A multi-parameter experimental method for simulating the process of collecting nodules using seabed jets

Abstract

This invention discloses a multi-parameter experimental method for simulating the process of collecting nodules using jet propulsion from the seabed. The method includes an experimental platform comprising an observation tank containing an experimental water tank. A pressure monitoring module is mounted on the bottom plate of the experimental water tank. Two sets of jet nozzles are positioned opposite each other above the experimental water tank. During the experiment, the height, spray angle, spray velocity, and spacing between the two sets of nozzles are preset. Simulated sediment is placed on the bottom plate of the experimental water tank, and water is sprayed into the tank through the nozzles to simulate the jet propulsion process. The collected particle transport efficiency data is used as the response variable, and the height, angle, velocity, and spacing between the two sets of nozzles are used as input variables to establish a mathematical model. This invention employs a design approach combining flexible multi-parameter adjustment and mathematical model analysis, providing technical support with both theoretical depth and engineering practicality for the efficient collection of deep-sea polymetallic nodules.

Description

Technical Field

[0001] This invention relates to the field of marine mineral resource extraction technology, and in particular to a multi-parameter experimental method for simulating the process of collecting nodules using seabed jets. Background Technology

[0002] Polymetallic nodules on the seabed, as important marine mineral resources, are widely distributed in flat, deep-sea areas and possess enormous development potential. In recent years, with the development of deep-sea resource development technologies, the collection of seabed nodules has become a research focus. Among these methods, non-contact disturbance and collection using jet technology has attracted widespread attention due to its advantages such as simple structure, strong adaptability, and minimal damage to the seabed environment.

[0003] Traditional jet acquisition research relies heavily on numerical simulations or experimental verification under idealized environments, making it difficult to fully reflect the disturbance and transport characteristics of jets under real seabed topography and sediment conditions. Furthermore, most existing experimental platforms have fixed structures, hindering flexible adjustments to parameters such as nozzle position, angle, and velocity, and their data acquisition capabilities are weak, limiting systematic research on jet behavior under different operating conditions. Therefore, traditional experimental simulation methods are insufficient to realistically and objectively simulate and recreate the process of seabed jet acquisition of nodules.

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

[0005] The purpose of this invention is to address the shortcomings of the prior art by providing a multi-parameter experimental method for simulating the process of collecting nodules using seabed jets.

[0006] The objective of this method is achieved through the following technical solution: a multi-parameter experimental method for simulating the process of collecting nodules using seabed jets, comprising an experimental platform, an observation tank, an experimental water tank, and a pressure monitoring module mounted on the bottom plate of the experimental water tank; the pressure monitoring module detects the impact pressure distribution information on the bottom plate; two sets of jet nozzles are arranged opposite each other above the experimental water tank, and the two sets of jet nozzles are respectively mounted on an adjustment device, which adjusts the height of the jet nozzles, the angle of the jet nozzles, and the distance between the two sets of jet nozzles;

[0007] During the experiment, the height of the jet nozzle, the spray angle, the spray velocity, and the distance 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 velocity, and the mass of the particles deposited in the particle transport and deposition area was statistically analyzed to calculate the transport efficiency.

[0008] The collected particle transport efficiency data were used as the response variable, and the height of the jet nozzle, the angle of the jet nozzle, the jet velocity, and the distance between the two sets of jet nozzles were used as the input variables. A mathematical model was established to fit the relationship between the input variables and the transport efficiency.

[0009] Preferably, the mathematical model is a multiple regression model or a neural network model.

[0010] As a preferred method, tracer particles are added to the simulated sediments, and the motion trajectory of the tracer particles is obtained by using a combination of 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.

[0011] Preferably, the impact pressure distribution information on the base plate is detected by the pressure monitoring module, and the areas with the maximum and minimum pressure on the base plate are obtained; wherein, the area with the maximum pressure is the area where particulate matter is easily transported, and the area where particulate matter is easily deposited is the area where particulate matter is easily deposited.

[0012] The pressure monitoring module includes several pressure sensing units arranged in a matrix. The pressure sensing units detect the jet impact pressure acting on them, collect pressure detection data from all units to obtain a pressure data matrix, and transmit the pressure data matrix to the image visualization module. The module uses a heat map or pseudo-color spectrum to color-code different pressure intensities and outputs a two-dimensional pressure distribution map. Each pressure sensing unit corresponds to one pixel in the two-dimensional pressure distribution map, and the obtained data is recorded and saved in real time.

