitoring end identifies the outermost edge contour of the plume diffusion and calculates the distance l from the center of the window to the outermost edge of the contour in the X direction d , further, the distance l from the center of the window per unit time t to the outermost edge of the X-direction contour d Initial value d1 , end value l d2 ;

[0054] (8): Through the formula (l d2 +V xf (or V l )*tl d1 ) / tCalculate the unit time velocity V of the jet source and the outermost edge of the plume profile in the X direction after leaving the window l , and through visualization, construct Vl Plot of changes over time; V is used only in the first step xf The remaining cycles all use the V obtained in the previous cycle. l ;

[0055] (9): The device control end controls the camera sliding controller at a speed V l Move in the X direction toward the plume diffusion;

[0056] (10): The experimental monitoring end determines whether the high-speed camera has slid to the limit;

[0057] (10.1): When the experimental monitoring end determines that the high-speed camera has slid to the limit, it proceeds to step (11);

[0058] (10.2): When the experimental monitoring end determines that the high-speed camera has not slid to the limit, loop step (6);

[0059] (11): Stop sliding, keep the high-speed camera at the extreme position and continue observing;

[0060] (12): The experimental monitoring end determines whether the experimental monitoring is completed;

[0061] (12.1): When the experimental monitoring end determines that the experimental monitoring is over, the control ends;

[0062] (12.2): When the experiment monitoring end determines that the experiment monitoring is not completed, loop step (11).

[0063] The principle of the present invention is:

[0064] 1. The present invention realizes pool flow creation through the flow-making module 13 composed of arranged water-spraying propellers and the circulating water pool structure;

[0065] 2. The present invention realizes the constant speed, constant turbidity and coloring spray pump of sediment turbid liquid by mixing sediment material and water twice, and by online monitoring and intelligent control methods;

[0066] 3. The present invention calibrates the actual diffusion speed of the plume by calibrating the pixel size; and controls the high-speed camera to move along the slide through an iterative algorithm to capture a wider plume diffusion range.

[0067] The beneficial effects of the present invention are: 1. The present invention creates flow through a circulating water pool, and takes into account the influence of seabed bottom current on plume diffusion in the experiment, which is a beneficial effect not possessed by previous experimental means; 2. The present invention collaboratively realizes the constant speed, constant turbidity, and coloring spray pump of sediment turbid liquid through online monitoring and intelligent control methods, avoiding the situation in which the mixed liquid is directly sprayed into the water pool in the unstable stage, causing large experimental errors and polluting the experimental environment, thereby improving the experimental accuracy and practicality; 3. The present invention realizes the real-time visualization of the plume expansion speed under large-scale diffusion conditions through pixel size calibration and high-speed camera tracking. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] Figure 1 It is a schematic diagram of the overall structure of the laboratory of the present invention;

[0069] Figure 2 It is a schematic diagram of the composition of the sediment mixing system of the present invention;

[0070] Figure 3 is a flow chart of the control of the mixing jet pump of the sediment mixing system of the present invention;

[0071] Figure 4 is a mobile monitoring control flow chart of the camera system of the present invention;

[0072] Figure 5 Schematic diagram of the simulation experiment of the wake jet of the deep-sea mining vehicle of the present invention;

[0073] Figure 6 Schematic diagram of the combined experiment of tail jet and mine car movement disturbance of the present invention;

[0074] In the figure: 1 is an experimental water pool, 11 is the outer wall of the laboratory water pool, 12 is the inner wall of the laboratory water pool, and 13 is a flow module;

[0075] 2 is the slide module, 21 is the X-axis slide rail, 22 is the Y-axis slide rail, 23 is the Z-axis slide rail, 24 is the support platform,

[0076] 3 is a sediment mixing system, 31 is a sediment mixing and stirring barrel, 311 is a stirring barrel body, 312 is a stirring barrel top cover, 313 is a stirring paddle, 314 is a stirring motor, 315 is a water injection port, and 316 is a material port;

[0077] 32 is a coloring sampling tank, 321 is a tank body of the coloring sampling tank, 322 is a top cover of the coloring sampling tank, 323 is a stirring paddle of the coloring sampling tank, 324 is a mixing motor, 325 is a sampling port plug, and 326 is a colorant port;

