CN113431583B - Dynamic blocking device and method for sediment diffusion problem caused by submarine mining - Google Patents

Abstract

The invention provides a dynamic blocking device and a method for the problem of sediment diffusion caused by submarine mining, wherein an ROV underwater robot carries a film device in a folded state to a submarine mining operation area, draws and unfolds the film device through the action of a stay wire and ocean current, surrounds and follows an underwater mining vehicle, and blocks the sediment diffusion caused by mining operation; meanwhile, ocean currents apply periodic acting force to the film device, work is transmitted to the stay wire power generation module through contraction of the stay wires, mechanical energy is converted into electric energy by the stay wire power generation module, and power energy is provided for the ROV underwater robot. The film is arranged at the position with large vortex quantity in the turbulent flow area, so that the film can prevent the sediment from diffusing and simultaneously can damage the vortex development in the submarine turbulent flow area, thereby reducing the turbulence degree of the flow field in the mining area; the surface of the film is in a porous form, and the porous structure can improve the vortex suppression efficiency.

Description

Dynamic blocking device and method for sediment diffusion problem caused by submarine mining

Technical Field

The invention relates to a dynamic blocking device and a dynamic blocking method for solving the problem of sediment diffusion caused by submarine mining, and belongs to the technical field of ocean mining engineering.

Background

Minerals are widely applied in production and living activities of human beings, and with the continuous development of related technologies, mineral resources on land are gradually exhausted. The south China sea water area contains abundant mineral resources, and the development and utilization of the marine mineral resources can effectively relieve the supply-demand contradiction of the mineral resources. However, a large amount of slurry and dissolved chemical substances are released in the mining process to form a sediment plume, which poses a potential threat to the ecological environment of deep and middle water areas of the ocean and is not beneficial to resource development in a long-term environment-friendly manner. In the prior art, the influence of deep-sea mining on the seabed environment is rarely considered, and the method is difficult to be really implemented due to the problems of overhigh cost, ideal model and the like. The method effectively extracts the seabed mineral products with huge reserves, and has important and positive significance for the production and the life of human beings. However, many researchers are also calling for not destroying the difficult-to-regenerate subsea ecosystem for the benefit of a moment.

The existing environment-friendly submarine mineral resource development device carries out mining and pollution treatment work simultaneously in a completely closed mining shed, and has high requirements on mechanical equipment and high cost; the totally-enclosed mining shed is difficult to install and has long construction period. For example, chinese patent publication No. CN111810161a is published as 10/23/2020.

Disclosure of Invention

The invention relates to an environment-friendly auxiliary environment-friendly device and method for deep-sea mineral exploitation, and aims to reduce disturbance and pollution to the seabed environment in the mining operation process.

The invention adopts the following technical scheme:

a dynamic barrier to the problem of sediment diffusion caused by seafloor mining, characterized by: the system comprises a film device 1, an ROV underwater robot 3, a stay wire generating module 4 and a stay wire 5; the ROV underwater robot 3 is provided with at least 2 ROV underwater robots, and each ROV underwater robot is provided with the stay wire power generation module 4; one end of the stay wire 5 is connected with the stay wire power generation module 4, and the other end of the stay wire is connected with the thin film device 1; the film means 1 is convertible from a folded state to an unfolded state by the action of the pulling wire 5.

Preferably, the membrane device 1 is parachute-shaped or kite-shaped.

Furthermore, the interior of the membrane device 1 is provided with grid lines for supporting, the membrane device is in a cover shape after being unfolded, the unfolded area is 20-80 times of the orthographic projection area of the underwater mining vehicle 2, and the membrane device is provided with at least 2 end point parts 8. With internal gridlines for support

Furthermore, the thin film device 1 adopts a flexible semi-permeable film material, water molecules can pass through but sediment particles cannot pass through, and the thin film device has the capabilities of resisting pressure and unfolding; after being deployed under the action of ocean currents and the traction of at least 2 ROV underwater robots 3, the film device is enclosed around the underwater mining vehicle 2 to block the sediment diffusion caused by the mining process.

Still further, the number of the ROV underwater robots 1 is at least 2, and the number is consistent with the number of the end points 8 of the thin film device 1.

Preferably, the number of the stay wire power generation modules 4 is at least 2, and the stay wire power generation modules are the same as the end point positions 8 of the film device 1 in number and are installed and fixed at the tail part of the ROV underwater robot 1.

Further, the pull wire generating module 4 comprises a speed reducing generator 7 and a coil spring structure 6; the input shaft of the reduction generator 7 is connected with the coil spring structure 6.

Preferably, the pulling wire 5 is made of a material with low elasticity and high toughness, the number of the pulling wires 5 is not less than 2, and the number of the pulling wires 5 is consistent with the number of the end point positions 8 of the film device 1. Furthermore, one end of the pull wire 5 is connected with the end point part 8 of the film device 1, and the other end is wound on the coil spring structure 6 of the pull wire power generation module 4.