[0013] Preferably, a sampler head simulator is arranged in the test space to simulate the sampler head. The sampler head simulator is placed in a set position, and the velocity field distribution, shear layer structure and local eddy current changes around the sampler head simulator are recorded using high-speed photography equipment and particle image velocimetry equipment. At the same time, the negative pressure range and negative pressure fluctuation intensity in the region behind the sampler head simulator are recorded in real time using a pressure monitoring device to reflect the entrainment capacity and flow stability of the sampler head simulator.

[0014] Preferably, tracer liquids of different colors are added to the jets ejected from the two sets of jet nozzles, so that the two sets of jet nozzles form jets with different colors, which can be used to visually identify the liquid flow path, velocity distribution and turbulent mixing region.

[0015] As a preferred option, a wall-mounted jet guide baffle is set at a preset angle in the test space. The wall-mounted jet guide baffle is used to guide the jet to develop along the wall surface of the wall-mounted jet guide baffle and form a wall-mounted jet. The wall-mounted jet is visualized and data is collected by high-speed photography equipment and particle image velocimetry equipment to study the wall adhesion, reflection and jet shear characteristics.

[0016] As a preferred option, an independent experimental water tank is placed inside the transparent observation water tank, with the top of the experimental water tank 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 set at the bottom of the observation water tank. A water storage tank is set 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 kept constant, creating a stable water environment.

[0017] Preferably, the adjustment device includes a horizontal guide rail and a horizontal adjusting screw mounted on the top of the observation water tank. A horizontal adjusting nut seat is slidably mounted on the horizontal guide rail, and the horizontal adjusting screw is threadedly engaged with the horizontal adjusting nut seat. The horizontal adjusting screw is connected to a horizontal adjusting motor, and adjacent horizontal adjusting screws are disconnected by an isolation component. A horizontal moving frame is mounted on the horizontal adjusting nut seat, and a vertical guide rail and a vertical adjusting screw are mounted on the horizontal moving frame. A vertical adjusting nut seat is slidably mounted on the vertical guide rail, and the vertical adjusting nut seat is threadedly engaged with the vertical adjusting screw. The vertical adjusting screw is connected to a vertical adjusting motor, and a vertical moving frame is mounted on the vertical adjusting nut seat. A first rotating shaft and a second rotating shaft are rotatably mounted on the vertical moving frame, and both the first and second rotating shafts are rotatably connected to the vertical moving frame. A jet nozzle is mounted on the second rotating shaft, and the first and second rotating shafts are connected by a third belt. The first rotating shaft is connected to a rotary drive device. A water inlet tank is located below the observation water tank, and the jet nozzle is connected to the water inlet tank via a flexible hose. Both the vertical adjustment motor and the vertical adjustment motor are servo motors, which give the nozzle a fully electronically controlled real-time three-dimensional spatial adjustable capability and ensure adjustment accuracy; the first rotating shaft is connected to the rotary drive device to realize the nozzle's 360° real-time precise rotation.

[0018] Preferably, the nozzle has a replaceable and adjustable structure. The nozzle is connected to the pipe by a thread, and different nozzle heads or internal guides can be replaced to generate different types of jets (such as straight jets, fan-shaped jets, rotating jets, etc.).

[0019] Preferably, a tracked conveyor is placed at the bottom of the tank, and the collected particles are laid on top of the track to simulate the relative motion of the particle collection process. The required collection speed is achieved by changing the track conveyor speed.

[0020] Preferably, the angle of the jet nozzle is fed back by the position encoder on the rotary drive device, and a flow meter is installed on the hose to feed back 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.

[0021] The deviation value is fuzzified by fuzzy control, corrected by fuzzy rule base, and then clarified to obtain the output value.

[0022] By combining a neural network model with fuzzy PID control, adaptive adjustments are made to the deviation between the measured and target values, as well as the rate of change of the deviation. The specific method is as follows: First, the deviation value and the rate of change of the deviation are input. The input value is then fuzzy-processed using a Gaussian function. Next, the fitness of the rules is calculated based on a fuzzy rule base. Simultaneously, the learning error objective function is defined as follows:

[0023] ;

[0024] In the formula: Sampling time, and They are respectively The target value and the actual value at time t; the gradient descent method is used to search for the center value of the membership function. ,width and weight The specific formula is as follows:

[0025] ;

[0026] In the formula, Momentum factor The learning rate; based on the output value and weights. Calculate the PID increment.