[0078] 33 is a first metering pump, 34 is a second metering pump, 35 is an online flow meter, 36 is an online turbidity meter, 37 is a three-way solenoid valve, 38 is a single chip microcomputer, and 39 is a nozzle interface;

[0079] 4 is a camera system, 41 is a track module, and 42 is a high-speed camera;

[0080] 5 is an online turbidity meter group, 50 is an equipment control terminal, 51 is a slide controller, 52 is a camera slide controller, 53 is a flow controller 53, 60 is an experimental monitoring terminal, 7 is a mine car model motion controller, 70 is a jet port, and 71 is a movable mine car model. DETAILED DESCRIPTION

[0081] The specific technical scheme of the present invention is further described in detail below with reference to specific examples.

[0082] As shown in the figure, the deep-sea mining seabed plume diffusion comprehensive experimental equipment of the present invention is mainly composed of an experimental water pool 1, a slide module 2, a sediment mixing system 3, a camera system 4, an online turbidity meter group 5, an equipment control terminal 50, a slide controller 51, a camera slide controller 52, a flow controller 53 and an experimental monitoring terminal 60;

[0083] The experimental pool 1 is mainly composed of a laboratory pool outer wall 11, a laboratory pool inner wall 12 and a flow module 13; the laboratory pool outer wall 11 and the laboratory pool inner wall 12 are both made of a wall with a reinforced frame, which can be a glass-steel frame structure, a concrete-steel frame structure, an acrylic plate-steel frame structure, etc., but not limited thereto, but the outer wall corresponding to the camera system 4 must be composed of glass or a transparent acrylic plate to facilitate shooting and observation;

[0084] The outer wall 11 and the inner wall 12 of the laboratory water pool form a circulating water tank. The flow-making module 13 is composed of arranged water-spraying propellers and is connected to the flow-making controller 53 . Under the instruction of the device control terminal 50 , a circulating flow with a target flow rate is produced in the circulating water tank.

[0085] The slide module 2 is mainly composed of an X-axis slide rail 21, a Y-axis slide rail 22, a Z-axis slide rail 23 and a support platform 24, and is connected to a slide controller 51. Under the instruction of the equipment control terminal 50, the slide controller 51 controls the X-axis slide rail 21, the Y-axis slide rail 22, and the Z-axis slide rail 23 to realize three-axis translational movement. The support platform 24 is installed at the connection between the Y-axis slide rail 22 and the Z-axis slide rail 23, and can move with the slide module to facilitate the installation of some experimental equipment on the support platform 24, thereby facilitating the experiment.

[0086] The sediment mixing system 3 is installed on the support platform 24 to facilitate the movement of the sediment mixing system 3 along with the movement of the slide module, reduce the distance of the injection nozzle, thereby reducing the resistance loss along the injection process, improving the experimental accuracy and facilitating wiring.

[0087] The camera system 4 includes a track module 41 and a high-speed camera 42, and is connected to a camera sliding controller 52. Under the instruction of the device control terminal 50, the camera sliding controller 52 controls the high-speed camera 42 to move along the track module 41 to monitor a wider plume diffusion range.

[0088] The experimental monitoring terminal 60 is connected to the camera system 4 and the online turbidity meter group 5, and performs corresponding monitoring records, visualization processing and other processes. At the same time, the experimental monitoring terminal 60 is connected to the equipment control terminal 50 to achieve data interaction and collaborative control.

[0089] The sediment mixing system 3 is mainly composed of a sediment mixing and stirring barrel 31, a coloring sampling tank 32, a first metering pump 33, a second metering pump 34, an online flow meter 35, an online turbidity meter 36, a three-way solenoid valve 37, a single chip microcomputer 38 and a nozzle interface 39;

[0090] The sediment mixing and stirring barrel 31 comprises a stirring barrel body 311, a stirring barrel top cover 312, a stirring paddle 313, a stirring motor 314, a water injection port 315 and a material port 316. The stirring barrel body 311 is used to hold and mix sediment materials and water. The stirring paddle 313, the stirring motor 314, the water injection port 315 and the material port 316 are installed on the stirring barrel top cover 312. The stirring barrel top cover 312 is installed above the stirring barrel body 311 through a latch switch and can be opened and closed freely to facilitate the mixing process and cleaning after mixing.

