Steep wave linear flexible pipeline mining system and mining range determination method thereof

Abstract

The invention discloses a steep wave linear flexible pipeline mining system and a mining range determining method thereof, and belongs to the technical field of deep sea flexible pipeline mining, and the mining system comprises a mining ship, a top anti-bending device, a flexible mining pipeline, a buoyancy module, a bottom anti-bending device and a mining vehicle with a lifting pump. The top anti-bending device is arranged at the bottom of the mining ship, the bottom anti-bending device is arranged on the mining vehicle, the buoyancy module is arranged on a lifting section of the flexible mining pipeline, and the upper end and the lower end of the flexible mining pipeline are connected with the mining ship 1 and the mining vehicle through the top anti-bending device and the bottom anti-bending device respectively. The determination method comprises the following steps: firstly, designing the size of the top anti-bending device; secondly, according to the water depth and the limit length of the flexible pipeline, the limit operation range of the mining vehicle in the axial direction is determined; thirdly, the maximum mining range of the mining vehicle on the shaft is determined; and finally, checking and determining the maximum mining radius of the flexible pipeline mining system. By means of the innovative design of the integrated anti-bending device, the problem of curvature active control is solved, and the large-operation-range potential of a steep wave line type is safely released.

Description

Technical Field

[0001] This invention belongs to the field of deep-sea flexible pipeline mining technology, and relates to a steep-wave linear flexible pipeline mining system and a method for determining the mining range. Background Technology

[0002] With the increasing depletion of terrestrial mineral resources, the deep seabed, rich in strategic resources such as polymetallic nodules, cobalt-rich crusts, and sulfides, has become a focal point of competition among nations. Among various deep-sea mining solutions, the pipeline hoisting mining system is widely recognized as one of the most promising technologies due to its high efficiency and continuity. The core component of this system is the hoisting pipeline connecting the surface support vessel and the seabed mining vehicle; its shape and dynamic performance directly determine the overall system's operational efficiency, safety, and reliability.

[0003] Given the critical role of pipelines in the overall system, their alignment design has become a core technology. In this regard, the mature field of deep-sea oil and gas drilling and production has accumulated valuable engineering experience. After decades of development, deep-sea oil and gas drilling and transportation technologies have formed relatively mature design theories for deep-sea riser and pipeline systems. Among these, classic alignment designs for flexible pipelines, such as catenary, wave-damping, and S-shaped alignments, provide important references for solving the dynamic connection problems between surface vessels and subsea equipment. These alignments adapt to specific operating environments through different buoyancy / ballast configurations and boundary conditions. However, deep-sea mining systems and oil and gas extraction systems differ fundamentally in their core operating modes. In oil and gas extraction, the subsea wellhead is a fixed point, with the pipeline end fixedly connected to it; system dynamic analysis mainly focuses on fatigue damage caused by environmental loads. In mining systems, however, the pipeline end is connected to a mining vehicle that needs to move over a large area, resulting in continuous and extensive dynamic contact and drag between the pipeline and the seabed.

[0004] In the deep-sea oil and gas sector, pipeline alignment technologies such as catenary, gentle wave, S-shaped, and steep wave are relatively mature. However, these alignment designs are mainly designed for static or fixed-point oil and gas transportation. If directly applied to deep-sea mining systems that require large-scale mobile operations, significant drawbacks exist: catenary alignments generate uncontrollable excessive curvature at the seabed contact area, resulting in enormous towing resistance that severely hinders the movement of mining vehicles; gentle wave alignments, due to their bulky shape and slow response, cannot adapt to the complex movements of mining vehicles with their passive curvature control methods, limiting their operating range; and for S-shaped and steep wave alignments, which theoretically offer greater offset capabilities, there is a lack of mature curvature control in dynamic towing mining scenarios, and their safe operating range cannot be determined, leaving a technological gap for direct application. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of existing technologies and provide a flexible pipeline system based on a steep wave profile, specifically designed for deep-sea mining, along with a method for determining its operating range. This invention solves the problem of active curvature control through an innovative integrated anti-bend design, thereby safely unlocking the large operating range potential of the steep wave profile. Simultaneously, this invention provides, for the first time, a method for determining the mining range of this system, filling a technological gap in this field and providing core theoretical support for the system's engineering design and safe operation.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0007] A steep-wave linear flexible pipeline mining system includes a mining vessel 1, a top anti-bend device 2, a flexible mining pipeline 3, a buoyancy module 4, a bottom anti-bend device 5, and a mining vehicle 6 equipped with a lifting pump.