[0027] The beneficial effects of this invention are:

[0028] 1. This invention employs a design approach combining flexible adjustment of multiple parameters with mathematical model analysis, breaking through the technical bottleneck of traditional jet sampling experiments. It achieves a leap from "idealized simulation" to "real environment reproduction," simulating the sampling process under different seabed conditions and optimizing operational parameters (jet nozzle angle, flow rate, jet nozzle height, etc.). This provides technical support with both theoretical depth and engineering practicality for the efficient sampling of deep-sea polymetallic nodules, and is of significant importance for promoting the sustainable development of the marine mineral resource development industry.

[0029] 2. This invention can achieve multi-parameter coordinated adjustment capability. The height, angle, jet velocity and the distance 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 needs under different working conditions, and simulating jet behavior under complex seabed terrain (such as slopes and protrusions) and sediment conditions.

[0030] 3. In analyzing experimental data, this invention uses 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 mathematical model is trained, corrected, and iteratively optimized using a large amount of raw data provided by the test bench, improving its accuracy. The optimal parameter combination obtained through the mathematical model can be used as a standard configuration for specific particle sizes, sedimentary structures, or target collection scenarios. It can also serve as a parameter reference for actual deep-sea jet collection equipment. The entire optimization process enhances the systematic nature, efficiency, and reproducibility of the collection experiment. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the structure of the experimental platform of the present invention.

[0032] Figure 2 This is a side view of the experimental platform of the present invention after removing the observation water tank.

[0033] Figure 3 This is a top view of the experimental platform of the present invention.

[0034] Figure 4 for Figure 1 Enlarged view of section A.

[0035] In the diagram: 1. Observation water tank, 2. Experimental water tank, 3. Inlet tank, 4. Storage tank, 5. Hose, 6. Regulating valve, 7. Jet nozzle, 8. Horizontal guide rail, 9. Horizontal adjusting screw, 10. Horizontal moving frame, 11. First belt, 12. Overflow port, 13. Return pipe, 14. Horizontal adjusting nut seat, 15. Vertical guide rail, 16. Vertical adjusting nut seat, 17. Vertical adjusting screw, 18. Vertical moving frame, 19. Second belt, 20. First rotating shaft, 21. Second rotating shaft, 22. Rotary drive device, 23. Third belt, 24. Tracked conveyor device, 25. Isolation component, 26. Horizontal adjusting motor, 27. Vertical adjusting motor. Detailed Implementation

[0036] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention are within the scope of protection of the present invention.

[0037] Those skilled in the art should understand that, in the disclosure of this invention, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the above terms should not be construed as limiting this invention.

[0038] It is understood that the term "a" should be understood as "at least one" or "one or more", that is, in one embodiment, the number of an element can be one, while in another embodiment, the number of the element can be multiple, and the term "a" should not be understood as a limitation on the number.

[0039] like Figures 1 to 4 As shown, a multi-parameter experimental method for simulating the process of collecting nodules using seabed jets includes an experimental platform. The platform includes an observation tank 1, within which an experimental water tank 2 is installed. A pressure monitoring module is mounted on the bottom plate of the experimental water tank 2. The pressure monitoring module detects the impact pressure distribution information on the bottom plate. A tracked conveyor 27 is installed at the bottom of the experimental water tank 2. Two sets of jet nozzles 7 are arranged opposite each other above the experimental water tank 2. The two sets of jet nozzles 7 are respectively mounted on an adjustment device, which adjusts the height, angle, and spacing between the two sets of jet nozzles 7. During the experiment, the height of the jet nozzles 7 is preset. Simulated sediments were placed on the bottom plate of the experimental water tank 2, and water was sprayed into the tank through the jet nozzles 7 to simulate the jet collection process. The particle transport path and velocity were tracked to obtain the particle transfer and deposition area. The mass of the particles deposited in the particle transport and deposition area was statistically analyzed to calculate the transport efficiency. The collected particle transport efficiency data was used as the response variable, and the height of the jet nozzle 7, the angle of the jet nozzle 7, the jet velocity, and the distance between the two sets of jet nozzles 7 were used as input variables to establish a mathematical model to fit the relationship between the input variables and the transport efficiency.

[0040] The experimental platform of this invention allows for precise adjustment of multiple parameters, such as the spatial position, jet angle, and flow rate of the jet nozzle 7, via an adjustment device. This enables accurate reproduction of complex underwater conditions, enhancing the realism of the experimental scenario. The water tank is made of transparent acrylic or glass, allowing personnel at the periphery to observe the internal conditions. The massive parameter combination data obtained through precise adjustment of various parameters can support machine learning model training, providing a data foundation for the derivation of theoretical formulas.