[0091] The stirring paddle 313 is equipped with a stirring motor 314 to drive the stirring paddle 313 to fully mix the sediment material and water; the water injection port 315 and the material port 316 are installed on the top cover 312 of the stirring barrel and are connected to the inside of the sediment mixing and stirring barrel 31. Before mixing and stirring, a certain amount of water is injected through the water injection port 315, and a certain amount of sediment material is injected through the material port 316 to configure a turbid liquid with a target volume fraction;

[0092] The coloring sampling tank 32 is similar in configuration to the sediment mixing and stirring barrel 31, including a coloring sampling tank body 321, a coloring sampling tank top cover 322, a coloring sampling tank stirring paddle 323, a mixing motor 324, a sampling port plug 325 and a colorant port 326, etc.; but the volume is smaller and the mixing is more complete. The structural difference is that a sampling port plug 325 and a colorant port 326 are installed on the coloring sampling tank top cover 322. After the sampling port plug 325 is opened, sampling and observation through a test tube can be performed to further study the mixed liquid. When stirring and mixing are performed, the sampling port plug 325 is closed, and the colorant port 326 can be used to add colorant under certain experimental requirements to make the experimental phenomenon more significant.

[0093] The first metering pump 33 is connected to the sediment mixing and stirring barrel 3 and the coloring sampling tank 32 through a pipeline to quantitatively pump the mixture from the sediment mixing and stirring barrel 3 into the coloring sampling tank 32;

[0094] The second metering pump 34, the online flow meter 35, the online turbidity meter 36, the three-way solenoid valve 37 and the pipe system together constitute a circulation. The other two ends of the three-way solenoid valve 37 are respectively connected to the sediment mixing and stirring barrel 31 and the nozzle interface 39, and the mixed liquid is sprayed at a constant speed and turbidity under the control of the single-chip microcomputer 38; to prevent the mixed liquid from being directly sprayed into the water pool during the unstable stage to cause large experimental errors and pollute the experimental environment; the nozzle interface 39 is equipped with a threaded interface at the connection end to facilitate the installation of different forms of injection structures.

[0095] The above-mentioned experiment can be used to simulate the wake jet experiment of a deep-sea mining vehicle by fixing a jet port 70 at the bottom of the Z-direction slide rail 23 of the slide module 2; or a movable mining vehicle model 71 with a nozzle is connected to the bottom of the Z-direction slide rail 23 of the slide module 2, and a mining vehicle model motion controller 71 is installed on the support platform 24, and the bottom of the pool is covered with sediments, so as to realize a combined experiment of wake jet and mining vehicle movement disturbance.

[0096] Furthermore, the control method of the deep-sea mining seabed plume diffusion comprehensive experimental equipment has the following specific operating steps:

[0097] 1. The control steps of the mixing spray pump of the sediment mixing system 3 are as follows:

[0098] (1): Arrange the experimental device and inject the experimental amount of water and sediment into the sediment mixing and stirring barrel 31; start the stirring motor 314 to stir;

[0099] (2): Input the target test speed V, target test turbidity U, injection pipe diameter D, monitoring period T, allowable relative speed error e1, and allowable relative concentration error e2 at the equipment control terminal 50;

[0100] The target experimental speed V = M / 4ΠD 2 ; The actual control signal is the unit flow rate M of the metering pump;

[0101] (3): The single chip microcomputer 38 controls the first metering pump 33 to operate at a speed corresponding to the target experimental speed V at time t;

[0102] (4): The single chip computer 38 determines whether t≥R / 8V*Πd 2 ; R is the volume of the coloring sampling tank 32, d is the diameter of the connecting pipe; this formula is used to control the pumping volume of the mixture to half the volume of the coloring sampling tank 32;

[0103] (4.1): When the microcontroller 38 determines that t ≥ R / 8V * Πd 2 it proceeds to step (5);

[0104] (4.2): When the microcontroller 38 determines that there is no t ≥ R / 8V * Πd 2 it returns to step (3) for looping;