A dynamic blocking method for sediment diffusion problem caused by submarine mining, at least 2 ROV underwater robots 3 carry the film device 1 in a folded state to a submarine mining operation area under control, and pull and unfold the film device 1 by the pull wire 5 to surround and follow the underwater mining vehicle 2 to block the sediment diffusion caused by mining operation; meanwhile, the ocean current applies periodic acting force to the film device 1, and transmits acting to the stay wire power generation module 4 through the contraction of the stay wire 5, and the stay wire power generation module 4 converts mechanical energy into electric energy to provide power energy for the ROV underwater robot 3.

Preferably, the dynamic barrier means to sediment dispersion problems caused by seafloor mining by at least 2 trocars work in concert.

Preferably, the method comprises the following steps: s1, a plurality of ROV underwater robots are used for bringing the film device in a folded state to an underwater mining vehicle operation area on the seabed; s2, the plurality of ROV underwater robots work cooperatively to stretch the film device by drawing a stay wire and move around and along the underwater mining vehicle; s3, the spread sediments are covered by the unfolded film device and naturally settled; and S4, applying periodic acting force to the unfolded film device by ocean currents on the seabed, transmitting mechanical energy to a coil spring structure of the stay wire power generation module through the stay wires, and converting the mechanical energy of the coil spring structure into electric energy by the speed reduction generator 7 to provide power energy for the ROV underwater robot.

Further, the method also comprises the following steps: s5, after the underwater mining vehicle stops working, at least 2 sets of needles continue to work for a period of time for the dynamic blocking device for the sediment diffusion problem caused by submarine mining, so that pollution diffusion in the interval distance between the underwater mining vehicle and the film device 1 is prevented;

s6, after the sediments to be diffused naturally settle, the plurality of ROV underwater robots fold and shrink the film device to a smaller volume and then float, and the film device is transferred to the next operation mining area or effluent is recycled along with the underwater mining vehicle.

The innovation points of the invention mainly comprise:

1) The device structure of the open-close type semi-closed shelter: the design of the device structure of the open-close type semi-closed shielding is different from the totally closed shielding mode in the prior art, and based on the analysis of the deposit diffusion characteristic generated by the mining vehicle, the selective shielding is carried out on the position which is easy to be polluted by the deposit, and finally a semi-closed surrounding type finite volume film filter belt is formed, so that the shielded pollutant is further diffused, and the deposit plume concentration in the mining area is improved to accelerate the flocculation and precipitation. The semi-closed type shielding not only greatly reduces the shielding difficulty, but also saves materials and cost, and can improve the maneuverability and efficiency of mining work.

2) The mobility shielding is realized by the synergy of a plurality of underwater robots: the plurality of ROV underwater robots cooperatively realize maneuverability shielding, the ROV can flexibly move on the seabed, when the mining vehicle works in a certain mining area, the plurality of ROVs are fixedly tied on the seabed, and the semi-closed surrounding type membrane filter belt is opened and fixed under the cooperative action to provide stable power for the semi-closed surrounding type membrane filter belt, so that a pile foundation of the seabed water sail is formed. After the mining vehicle is transferred to the next new mining area, the ROV firstly contracts the film to a small volume, and then floats to the next preset position to be expanded, so that the mobility shielding that the film moves along with the mining area is realized.

3) Green energy-saving stay wire type power generation design: the acting force of the membrane given by the periodic motion of the ocean current on the sea bottom is transmitted to the stay wires, the power generation modules carried by the ROVs are provided with coil spring structures, the coil spring structures are compressed under the action of the pulling force of the stay wires to store mechanical energy, and the mechanical energy is converted into electric energy by the generator to directly provide power for the ROVs, so that the fuel consumption of the ROVs is reduced, the cruising ability of the ROVs is stronger, the cost is saved, and the influence on the environment is reduced.

4) The design and the arrangement scheme of the porous membrane for inhibiting the vortex development in the turbulent flow zone are as follows: the submarine topography is complex, and a vortex is often generated at a place where the topography changes violently to form a turbulent zone. The film is arranged at the position with large vortex quantity, so that the continuous development of the vortex can be blocked, the flow field form of a turbulent flow area is changed, the flow field disorder degree of the whole mining area is reduced, and the mining work is facilitated. Simultaneously, the film surface is porous form, and this kind of structure can break down the swirl structure, destroys the development of swirl more efficiently.

Has the advantages that:

innovation point 1) brings the following beneficial effects: the cost is saved, and the requirements on equipment installation and the like are reduced; the requirement of preventing the pollutants from being diffused in a large range is met, and the efficiency of mining work is not influenced; the buffering action of the film provides a certain protection effect for mining work.