[0041] The interior of experimental tank 2 serves as the experimental space, where simulated sediments are placed during the experiment. The side walls of experimental tank 2 have a certain height. When water is continuously sprayed into experimental tank 2, it overflows from the top of tank 2 into the water tank, maintaining a stable water depth within the experimental space and thus ensuring the stability of the experimental water depth environment.

[0042] This invention enables multi-parameter coordinated adjustment. The height, angle, jet velocity, and spacing between the two sets of nozzles can be adjusted in real time via an adjustment device, overcoming the limitations of traditional fixed-structure experimental platforms. It meets simulation requirements under different working conditions and can simulate jet behavior under complex seabed terrain (such as slopes and protrusions) and sediment conditions. For example, by adjusting the nozzle angle to 30° and lowering the height to 0.5 meters, the jet impact effect of deep-sea hilly terrain can be simulated, whereas traditional platforms can only conduct horizontal jetting experiments.

[0043] The pressure monitoring module (such as an array-type pressure sensor) on the base plate can capture the pressure field distribution when the jet impacts the sediment. The pressure data collected by the pressure monitoring module can reflect the difference between the impact pressure at the jet center and the diffusion pressure at the edge, providing data support for analyzing the particle initiation conditions.

[0044] In the experimental data analysis, the height, angle, flow rate, and spacing of the jet nozzle 7 were used as input variables, and the transport efficiency as the response variable. A mathematical model was established to map the input and response variables. The mathematical model was trained, corrected, and iteratively optimized using a large amount of raw data provided by the test bench to improve its accuracy. The optimal parameter combination obtained through the mathematical model can be used as a standard configuration for specific particle sizes, sediment structures, or target collection scenarios, and can also be used as a parameter reference for actual deep-sea jet collection equipment. The entire optimization process can improve the systematicness, efficiency, and reproducibility of the collection experiment.

[0045] This invention employs a design approach combining flexible adjustment of multiple parameters with mathematical model analysis, breaking through the technical bottleneck of traditional jet sampling experiments. It achieves a leap from "idealized simulation" to "real environment reproduction," simulating the sampling process under different seabed conditions and optimizing operational parameters (angle of jet nozzle 7, flow rate, height of jet nozzle 7, etc.). This provides technical support with both theoretical depth and engineering practicality for the efficient sampling of deep-sea polymetallic nodules, and is of significant importance for promoting the sustainable development of the marine mineral resource development industry.

[0046] The mathematical model is either a multiple regression model or a neural network model.

[0047] Tracer particles were added to simulated sediments, and the motion trajectories of the tracer particles were obtained by using a combination of high-speed photography equipment and particle image velocimetry equipment. The flow field changes of the jet were obtained by analyzing the motion trajectories of the tracer particles.

[0048] The pressure monitoring module detects the impact pressure distribution information on the base plate and obtains the areas with the highest and lowest pressure on the base plate. The areas with the highest pressure are those where particulate matter is easily transported and those where particulate matter is easily deposited. The pressure monitoring module includes several pressure sensing units arranged in a matrix. The pressure sensing units detect the jet impact pressure acting on them, and the pressure detection data of all the pressure sensing units are collected to obtain a pressure data matrix. The pressure data matrix is ​​then transmitted to the image visualization module, where different pressure intensities are color-coded using a heat map or pseudo-color spectrum, and a two-dimensional pressure distribution map is output. Each pressure sensing unit corresponds to one pixel in the two-dimensional pressure distribution map.

[0049] The pressure sensing unit is made of a variable resistivity conductive thin film material, and its resistance is determined by the material's geometric effects and resistivity.

[0050] ;

[0051] In the formula, For resistance, Resistivity For the length of the material, Let be the material area. When the pressure sensing unit is subjected to the impact pressure of water flow, the geometric structure of the material changes, resulting in a change in its resistivity. The specific formula is as follows:

[0052] ;

[0053] In the formula, It is Poisson's ratio. The electrical signals of each pressure sensing unit are acquired in real time through a bridge circuit and an analog-to-digital converter (ADC). These electrical signals reflect the instantaneous pressure state of each pressure sensing unit in the region.

[0054] In this embodiment, the pressure monitoring module consists of 16×16 pressure sensing units, each corresponding to an independent detection pixel, forming an original pressure matrix. Pressure values ​​are obtained through a polynomial fitting function, and the original pressure data is normalized to unify the numerical range of the pressure values ​​from each sensing unit. Median filtering and Gaussian filtering algorithms are then used to smooth out abnormal data or edge fluctuations, resulting in a more continuous pressure data matrix.