[0105] (5): The microcontroller 38 controls the mixing motor 324 to operate for stirring, controls the second metering pump 34 to operate at the rotational speed corresponding to the target experimental speed V, and controls the three-way solenoid valve 37 to connect to the sediment mixing and stirring tank 31; the on-line flowmeter 35 and the on-line turbidity meter 36 continuously monitor the speed and turbidity of the flowing mixture and transmit the signals to the microcontroller 38; the microcontroller 38 calculates the average speed v a and the average turbidity u a within the monitoring period T based on the data transmitted by the on-line flowmeter 35 and the on-line turbidity meter 36;

[0106] (6): The microcontroller 38 determines whether |V - v| / V ≤ e1; a

[0107] (6.1): When the microcontroller 38 determines that |V - v| / V ≤ e1, it proceeds to step (7); a

[0108] (6.2): When the microcontroller 38 determines that there is no |V - v| / V ≤ e1, it returns to step (5) for looping; a

[0109] (7): The microcontroller 38 determines whether |U - u| / U ≤ e2; a

[0110] (7.1): When the microcontroller 38 determines that |U - u| / U ≤ e2, it proceeds to step (8); a

[0111] (7.2): When the microcontroller 38 determines that there is no |U - u| / U ≤ e2, it returns to step (5) for looping; a

[0112] (8): Add coloring agent through the coloring agent port 326; at the same time, the microcontroller 38 controls the three-way solenoid valve 37 to connect to the nozzle interface 39;

[0113] II. The moving monitoring and control steps of the camera system 4 are as follows:

[0114] ​​​​​​(1): Adjust the window of the high-speed camera 42 so that the jet source is located at the center of the window, and perform size calibration by using the ratio of the actual size of the window in the Z direction to the pixel size, so that during the experiment, the pixel size is converted into the actual size by using the calibrated ratio to calculate the diffusion of the plume;

[0115] (2): The experiment starts, the high-speed camera 42 monitors the diffusion morphology of the plume diffusion zone, and transmits the image information to the experimental monitoring terminal 60 in real time;

[0116] (3): The experimental monitoring end 60 identifies the outermost edge contour of the plume diffusion and calculates the distance between the injection source and the outermost edge of the contour in the X direction. The distance l from the center of the window per unit time t to the outermost edge of the contour in the X direction is t Initial value t1 , end value l t2 ;

[0117] (4): Through the formula (l t1 -l t2 ) / (t1-t2) calculates V in the high-speed camera window x , and through visualization, construct V x Graph of changes over time;

[0118] (5): The experimental monitoring end 60 determines whether the jet source and the outermost edge of the plume profile in the X direction are both within the viewing window; the plume profile is identified using a grayscale processing algorithm; see "Experimental and numerical investigation of the effect of deep-sea mining vehicles on the discharge plumes" for details, but is not limited to this method;

[0119] (5.1): When the jet source and the outermost edge of the plume profile in the X direction are both within the viewing window, repeat step (3);

[0120] (5.2): When the jet source and the outermost edge of the plume profile in the X direction are not in the window at the same time, go to step (6);

[0121] (6): Based on the time t when the outermost edge of the jet source and plume profile in the X direction leaves the window f Speed ​​V xf The device control terminal 50 controls the camera sliding controller 52 at a speed V xf Move in the X direction of the plume diffusion, while the high-speed camera 42 monitors the diffusion morphology of the plume diffusion area and transmits the image information to the experimental monitoring terminal 60 in real time;

[0122] (7): The experimental monitoring end 60 identifies the outermost edge contour of the plume diffusion and calculates the distance l from the center of the window to the outermost edge of the contour in the X direction d , further, the distance l from the center of the window per unit time t to the outermost edge of the X-direction contour d Initial value d1 , end value l d2 ;

[0123] (8): Through the formula (l d2 +V xf (or V l )*tl d1 ) / tCalculate the unit time velocity V of the jet source and the outermost edge of the plume profile in the X direction after leaving the window l , and through visualization, construct V l Plot of changes over time; V is used only in the first step xf The remaining cycles all use the V obtained in the previous cycle. l ;