[0008] The top anti-bend device 2 is located at the bottom of the mining vessel 1, the bottom anti-bend device 5 is located on the mining vehicle 6 with a lifting pump, the buoyancy module 4 is located in the lifting section of the flexible mining pipeline 3, and the upper and lower ends of the flexible mining pipeline 3 are connected to the mining vessel 1 and the mining vehicle 6 with a lifting pump through the top anti-bend device 2 and the bottom anti-bend device 5 respectively. The mining vehicle 6 with a lifting pump is located on the seabed.

[0009] The top anti-bend device 2 has a specific structure that is a hollow cylinder-frustum-cylinder combination structure with openings at the top and bottom, and a total length of [missing information]. The diameter of the upper cylinder is The diameter of the lower cylinder is The cylinder-frustum-cylinder composite structure is formed by rotating a rectangular-isosceles trapezoid-rectangular closed shape around its centerline; the thickness of the left and right sides of the rectangular-isosceles trapezoid-rectangular closed shape is t, and the height of the upper rectangular closed shape is t. and length is The length of the top of the closed isosceles trapezoid is The bottom length is and height are The height of the closed rectangular shape below is and length .

[0010] The bottom anti-bend device 5 has a specific structure that is a hollow cylinder-frustum-cylinder combination structure with openings at the top and bottom, and a total length of [missing information]. The diameter of the upper cylinder is The diameter of the lower cylinder is The cylinder-frustum-cylinder composite structure is formed by rotating a rectangular-isosceles trapezoid-rectangular closed shape around its centerline; the thickness of the left and right sides of the rectangular-isosceles trapezoid-rectangular closed shape is t, and the height of the upper rectangular closed shape is t. and length is The length of the top of the closed isosceles trapezoid is The bottom length is and height are The height of the closed rectangular shape below is and length .

[0011] The use of anti-bend devices at the top and bottom can solve the problem of excessive curvature at the top and bottom of the pipeline caused by the constant changes in the position of the mining vehicle and the undulating motion caused by wind, waves and current loads on the mining vessel during the movement of the mining vehicle, which in turn affects the efficiency of the pipeline in transporting ore.

[0012] A method for determining the mining area in a steep-wave linear flexible pipe mining system includes the following steps:

[0013] The first step is to design the overall length of the top anti-bend device 2. Diameter of the upper cylinder The overall length of the bottom anti-bend device 5 Diameter of the upper cylinder Specifically:

[0014] Step 1.1: Determine the overall length of the top bend preventer 2 based on the minimum bending radius R and pipe diameter D of the flexible mining pipe 3. The range of variation is (0, 3R], and the diameter of the upper cylinder is... The variation range is (0, 10D] and the total length of the bottom anti-bend device 5. The range of variation is (0, 3R], and the diameter of the lower cylinder is... The range of variation is (0, 10D];

[0015] Step 1.2: Using the Latin hypercube stratified sampling method, the total length of the top anti-bend device 2 determined in Step 1.1 is... Diameter of the upper cylinder Overall length of bottom anti-bend device 5 Diameter of the lower cylinder Randomly selected from a total of four parameters Each sample parameter.

[0016] Step 1.3, extract the four parameters from Step 1.2 respectively. Each sample parameter is input into the flexible pipeline mining system model established by OrcaFlex software, and the maximum curvature during the time-domain analysis along the length of the flexible mining pipeline is calculated. and maximum effective tension .