[0055] To analyze the intensity of jet disturbance to seabed sediments and the key areas for particle collection, this experimental setup uses indirect measurement and evaluation based on bottom pressure changes. During the jet impact, different areas on the flume bottom plate experience significant pressure differences, and their distribution characteristics reflect the range and intensity of flow field disturbance. The jet impact creates a local high-pressure zone at the bottom of the flume. This pressure is generally proportional to the vertical component of the kinetic energy carried by the jet; higher pressure makes particles easier to transport, while lower pressure makes them more prone to aggregation. A two-dimensional pressure distribution map visually presents the impact intensity and range of the jet on different areas of the flume bottom, while simultaneously outputting the pressure values ​​for each unit, enhancing the intuitiveness of experimental observations and quantitative analysis capabilities. This two-dimensional pressure distribution map can intuitively display the local pressure intensity and distribution in the jet impact area, allowing researchers to directly determine the locations of easily transportable and easily deposited areas, providing an important data foundation for the study of the entire particle transport process.

[0056] To ensure the long-term stable operation of the pressure monitoring module, a waterproof coating is added to the surface of the device, and all circuit boards are insulated from the water and led out through wires wrapped with insulation, effectively preventing the risk of short circuits or corrosion and meeting the safety and reliability requirements for continuous operation in the underwater environment.

[0057] A sampler head simulator was deployed in the experimental space to simulate the sampling head. Positioned at a predetermined location, the simulator was used to record the velocity field distribution, shear layer structure, and local vorticity changes around it using high-speed photography and particle image velocimetry. Simultaneously, a pressure monitoring device recorded the negative pressure range and fluctuation intensity behind the simulator in real time to reflect its entrainment capacity and flow stability. By incorporating the sampler head simulator into the experiment, actual working conditions can be simulated more realistically, and the impact of the simulator on actual sampling operations can be studied. The simulator was designed with structures such as a conical guide shroud, a flared nozzle, and a straight nozzle to simulate different sampling head structures in real-world environments. Adjusting the relative angle and distance between the jet nozzle 7 and the simulator simulated the entrainment state and flow field guidance of the sampling head under different working conditions. High-speed photography and particle image velocimetry were used to record the velocity field distribution, shear layer structure, and local vorticity changes around the sampler head simulation. Simultaneously, a pressure monitoring module was used to record the negative pressure range and fluctuation intensity behind the baffle in real time, reflecting the entrainment capacity and flow stability of the sampler head. By tracking particle trajectories, the motion path, start-up time, and final lift position of particles under different sampler head structures were recorded. Based on the above data, a comprehensive performance index system was constructed to further evaluate the flow field organization characteristics and particle lifting capacity under different sampler head structures, thereby obtaining more convincing experimental evidence and providing experimental support for the optimized design of the sampler head structure.

[0058] To improve the visualization of the jet flow trajectory, tracer liquids of different colors are added to the jets ejected from the two sets of jet nozzles 7, so that the two sets of jet nozzles 7 form jets with color differences, which can be used to intuitively identify the liquid flow path, velocity distribution and turbulent mixing region.

[0059] In the experimental space, a wall-mounted jet guide baffle is set at a preset angle. The wall-mounted jet guide baffle is used to guide the jet to develop along the wall surface of the wall-mounted jet guide baffle and form a wall-mounted jet. The wall-mounted jet is visualized and data is collected by high-speed photography equipment and particle image velocimetry equipment in order to study the wall adhesion, reflection and jet shear characteristics.

[0060] In the experiment, the injection angle of the jet nozzle relative to the wall-mounted jet guide baffle was set between 5° and 90° using an adjustment device. Within the 5° to 30° angle range, a flow field exhibiting adhesion and slippage along the wall of the wall-mounted jet guide baffle could be stably formed. This flow field was used to observe the Coanda effect, shear layer development, and the evolution of vortex structures. When the injection angle was set to 90°, it could be used to study the jet reflection process caused by vertical impact. When the ratio of the wall distance h to the jet nozzle diameter d (h / d) was less than 1, a more pronounced wall-mounted flow was easily formed. Combined with Reynolds values ​​between 5000 and 20000, this range belongs to the controllable turbulence or laminar-turbulent transition zone, where shear layer development is significant, velocity gradients and typical shear boundary structures are easily formed, facilitating the study of shear stress and turbulent diffusion. By gradually adjusting the height, angle, and velocity, the influence of different parameter combinations on the wall flow pattern was explored. The experimental platform supports adjusting the physical properties of the influent liquid (such as density, viscosity, or temperature) to simulate the changes in jet behavior under different operating conditions, in order to explore the evolution of the flow field and the differences in the acquisition mechanism under different physical properties.