[0124] (9): The device control terminal 50 controls the camera sliding controller 52 to move at a speed V l Move in the X direction toward the plume diffusion;

[0125] (10): The experimental monitoring terminal 60 determines whether the high-speed camera 42 has slid to the limit;

[0126] (10.1): When the experimental monitoring end 60 determines that the high-speed camera 42 has slid to the limit, it enters step (11);

[0127] (10.2): When the experimental monitoring end 60 determines that the high-speed camera 42 has not slid to the limit, loop step (6);

[0128] (11): Stop sliding, the high-speed camera 42 remains at the extreme position and continues to observe;

[0129] (12): The experiment monitoring terminal 60 determines whether the experiment monitoring is completed;

[0130] (12.1): When the experiment monitoring terminal 60 determines that the experiment monitoring is finished, the control is finished;

[0131] (12.2): When the experiment monitoring terminal 60 determines that the experiment monitoring is not completed, the step (11) is looped.

Claims

1. A comprehensive experimental device for seafloor plume diffusion in deep sea mining, characterized in that: It includes an experimental water pool (1), a slide module (2), a sediment mixing system (3), a camera system (4), an online turbidity meter group (5), an equipment control terminal (50), a slide controller (51), a camera slide controller (52), a flow controller (53) and an experimental monitoring terminal (60); The experimental water pool (1) comprises an outer wall of a laboratory water pool (11), an inner wall of a laboratory water pool (12) and a flow-generating module (13). The outer wall (11) and the inner wall (12) of the laboratory water pool form a circulating water tank. The flow-generating module (13) is composed of arranged water-spraying propellers and is connected to a flow-generating controller (53) via a wire, and the flow-generating controller (53) is connected to a device control terminal (50) via a wire.

2. A deep sea mining seabed plume diffusion comprehensive experimental equipment according to claim 1, characterized in that: The slide module (2) is placed in the experimental water pool (1), and comprises an X-direction slide rail (21), a Y-direction slide rail (22), a Z-direction slide rail (23) and a support platform (24); the support platform (24) is placed at the connection between the Y-direction slide rail (22) and the Z-direction slide rail (23); and a sediment mixing system (3) is placed on the support platform (24); The slide module (2) is connected to the slide controller (51) via a wire, and the slide controller (51) is connected to the device control terminal (50) via a wire.

3. A deep sea mining seabed plume diffusion comprehensive experimental equipment according to claim 2, characterized in that: The camera system (4) comprises a track module (41) and a high-speed camera (42) arranged on the track module (41); The online turbidity meter group (5) is connected to a high-speed camera (42) via a wire, the track module (41) is connected to a camera sliding controller (52) via a wire, and the camera sliding controller (52) is connected to a device control terminal (50) via a wire.

4. A deep sea mining seabed plume diffusion comprehensive experimental equipment according to claim 2, characterized in that: The sediment mixing system (3) is connected to the equipment control end (50) through a wire, and comprises a sediment mixing and stirring barrel (31), a coloring sampling tank (32), a first metering pump (33), a second metering pump (34), an online flow meter (35), an online turbidity meter (36), a three-way solenoid valve (37), a single chip microcomputer (38) and a nozzle interface (39); The sediment mixing and stirring barrel (31) comprises a stirring barrel body (311) and a stirring barrel top cover (312); the stirring barrel top cover (312) is installed above the stirring barrel body (311) through a latch switch; a stirring paddle (313) is arranged in the stirring barrel body (311); a stirring motor (314) is arranged at the top of the stirring paddle (313); and a water injection port (315) and a material port (316) are respectively provided at both ends of the stirring barrel top cover (312); The coloring sampling tank body (32) comprises a coloring sampling tank body (321) and a coloring sampling tank top cover (322), a coloring sampling tank stirring paddle (323) is arranged in the coloring sampling tank body (321), a mixing motor (324) is arranged at the top of the coloring sampling tank stirring paddle (323), and a sampling port plug (325) and a colorant port (326) are respectively provided at both ends of the coloring sampling tank top cover (322).