[0017] Step 1.4, through time-domain analysis of the length direction of the flexible mining pipeline 3, the maximum curvature is determined. Sensitivity analysis of the dimensional parameters of the top anti-bend device 2 and the bottom anti-bend device 5 was conducted to determine a more optimal and economical overall length for the top anti-bend device 2. Diameter of the upper cylinder Overall length of bottom anti-bend device 5 Diameter of the upper cylinder Dimensional parameters.

[0018] Step 1.5 combines the proposed superior and more economical top bend preventer 2 and bottom bend preventer 5 with the flexible pipeline mining system in the literature. The mining system in the literature includes a mining vessel, a flexible mining pipeline, a buoyancy module, and a mining car with a lifting pump. A steep wave-shaped flexible pipeline mining system suitable for deep-sea mining is proposed.

[0019] The second step is to determine the water depth. and the ultimate length of flexible pipes The Pythagorean theorem is used to determine the 6th mining car with a lifting pump in a flexible mining pipeline mining system. The axial direction limit operating range is .

[0020] The third step is to determine the location of the mining vehicle 6 with the booster pump in the flexible pipeline mining system. The maximum mining area of ​​the shaft. Specifically:

[0021] Step 3.1, according to the mining car 6 with the lifting pump in The step size for selecting the limit operating range in the axial direction is... Thus determined A mining vehicle equipped with a booster pump axis, Axis coordinates are , , … in , .

[0022] Step 3.2, take the mining car 6 with the lifting pump from step 3.1... axis, The axis coordinates are input into the flexible pipeline mining system model established in OrcaFlex software to calculate the maximum curvature during the time-domain analysis along the length of the flexible mining pipeline 3. Maximum effective tension and the flexible mining pipeline end to the mining car 6 with a lifting pump , , Maximum force in the axial direction .

[0023] Step 3.3: Determine the maximum curvature that the flexible mining pipeline cross-section can withstand during the design phase. Maximum effective tension And the capacity of the mining vehicle 6 with the booster pump to withstand the load at the end of the flexible mining pipeline under normal operating conditions. , , Maximum force in the axial direction ,in The travel resistance that the mining car 6 with the booster pump can withstand under normal operating conditions is determined as the ultimate bearing capacity index of the flexible pipeline mining system. This is based on the maximum curvature of the flexible mining pipeline. Maximum effective tension and the flexible mining pipeline end to the mining car 6 with a lifting pump , , Maximum force in the axial direction When one exceeds the ultimate bearing capacity index, that is or or At this time, the mining car 6 equipped with the booster pump is in There are two positions along the axis, at a horizontal distance of 1 from the mining ship. The more distant location is the flexible pipeline mining system. The furthest mining location on the axis The flexible pipeline mining system is located near mining vessel 1. The nearest mining location of the axis The flexible pipeline mining system The maximum mining radius of the shaft is ;

[0024] The fourth step is to verify and determine the maximum mining radius of the flexible pipeline mining system. Specifically:

[0025] Step 4.1, using the flexible pipeline mining system determined in Step 3.1. Maximum mining radius of the shaft With radius, With the center at axis, Draw a circle in the seabed plane formed by the axes, and randomly select n mining cars with lifting pumps from within the circle using the Latin hypercube stratified sampling method. axis, Axis coordinates ( , ).

[0026] Step 4.2, take the mining car 6 with the lifting pump from step 4.1... axis, The axis coordinates are input into the flexible pipeline mining system model established in OrcaFlex software to calculate the maximum curvature during the time-domain analysis along the length of the flexible mining pipeline 3. Maximum effective tension and the flexible mining pipeline end to the mining car 6 with a lifting pump , , Maximum force in the axial direction .

[0027] Step 4.3 involves calculating the maximum curvature of the flexible mining pipeline 3 along its length in the time-domain analysis process within the flexible pipeline mining system model established in the OrcaFlex software in Step 3.2. Maximum effective tension and the flexible mining pipeline end to the mining car 6 with a lifting pump , , Maximum force in the axial direction Compare the results with the ultimate bearing capacity index of the flexible pipeline mining system determined in step 3.3. Verify and determine the maximum mining radius of the flexible pipeline mining system at the seabed level as follows: .