[0061] To study the process of the sampling head gradually moving forward relative to the seabed during the sampling process, a tracked conveyor 24 was installed at the bottom of the experimental tank 2, and sampling particles were laid on top of the tracked conveyor 24. When the tracked conveyor 24 is activated, it will drive the sampling particles to simulate the relative motion between the sampling head and the seabed during the sampling process. The forward speed of the sampling equipment can be achieved by changing the conveying speed of the tracked conveyor 24.

[0062] The adjustment device includes a horizontal guide rail 8 and a horizontal adjusting screw 9 mounted on the top of the observation water tank 1. A horizontal adjusting nut seat 14 is slidably mounted on the horizontal guide rail 8. The horizontal adjusting screw 9 is threadedly engaged with the horizontal adjusting nut seat 14. The horizontal adjusting screw 9 is connected to a horizontal adjusting motor 26. Adjacent horizontal adjusting screws 9 are disconnected by an isolation component 25. A horizontal moving frame 10 is mounted on the horizontal adjusting nut seat 14. A vertical guide rail 15 and a vertical adjusting screw 17 are mounted on the horizontal moving frame 10. A vertical adjusting nut seat 16 is slidably mounted on the vertical guide rail 15. The vertical adjusting nut seat 16 is connected to the vertical adjusting motor 26. The adjusting screws 17 are threaded together; the vertical adjusting screw 17 is connected to the vertical adjusting motor 27, and a vertical moving frame 18 is provided on the vertical adjusting nut seat 16. A first rotating shaft 20 and a second rotating shaft 21 are rotatably mounted on the vertical moving frame 18, and both the first rotating shaft 20 and the second rotating shaft 21 are rotatably connected to the vertical moving frame 18; the jet nozzle 7 is mounted on the second rotating shaft 21, and 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 a rotary drive device 22; a water inlet tank 3 is provided below the observation water tank 1, and the jet nozzle 7 is connected to the water inlet tank 3 through a hose 5. A regulating valve 6 is provided on the hose 5, and the regulating valve 6 is used to regulate the flow rate of the jet nozzle 7.

[0063] Two sets of jet nozzles 7 are respectively mounted on two adjusting devices. A horizontal adjusting motor 26 drives a horizontal adjusting screw 9 to rotate. The horizontal adjusting screw 9 is parallel to the horizontal guide rail 8, and the horizontal adjusting screw 9 drives the horizontal adjusting nut seat 14 to slide along the horizontal guide rail 8, thereby achieving horizontal movement of the jet nozzles 7. Adjacent horizontal adjusting screws 9 are disconnected by an isolation component 25, allowing the horizontal adjusting screws 9 on both sides of the isolation component 25 to rotate independently. The horizontal adjusting nut engages with the threaded section on the horizontal adjusting screw 9. The horizontal adjusting screws 9 on both sides of the isolation component 25 are independently connected to the horizontal adjusting motor 26, which drives the two sets of jet nozzles 7 to move independently in the horizontal direction, thereby adjusting the distance between the two sets of jet nozzles 7.

[0064] To improve the stability of horizontal movement, two sets of horizontal guide rails 8 and two sets of horizontal adjusting screws 9 are installed at the upper end of the observation tank 1. Each adjusting device also has two horizontal adjusting nut seats 14, which are respectively engaged with two horizontal adjusting screws 9. The two horizontal adjusting screws 9 drive the adjusting device to move horizontally at the same time. The ends of the horizontal adjusting screws 9 are connected by a first belt 11. One of the horizontal adjusting screws 9 is connected to the horizontal adjusting motor 26. The first belt 11 ensures the synchronicity of the rotation of the two horizontal adjusting screws 9.

[0065] The vertical adjustment motor 27 drives the vertical adjustment screw 17 to rotate, which in turn drives the vertical adjustment nut seat 16 to move along the vertical guide rail 15, thereby adjusting the height of the vertical moving frame 18 and the jet nozzle 7. The horizontal moving frame 10 is equipped with two vertical adjustment screws 17, whose upper ends are connected by a second belt 19. One of the vertical adjustment screws 17 is connected to the vertical adjustment motor 27, and the second belt 19 ensures the synchronous rotation of the two vertical adjustment screws 17.

[0066] 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 drive device 22. When the first rotating shaft 20 rotates, it drives the second rotating shaft 21 to rotate. When the second rotating shaft 21 rotates, it adjusts the angle of the jet nozzle 7.