5. A deep sea mining seabed plume diffusion comprehensive experimental equipment according to claim 4, characterized in that: A first metering pump (33) is arranged in the line connecting the sediment mixing and stirring barrel (31) and the coloring sampling tank (32), and a second metering pump (34) is arranged in the line connecting the coloring sampling tank (32) and the online flow meter (35). The first metering pump (33) and the second metering pump (34) are connected via a wire. The online flow meter (35) is connected to the online turbidity meter (36) through a line, and the online turbidity meter (36) is connected to the nozzle interface (39) through a line. A three-way solenoid valve (37) is arranged on the line connecting the online turbidity meter (36) and the nozzle interface (39); The online flow meter (35), the online turbidity meter (36) and the three-way solenoid valve (37) are connected to the single-chip computer (38) through a line, the mixing motor (324) is connected to the single-chip computer (38) through a line, and the other end of the single-chip computer (38) is connected to the device control end (50) through a line; The three-way solenoid valve (37) is also connected to the sediment mixing and stirring barrel (31) through a line; The second metering pump (34), the online flow meter (35), the online turbidity meter (36), the three-way solenoid valve (37) and the pipe system together form a cycle.

6. A deep sea mining seabed plume diffusion comprehensive experimental equipment according to claim 5, characterized in that: The connection end of the nozzle interface (39) is provided with a threaded interface to facilitate installation of different forms of injection structures.

7. The deep sea mining seabed plume diffusion comprehensive experimental equipment according to claim 5, characterized in that: The device control terminal (50) and the experiment monitoring terminal (60) are connected via a wireless signal.

8. The deep sea mining seabed plume diffusion comprehensive experimental equipment according to claim 2, characterized in that: A spray port (70) or a movable mine car model (71) connected with a spray head is fixed at the bottom of the Z-direction slide rail (23) of the slide module (2); A mine car model motion controller (7) may also be arranged on the support platform (24), and the mine car model motion controller (7) is connected to the movable mine car model (71) via a line.

9. The deep sea mining seabed plume diffusion comprehensive experimental equipment according to claim 1, characterized in that: The outer wall (11) and the inner wall (12) of the laboratory water pool are both walls with a reinforced frame, and the material used is one of a glass-steel frame structure, a concrete-steel frame structure or an acrylic board-steel frame structure; The outer wall surface of the laboratory water pool outer wall (11) corresponding to the camera system (4) is made of glass or a transparent acrylic plate.

10. A control method for a deep-sea mining seabed plume diffusion comprehensive experimental equipment according to any one of claims 1 to 9, characterized in that: The specific steps are as follows:

1. The steps for controlling the mixing spray pump of the sediment mixing system (3) are as follows: (1): Arrange the experimental device and inject the experimental amount of water and sediment into the sediment mixing and stirring barrel (31); start the stirring motor (314) to stir; (2): Input the target test speed V, target test turbidity U, injection pipe diameter D, monitoring period T, allowable relative speed error e1, and allowable relative concentration error e2 at the equipment control terminal (50); The target experimental speed V = M / 4ΠD 2 ; The actual control signal is the unit flow rate M of the metering pump; (3): The single chip microcomputer (38) controls the first metering pump (33) to operate at a speed corresponding to the target experimental speed V for a time t; (4): The single chip microcomputer (38) determines whether t≥R / 8V*Πd 2 ; R is the volume of the coloring sampling tank (32), d is the diameter of the connecting pipe; this formula is used to control the pumping volume of the mixture to reach half the volume of the coloring sampling tank (32); (4.1): When the microcontroller (38) determines that t≥R / 8V*Πd 2 When , proceed to step (5); (4.2): When the microcontroller (38) determines that there is no t ≥ R / 8V*Πd 2 When , enter step (3) loop; (5): The single chip microcomputer (38) controls the mixing motor (324) to work and stir, controls the second metering pump (34) to work at a speed corresponding to the target experimental speed V, and controls the three-way electromagnetic valve (37) to connect the sediment mixing and stirring barrel (31); the online flow meter (35) and the online turbidity meter (36) continuously monitor the speed and turbidity of the flowing mixture and transmit the signal to the single chip microcomputer (38); the single chip microcomputer (38) calculates the average speed v within the monitoring period T based on the data transmitted by the online flow meter (35) and the online turbidity meter (36). a and the average turbidity u a ; (6): The single-chip microcomputer (38) determines whether there is |V - v| a | / V ≤ e1; (6.1): When the microcontroller (38) determines that |V - v a | / V ≤ e1, it proceeds to step (7); (6.2): When the single-chip microcomputer (38) determines that there is no |V - v| a | / V ≤ e1, enter the loop of step (5); (7): The microcontroller (38) determines whether there is |U - u| a | / U ≤ e2; (7.1): The single-chip microcomputer (38) judges |U - u| a When | / U ≤ e2; enter the operation of step (8); (7.2): The single-chip microcomputer (38) determines that there is no |U - u| a When | / U| ≤ e2, enter the loop of step (5); (8): Colorant is added through the colorant port (326); at the same time, the single chip microcomputer (38) controls the three-way solenoid valve (37) to connect to the nozzle interface (39); 2. The mobile monitoring control steps of the camera system (4) are as follows: (1): Adjust the window of the high-speed camera (42) so that the jet source is located at the center of the window, and perform size calibration by using the ratio of the actual size of the window in the Z direction to the pixel size, so that during the experiment, the pixel size is converted into the actual size by using the calibrated ratio to calculate the diffusion of the plume; (2): The experiment starts, the high-speed camera (42) monitors the diffusion morphology of the plume diffusion zone, and transmits the image information to the experimental monitoring terminal (60) in real time; (3): The experimental monitoring end (60) identifies the outermost edge contour of the plume diffusion and calculates the distance between the injection source and the outermost edge of the contour in the X direction. The distance l from the center of the window per unit time t to the outermost edge of the contour in the X direction is t Initial value t1 , end value l t2 ; (4): Through the formula (l t1 -l t2 ) / (t1-t2) calculates V in the high-speed camera window x , and through visualization, construct V x Graph of changes over time; (5): The experimental monitoring end (60) determines whether the jet source and the outermost edge of the plume profile in the X direction are both within the viewing window; the plume profile is identified using a grayscale processing algorithm; (5.1): When the jet source and the outermost edge of the plume profile in the X direction are both within the viewing window, repeat step (3); (5.2): When the jet source and the outermost edge of the plume profile in the X direction are not in the window at the same time, go to step (6); (6): Based on the time t when the outermost edge of the jet source and plume profile in the X direction leaves the window f Speed ​​V xf The device control terminal (50) controls the camera sliding controller (52) to move the camera at a speed V xf Move in the X direction of the plume diffusion, while a high-speed camera (42) monitors the diffusion morphology of the plume diffusion zone and transmits image information to an experimental monitoring terminal (60) in real time; (7): The experimental monitoring end (60) identifies the outermost edge contour of the plume diffusion and calculates the distance l from the center of the window to the outermost edge of the contour in the X direction d , further, the distance l from the center of the window per unit time t to the outermost edge of the X-direction contour d Initial value d1 , end value l d2 ; (8): Through the formula (l d2 +V xf (or V l )*tl d1 ) / tCalculate the unit time velocity V of the jet source and the outermost edge of the plume profile in the X direction after leaving the window l , and through visualization, construct V l Plot of changes over time; V is used only in the first step xf The remaining cycles all use the V obtained in the previous cycle. l ; (9): The device control terminal (50) controls the camera sliding controller (52) to move at a speed V l Move in the X direction toward the plume diffusion; (10): The experimental monitoring end (60) determines whether the high-speed camera (42) has slid to the limit; (10.1): When the experimental monitoring end (60) determines that the high-speed camera (42) has slid to the limit, it enters step (11); (10.2): When the experimental monitoring end (60) determines that the high-speed camera (42) has not slid to the limit, loop step (6); (11): Stop sliding, the high-speed camera (42) remains at the extreme position and continues to observe; (12): The experiment monitoring terminal (60) determines whether the experiment monitoring is completed; (12.1): When the experiment monitoring end (60) determines that the experiment monitoring is finished, the control is finished; (12.2): When the experiment monitoring end (60) determines that the experiment monitoring is not finished, the step (11) is looped.

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