[0028] Step 4.4, when the flexible mining pipeline reaches its maximum curvature Maximum effective tension and the flexible mining pipeline end to the mining car 6 with a lifting pump , , Maximum force in the axial direction If any limit on bearing capacity is exceeded, return to step 3.1 and from there begin to reduce the step size to redetermine the flexible pipeline mining system. The mining range of the shaft, until the maximum curvature of the flexible mining pipe. Maximum effective tension and the flexible mining pipeline end to the mining car 6 with a lifting pump , , Maximum force in the axial direction When none of the parameters exceed the ultimate bearing capacity index, the maximum mining radius of the flexible pipeline mining system on the seabed is determined to be: .

[0029] The innovative point of this invention is:

[0030] (1) A steep-wave flexible pipeline mining system with better and more economical anti-bend length and radius dimensions.

[0031] (2) Exploration process of mining radius in the static state of mining vessel of steep wave line flexible mining system.

[0032] The beneficial effects of this invention are as follows:

[0033] (1) In view of the fact that the existing linear shape cannot meet the application scenarios of deep-sea mining, anti-bend devices are installed at the top and bottom of the steep wave linear mining pipeline to limit the occurrence of excessive curvature. At the same time, through the sensitivity analysis of the length and radius of the anti-bend device, the existence of a more optimal and economical length and radius size for the steep wave linear anti-bend device is determined, and it is applied to the flexible pipeline mining system, thus proposing a steep wave linear flexible pipeline mining system.

[0034] (2) A complete process for finding the mining radius is given for a steep wave line flexible mining system. Attached Figure Description

[0035] Figure 1 This is a schematic diagram showing the dimensional parameters of the anti-bend device of the present invention;

[0036] Figure 2 Sensitivity analysis of the maximum curvature to the length and radius of the top anti-bend device; Figure 2 In the figure (a), the maximum curvature is relative to the radius of the top anti-bend device. Sensitivity; Figure 2 (b) represents the maximum curvature relative to the length of the top anti-bend device. Sensitivity;

[0037] Figure 3 Sensitivity analysis of the bottom anti-bend device to the maximum curvature; Figure 3 In the figure (a), the maximum curvature is relative to the radius of the bottom anti-bend device. Sensitivity; Figure 3 (b) represents the maximum curvature relative to the length of the bottom anti-bend device. Sensitivity;

[0038] Figure 4 This is a schematic diagram of the overall flexible pipeline mining system of the present invention;

[0039] Figure 5 Determine the flowchart for the mining area;

[0040] Figure 6 for Calculation of the ultimate mining distance of the axis;

[0041] Figure 7 To determine the location of the mining vehicle The mining area of ​​the shaft;

[0042] Figure 8 The coordinates of different positions of the mining vehicle;

[0043] Figure 9Verification of mining radius.

[0044] In the picture: 1. Mining vessel; 2. Top anti-bend device; 3. Flexible mining pipe; 4. Buoyancy module; 5. Bottom anti-bend device; 6. Mining car with lifting pump. Detailed Implementation

[0045] The following examples, along with screenshots, further illustrate the invention.

[0046] A method for determining the mining area in a steep-wave linear flexible pipe mining system includes the following steps:

[0047] The first step is to design the overall length of the top anti-bend device 2. Diameter of the upper cylinder The overall length of the bottom anti-bend device 5 Diameter of the upper cylinder Specifically:

[0048] Step 1.1: Based on the minimum bending radius R = 5 m and pipe diameter D = 0.3 m of the flexible mining pipe 3, determine the overall length of the top anti-bend device 2. The range of variation is (0, 15 m], and the diameter of the upper cylinder is... The variation range is (0, 3 m) and the total length of the bottom anti-bend device 5. The range of variation is (0, 15 m], and the diameter of the lower cylinder is... The range of variation is (0, 3 m];

[0049] Step 1.2: Using the Latin hypercube stratified sampling method, the total length of the top anti-bend device 2 determined in Step 1.1 is... Diameter of the upper cylinder Overall length of bottom anti-bend device 5 Diameter of the lower cylinder Ten sample parameters were randomly selected from each of the four parameters.