[0067] An overflow port 12 is provided at the bottom of the observation water tank 1; a water storage tank 4 is provided below the observation water tank 1, and the overflow port 12 is connected to the water storage tank 4 through a return pipe 13. Water overflowing from the experimental water tank 2 will flow into the bottom of the observation water tank 1, and the overflowing water will flow out through the overflow port 12 at the bottom of the observation water tank 1, and be collected into the water storage tank 4 through the return pipe 13.

[0068] Furthermore, the angle of the jet nozzle is fed back by the position encoder on the rotary drive device, and a flow meter is installed on the hose to feed back 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 by fuzzy control, corrected by fuzzy rule base, and then clarified to obtain the output value.

[0069] By combining a neural network model with fuzzy PID control, adaptive adjustments are made to the deviation between the measured and target values, as well as the rate of change of the deviation. The specific method is as follows: First, the deviation value and the rate of change of the deviation are input. The input value is then fuzzy-processed using a Gaussian function. Next, the fitness of the rules is calculated based on a fuzzy rule base. Simultaneously, the learning error objective function is defined as follows:

[0070] ;

[0071] In the formula: Sampling time, and They are respectively The target value and the actual value at time t; the gradient descent method is used to search for the center value of the membership function. ,width and weight The specific formula is as follows:

[0072] ;

[0073] In the formula, Momentum factor The learning rate; based on the output value and weights. Calculate the PID increment.

[0074] In this invention, PID control based on a fuzzy neural network is introduced to improve adaptability. The advantages of fuzzification 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 simultaneously belong to "small positive" (membership degree 0.7) and "zero" (membership degree 0.3), and the fuzzy rules can comprehensively consider both states. A rule base based on expert knowledge or experimental data can be established to cope with the characteristics of nonlinear systems; compared with the fixed-parameter PID control mode, the fuzzy PID control mode can automatically adjust the control parameters according to the operating conditions, improving stability in complex environments.

[0075] By establishing a minimum error objective function and using gradient descent to iteratively update the membership function parameters (center value, width) and weights, the control response is faster and the overshoot is smaller. Actual experiments show that after algorithm optimization, the system response speed is improved by 30%.

[0076] PID control is responsible for rapid response (capable of millisecond-level adjustment), fuzzy control is used to handle the uncertainty of deviation, and neural network model achieves long-term optimization. The three 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 optimizing nozzle angle and flow rate in a coordinated manner, ensuring efficient nodule collection while avoiding excessive disturbance to the deposits.

[0077] This invention is not limited to the preferred embodiments described above. Anyone can derive other products in various forms under the guidance of this invention. However, regardless of any changes in shape or structure, any technical solution that is the same as or similar to this application falls within the protection scope of this invention.

Claims

1. A multi-parameter experimental method for simulating the process of collecting nodules using seabed jets, characterized in that, The system includes an experimental platform, which includes an observation water tank containing an experimental water bath. A pressure monitoring module is installed on the bottom plate of the experimental water bath to detect the impact pressure distribution on the bottom plate. Two sets of jet nozzles are positioned opposite each other above the experimental water bath. The two sets of jet nozzles are mounted on an adjustment device to adjust the height, angle, and spacing between the two sets of jet nozzles. During the experiment, the height of the jet nozzle, the spray angle, the spray velocity, and the distance 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 velocity, and the mass of the particles deposited in the particle transport and deposition area was statistically analyzed to calculate the transport efficiency. The collected particle transport efficiency data were used as the response variable, and the height of the jet nozzle, the angle of the jet nozzle, the jet velocity, and the distance between the two sets of jet nozzles were used as the input variables. A mathematical model was established to fit the relationship between the input variables and the transport efficiency. The pressure monitoring module detects the impact pressure distribution information on the base plate and obtains the areas with the maximum and minimum pressure on the base plate. The area with the maximum pressure is the area where particulate matter is easily transported, and the area with the minimum pressure is the area where particulate matter is easily deposited. The pressure monitoring module includes several pressure sensing units arranged in a matrix. The pressure sensing units detect the jet impact pressure acting on them, and the pressure detection data of all pressure sensing units are collected to obtain a pressure data matrix. The pressure data matrix is ​​then transmitted to the image visualization module, where heat maps or pseudo-color maps are used to color-code different pressure intensities and output a two-dimensional pressure distribution map. Each pressure sensing unit corresponds to one pixel in the two-dimensional pressure distribution map. In the experimental space, a wall-mounted jet guide baffle is set at a preset angle. The wall-mounted jet guide baffle is used to guide the jet to develop along the wall surface of the wall-mounted jet guide baffle and form a wall-mounted jet. The wall-mounted jet is visualized and data is collected by high-speed photography equipment and particle image velocimetry equipment in order to study the wall adhesion, reflection and jet shear characteristics.