[0050] Step 1.3, extract the four parameters from Step 1.2 respectively. Each sample parameter is input into the flexible pipeline mining system model established by OrcaFlex software, and the maximum curvature during the time-domain analysis along the length of the flexible mining pipeline is calculated. and maximum effective tension like Figure 2 , 3 As shown, the maximum curvature of the flexible mining pipeline 3 in the time domain analysis along its length gradually decreases and then stabilizes as the four parameters increase, thus determining a more optimal and economical overall length for the top bend preventer 2. Diameter of the upper cylinder Overall length of bottom anti-bend device 5 Diameter of the upper cylinder The dimensions are 6 m, 1.2 m, 6 m, and 1.3 m.

[0051] Step 1.4, through time-domain analysis of the length direction of the flexible mining pipeline 3, the maximum curvature is determined. Sensitivity analysis of the dimensional parameters of the top anti-bend device 2 and the bottom anti-bend device 5 was conducted to determine a more optimal and economical overall length for the top anti-bend device 2. Diameter of the upper cylinder Overall length of bottom anti-bend device 5 Diameter of the upper cylinder The dimensions are 6 m, 1.2 m, 6 m, and 1.3 m.

[0052] Step 1.5 combines the proposed superior and more economical top bend preventer 2 and bottom bend preventer 5 with the flexible pipeline mining system described in the literature. The mining system in the literature includes a mining vessel, a flexible mining pipeline, a buoyancy module, and a mining vehicle with a booster pump. A steep-wave-shaped flexible pipeline mining system suitable for deep-sea mining is proposed, such as... Figure 4 As shown.

[0053] The second step is to determine the water depth. and the ultimate length of flexible pipes The Pythagorean theorem is used to determine the 6th mining car with a lifting pump in a flexible mining pipeline mining system. The axial direction limit of the operating range is as follows Figure 6 As shown .

[0054] The third step is to determine the location of the mining vehicle 6 with the booster pump in the flexible pipeline mining system. The maximum mining area of ​​the shaft. Specifically:

[0055] Step 3.1, according to the mining car 6 with the lifting pump in The step size for selecting the limit operating range in the axial direction is... Thus determined 6 mining vehicles equipped with booster pumps axis, Axis coordinates are , , … in , .

[0056] Step 3.2, take the mining car 6 with the lifting pump from step 3.1... axis, The axis coordinates are input into the flexible pipeline mining system model established in OrcaFlex software to calculate the maximum curvature during the time-domain analysis along the length of the flexible mining pipeline 3. Maximum effective tension and the flexible mining pipeline end to the mining car 6 with a lifting pump , , Maximum force in the axial direction As shown in Table 1. Mining vehicle 6 with a booster pump... ~ At one point, due to the close proximity of the mining vessel and the mining truck, the computational model of the flexible mining pipeline experienced a collision, resulting in an error and non-convergence; the mining truck 6 with the booster pump... ~ Within the range, the maximum curvature is rad / m, maximum effective tension is greater than Within the kN range, the end of the flexible mining pipeline exerts a force on the mining vehicle equipped with a lifting pump. exist ~ Within the range. Mining vehicle 6 with a booster pump is greater than or equal to At that time, the maximum curvature is greater than or equal to 0.2 rad / m, and the maximum effective tension is... Within the kN range, the end of the flexible mining pipeline exerts a force on the mining vehicle equipped with a lifting pump. Greater than or equal to Mining vehicles with booster pumps 6 in greater than or equal to At that time, the maximum curvature is greater than 0.2 rad / m, and the maximum effective tension is greater than Within the kN range, the end of the flexible mining pipeline exerts a force on the mining vehicle equipped with a lifting pump. Greater than .

[0057] Table 1: Mining vehicle 6 with lifting pump Axial time pipe mechanical properties

[0058]

[0059] Step 3.3: Determine the maximum curvature that the flexible mining pipeline cross-section can withstand during the design phase. Maximum effective tension And the capacity of the mining vehicle 6 with the booster pump to withstand the load at the end of the flexible mining pipeline under normal operating conditions. , , Maximum force in the axial direction ,in The travel resistance that the mining car 6 with the booster pump can withstand under normal operating conditions is determined as the ultimate bearing capacity index of the flexible pipeline mining system. This is based on the maximum curvature of the flexible mining pipeline. Maximum effective tension and the flexible mining pipeline end to the mining car 6 with a lifting pump , , Maximum force in the axial direction When one exceeds the ultimate bearing capacity index, that is or or At this time, the mining car 6 equipped with the booster pump is in There are two positions in the axial direction, such as Figure 7 As shown, the horizontal distance from mining ship 1 The more distant location is the flexible pipeline mining system. The furthest mining location on the axis The flexible pipeline mining system is located near mining vessel 1. The nearest mining location of the axis The flexible pipeline mining system The maximum mining radius of the shaft is ;

[0060] The fourth step is to verify and determine the maximum mining radius of the flexible pipeline mining system. Specifically:

[0061] Step 4.1, using the flexible pipeline mining system determined in Step 3.1. The maximum mining radius of the shaft is 1750m. With the center at axis, Draw a circle in the seabed plane composed of axes as follows Figure 8 As shown, 50 mining cars equipped with lifting pumps were randomly selected from within the circle using the Latin hypercube stratified sampling method. axis, Axis coordinates ( , ).

[0062] Step 4.2, take the mining car 6 with the lifting pump from step 4.1... axis, The axis coordinates are input into the flexible pipeline mining system model established in OrcaFlex software to calculate the maximum curvature during the time-domain analysis along the length of the flexible mining pipeline 3. Maximum effective tension and the flexible mining pipeline end to the mining car 6 with a lifting pump , , Maximum force in the axial direction As shown in Table 2.

[0063] Table 2: Mining vehicle 6 with lifting pump , Pipe mechanical properties when the shafts form a plane

[0064]

[0065] Step 4.3 involves calculating the maximum curvature of the flexible mining pipeline 3 along its length in the time-domain analysis process within the flexible pipeline mining system model established in the OrcaFlex software in Step 3.2. Maximum effective tension and the flexible mining pipeline end to the mining car 6 with a lifting pump , , Maximum force in the axial direction Compare with the ultimate bearing capacity index of the flexible pipeline mining system determined in step 3.3.

[0066] Step 4.4, Maximum curvature of flexible mining pipeline Maximum effective tension and the flexible mining pipeline end to the mining car 6 with a lifting pump , , Maximum force in the axial direction None of them exceeded the ultimate bearing capacity index, and the maximum mining radius of the flexible pipeline mining system on the seabed was determined to be [value missing]. like Figure 9 As shown.

[0067] The above specific embodiments further illustrate the purpose, technical solution and beneficial effects of this application. It should be understood that the above are only specific embodiments of this application and are not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made on the basis of the technical solution of this application should be included within the scope of protection of this application.

Claims

1. A steep-wave linear flexible pipeline mining system, characterized in that, The steep-wave linear flexible pipeline mining system includes a mining vessel (1), a top anti-bend device (2), a flexible mining pipeline (3), a buoyancy module (4), a bottom anti-bend device (5), and a mining vehicle with a lifting pump (6). The top anti-bend device (2) is located at the bottom of the mining vessel (1), the bottom anti-bend device (5) is located on the mining car (6) with a lifting pump, the buoyancy module (4) is located in the lifting section of the flexible mining pipe (3), and the upper and lower ends of the flexible mining pipe (3) are connected to the mining vessel (1) and the mining car (6) with a lifting pump through the top anti-bend device (2) and the bottom anti-bend device (5) respectively. The mining car (6) with a lifting pump is located on the seabed. The top anti-bend device (2) has a hollow cylinder-frustum-cylinder combination structure with openings at the top and bottom, and a total length of [missing information]. The diameter of the upper cylinder is ; The bottom anti-bend device (5) has a hollow cylinder-frustum-cylinder combination structure with open top and bottom, and a total length of [missing information]. The diameter of the lower cylinder is .