2. The multi-parameter experimental method for simulating the process of collecting nodules using a seabed jet, as described in claim 1, is characterized in that... The mathematical model is either a multiple regression model or a neural network model.

3. The multi-parameter experimental method for simulating the process of collecting nodules using a seabed jet, as described in claim 1, is characterized in that... Tracer particles were added to simulated sediments, and the motion trajectories of the tracer particles were obtained by using a combination of high-speed photography equipment and particle image velocimetry equipment. The flow field changes of the jet were obtained by analyzing the motion trajectories of the tracer particles.

4. The multi-parameter experimental method for simulating the process of collecting nodules using a seabed jet, as described in claim 1, is characterized in that... A sampler head simulator was set up in the test space to simulate the sampler head. The sampler head simulator was placed in a set position, and the velocity field distribution, shear layer structure and local eddy current changes around the sampler head simulator were recorded using high-speed photography equipment and particle image velocimetry equipment. At the same time, the negative pressure range and negative pressure fluctuation intensity in the region behind the sampler head simulator were recorded in real time using a pressure monitoring device to reflect the entrainment capacity and flow stability of the sampler head simulator.

5. The multi-parameter experimental method for simulating the process of collecting nodules using a seabed jet, as described in claim 1, is characterized in that... Different colored tracer liquids are added to the jets ejected from the two sets of jet nozzles, so that the two sets of jet nozzles form jets with different colors, which can be used to visually identify the liquid flow path, velocity distribution and turbulent mixing region.

6. The multi-parameter experimental method for simulating the process of collecting nodules using a seabed jet, as described in claim 1, is characterized in that... The adjustment device includes a horizontal guide rail and a horizontal adjusting screw mounted on the top of the observation water tank. A horizontal adjusting nut seat is slidably mounted on the horizontal guide rail, and the horizontal adjusting screw is threadedly engaged with the horizontal adjusting nut seat. The horizontal adjusting screw is connected to a horizontal adjusting motor, and adjacent horizontal adjusting screws are disconnected by an isolation component. A horizontal moving frame is mounted on the horizontal adjusting nut seat, and a vertical guide rail and a vertical adjusting screw are mounted on the horizontal moving frame. A vertical adjusting nut seat is slidably mounted on the vertical guide rail, and the vertical adjusting nut seat is threadedly engaged with the vertical adjusting screw. The vertical adjusting screw is connected to a vertical adjusting motor, and a vertical moving frame is mounted on the vertical adjusting nut seat. A first rotating shaft and a second rotating shaft are rotatably mounted on the vertical moving frame, and both the first and second rotating shafts are rotatably connected to the vertical moving frame. A jet nozzle is mounted on the second rotating shaft, and the first and second rotating shafts are connected by a third belt. The first rotating shaft is connected to a rotary drive device. A water inlet tank is located below the observation water tank, and the jet nozzle is connected to the water inlet tank via a flexible hose.

7. The multi-parameter experimental method for simulating the process of collecting nodules using a seabed jet, as described in claim 6, is characterized in that... An overflow outlet is installed at the bottom of the observation water tank; a water storage tank is installed below the observation water tank, and the overflow outlet is connected to the water storage tank through a return pipe.

8. The multi-parameter experimental method for simulating the process of collecting nodules using a seabed jet, as described in claim 7, is characterized in that... The angle of the jet nozzle is fed back by the position encoder on the rotary drive device, and the flow meter is installed on the hose to feed back 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 by fuzzy control, corrected by fuzzy rule base, and then clarified to obtain the output value. By combining a neural network model with fuzzy PID control, adaptive adjustments are made to the deviation between the measured and target values, as well as the rate of change of the deviation. The specific method is as follows: First, the deviation value and the rate of change of the deviation are input. The input value is then fuzzy-processed using a Gaussian function. Next, the fitness of the rules is calculated based on a fuzzy rule base. Simultaneously, the learning error objective function is defined as follows: ； In the formula: Sampling time, and They are respectively The target value and the actual value at time t; the gradient descent method is used to search for the center value of the membership function. ,width and weight The specific formula is as follows: ； In the formula, Momentum factor The learning rate; based on the output value and weights. Calculate the PID increment.

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