2. The steep-wave linear flexible pipeline mining system according to claim 1, characterized in that, In the top anti-bend device (2): the cylindrical-frustum-cylinder combined structure is formed by rotating a rectangular-isosceles trapezoid-rectangular closed shape around the center line; the thickness of the left and right sides of the rectangular-isosceles trapezoid-rectangular closed shape is t, and the height of the upper rectangular closed shape is t. and length is The length of the top of the closed isosceles trapezoid is The bottom length is and height are The height of the closed rectangular shape below is and length .

3. The steep-wave linear flexible pipeline mining system according to claim 1, characterized in that, In the bottom anti-bend device (5): the cylindrical-frustum-cylinder combined structure is formed by rotating a rectangular-isosceles trapezoid-rectangular closed shape around the center line; the thickness of the left and right sides of the rectangular-isosceles trapezoid-rectangular closed shape is t, and the height of the upper rectangular closed shape is t. and length is The length of the top of the closed isosceles trapezoid is The bottom length is and height are The height of the closed rectangular shape below is and length .

4. A method for determining the mining area of ​​a steep-wave linear flexible pipeline mining system according to any one of claims 1-3, characterized in that, Includes the following steps: The first step is to design the overall length of the top anti-bend device (2). Diameter of the upper cylinder The overall length of the bottom anti-bend device (5) Diameter of the upper cylinder Specifically: Step 1.1, based on the minimum bending radius R and pipe diameter D of the flexible mining pipe (3), determine the overall length of the top bend preventer (2). The range of variation is (0, 3R], and the diameter of the upper cylinder is... The variation range is (0, 10D] and the overall length of the bottom anti-bend device (5) The range of variation is (0, 3R], and the diameter of the lower cylinder is... The range of variation is (0, 10D]; Step 1.2, the overall length of the top anti-bend device (2) determined in step 1.

1. Diameter of the upper cylinder and bottom anti-bend device (5) overall length Diameter of the lower cylinder Randomly selected from a total of four parameters Each sample parameter; Step 1.3, extract the four parameters from Step 1.2 respectively. Each sample parameter is input into the flexible pipeline mining system model, and the maximum curvature during the time-domain analysis along the length of the flexible mining pipeline (3) is calculated. and maximum effective tension ; Step 1.4, through time-domain analysis of the length direction of the flexible mining pipe (3), the maximum curvature is determined. Sensitivity analysis of the dimensional parameters of the top anti-bend device (2) and the bottom anti-bend device (5) was conducted to determine the overall length of the top anti-bend device (2). Diameter of the upper cylinder and bottom anti-bend device (5) overall length Diameter of the upper cylinder Dimensional parameters; Step 1.5: Combine the top anti-bend device (2) and bottom anti-bend device (5) obtained in Step 1.4 with the flexible pipeline mining system to obtain a steep wave line type flexible pipeline mining system; The second step is to determine the water depth. and the ultimate length of flexible pipes The Pythagorean theorem is used to determine the mining car (6) with a lifting pump in the flexible mining pipeline mining system. The maximum operating range in the axial direction; The third step is to determine the location of the mining vehicle (6) with the lifting pump in the flexible pipeline mining system. The maximum mining area of ​​the shaft; specifically: Step 3.1, according to the mining car (6) with the lifting pump in The step size for selecting the limit operating range in the axial direction is... Thus determined A mining vehicle equipped with a booster pump axis, Axis coordinates are , , … ,in , ; Step 3.2, take the mining car (6) with the lifting pump from step 3.1... axis, The axis coordinates are input into the flexible pipeline mining system model to calculate the maximum curvature during the time-domain analysis along the length of the flexible mining pipeline (3). Maximum effective tension and the flexible mining pipeline end to the mining car (6) with a lifting pump , , Maximum force in the axial direction ; Step 3.3: Determine the maximum curvature that the flexible mining pipeline cross-section can withstand during the design phase. Maximum effective tension And the capacity of the mining vehicle (6) equipped with a booster pump to withstand the load at the end of the flexible mining pipeline under normal operating conditions. , , Maximum force in the axial direction ,in The travel resistance that the mining vehicle (6) with the lifting pump can withstand under normal operating conditions is determined as the ultimate bearing capacity index of the flexible pipeline mining system. When the maximum curvature of the flexible mining pipeline Maximum effective tension and the flexible mining pipeline end to the mining car (6) with a lifting pump , , Maximum force in the axial direction When one exceeds the ultimate bearing capacity index, that is or or At this time, the mining car (6) with the booster pump is in There are two positions along the axis, at a horizontal distance from the mining ship (1). The more distant location is the flexible pipeline mining system. The furthest mining location on the axis The flexible pipeline mining system is located near the mining vessel (1). The nearest mining location of the axis The flexible pipeline mining system The maximum mining radius of the shaft is ; The fourth step is to verify and determine the maximum mining radius of the flexible pipeline mining system.

5. The method for determining the mining range of a steep-wave linear flexible pipeline mining system according to claim 4, characterized in that, The fourth step is specifically as follows: Step 4.1, using the flexible pipeline mining system determined in Step 3.

1. Maximum mining radius of the shaft With radius, With the center at axis, Draw a circle in the seabed plane formed by the axes, and randomly select n mining cars with lifting pumps inside the circle (6). axis, Axis coordinates ( , ); Step 4.2, take the mining car (6) with the lifting pump from step 4.1... axis, The axis coordinates are input into the flexible pipeline mining system model to calculate the maximum curvature during the time-domain analysis along the length of the flexible mining pipeline (3). Maximum effective tension and the flexible mining pipeline end to the mining car (6) with a lifting pump , , Maximum force in the axial direction ; Step 4.3, calculate the maximum curvature in the time domain analysis of the length direction of the flexible mining pipe (3). Maximum effective tension and the flexible mining pipeline end to the mining car (6) with a lifting pump , , Maximum force in the axial direction Compare with the ultimate bearing capacity index of the flexible pipeline mining system determined in step 3.3; verify and determine the maximum mining radius of the flexible pipeline mining system at the seabed level as follows: ; Step 4.4, when the flexible mining pipeline reaches its maximum curvature Maximum effective tension and the flexible mining pipeline end to the mining car (6) with a lifting pump , , Maximum force in the axial direction If any limit on bearing capacity is exceeded, return to step 3.1 and from there begin to reduce the step size to redetermine the flexible pipeline mining system. The mining range of the shaft, until the maximum curvature of the flexible mining pipe. Maximum effective tension and the flexible mining pipeline end to the mining car (6) with a lifting pump , , Maximum force in the axial direction When none of the parameters exceed the ultimate bearing capacity index, the maximum mining radius of the flexible pipeline mining system on the seabed is determined to be: .

6. The method for determining the mining range of a steep-wave linear flexible pipeline mining system according to claim 5, characterized in that, In step 4.1, n mining cars equipped with lifting pumps are randomly selected from within the circle using the Latin hypercube stratified sampling method (6). axis, Axis coordinates ( , ).

7. The method for determining the mining range of a steep-wave linear flexible pipeline mining system according to claim 4, characterized in that, In step 1.2, the Latin hypercube stratified sampling method is used to randomly select samples. Each sample parameter.

8. The method for determining the mining range of a steep-wave linear flexible pipeline mining system according to claim 4, characterized in that, In step 1.5, the flexible pipeline mining system includes a mining vessel, a flexible mining pipeline, a buoyancy module, and a mining vehicle equipped with a booster pump.

9. The method for determining the mining range of a steep-wave linear flexible pipeline mining system according to claim 4, characterized in that, In the second step, the extreme operating range is: .

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