The innovation point 2) has the following beneficial effects: the blocking of maneuverability is realized, so that the film can be flexibly transferred along with the change of a mining area, the resistance is not increased, and the capacity range of mining work is enlarged.

Innovation point 3) brings the following beneficial effects: the power acquisition mode is increased, the fuel consumption is saved, and the endurance time is prolonged; the power generation by using ocean currents on the seabed belongs to green energy and has no influence on the environment.

Innovation point 4) brings the following beneficial effects: by utilizing the flow field control theory, the thin film structure and the arrangement scheme thereof are optimized, the turbulence degree of the flow field in the mining area is reduced on the premise of no extra energy consumption, a more friendly working environment is provided for a mining vehicle, and the environmental adaptability of the mining vehicle is improved. The submarine topography energy is skillfully utilized and is supplemented with the environmental characteristics. The concept is advanced, if the arrangement is proper, the energy consumption can be greatly saved, and no pollution is generated.

Drawings

FIG. 1 is a front view of a single dynamic barrier.

Fig. 2 is a left side view of a single dynamic barrier.

FIG. 3 is an isometric view of a single dynamic barrier.

Fig. 4 is a front view of a combination of a plurality of dynamic blocking devices.

FIG. 5 is a top view of a combination of multiple dynamic blocking devices.

FIG. 6 is an isometric view of a combination of multiple dynamic blocking devices.

FIG. 7 is an enlarged view of the guy wire power generation module

FIG. 8 is a graph of the suspension of a membrane under only vertical forces.

Fig. 9 is a schematic view of a single dynamic barrier porous membrane.

Figure 10 is a front view (numbered) of a single dynamic blocking device.

Fig. 11 is a left side view (numbered) of a single dynamic blocking device.

Fig. 12 is an isometric view (numbered) of a single dynamic blocking device.

Figure 13 is a front view (numbered) of a combination of multiple dynamic blocking devices.

Figure 14 is a top view (with a mark) of a combination of multiple dynamic blocking devices.

Fig. 15 is an isometric view of a combination of multiple dynamic blocking devices (numbered).

Fig. 16 is an enlarged view (with a reference numeral) of the string generating module.

FIG. 17 is a graph of the suspension of a film under only vertical forces (labeled).

Figure 18 is a schematic representation (with a label) of a single dynamic barrier porous membrane.

In the figure, 1, a film device, 2, a mineral collecting device (underwater mining vehicle), 3.ROV underwater robot, 4, a stay wire generating module, 5, a stay wire, 6, a coil spring structure and 7, a speed-reducing generator.

Detailed Description

The invention is further described with reference to the following figures and specific examples.

Scheme design:

1. research and study on the literature show that the muddy water mixture diffused in the seabed area mainly comes from the discharge of the muddy water mixture of a mining vehicle, the disturbance of the mining vehicle collection process and the track advancing process on seabed sediments. The mining vehicle is not polluted in all directions, disturbed seabed soft mud is mainly scattered through two sides and the rear part, the mining vehicle can traverse the whole mining area during mining, and therefore semi-closed shielding is mainly performed on the side rear part of a mining area. The invention designs a semi-closed limited-volume membrane filter belt, a plurality of membranes are arranged at key positions behind the mining area in a surrounding mode to inhibit the large-scale diffusion of seabed sediments, and the area of the semi-closed membrane filter belt is about 20-50 times that of a mining vehicle. When the mining vehicle works in a certain specific mining area, the semi-closed membrane filter belt is opened under the synergistic action of a plurality of ROVs and fixedly shielded at a key position in consideration of the huge resistance action of the membrane when the membrane moves forwards along with the mining vehicle in water, so that the sediment plume can be prevented from continuously diffusing to a larger water area laterally and backwards, and the effects of gathering diffusions and increasing the density of the sediment so as to accelerate flocculation and sedimentation are achieved. When the mining vehicle moves to the next mining area for operation, the underwater ROV firstly shrinks the film into a small volume and then expands the film to the next preset position. And the pollutant diffusion is generally influenced by ocean currents, and the thin film shape design enables the pollutant diffusion to just conform to the flowing direction of the ocean currents, so that the shielding efficiency can be effectively improved. The membrane material can be selected from semi-permeable membrane materials, namely water can pass through but sediment particles cannot pass through, and the membrane material also plays a role in filtration while shielding.

2. The ROV can flexibly move on the seabed, when the mining vehicle works, the ROV is fixed and rooted on the seabed, and the semi-closed surrounding type film filter belt at the side rear part of a mining area is opened and fixed under the synergistic action to provide stable power for the semi-closed surrounding type film filter belt so as to form a pile foundation of a sea bottom water sail. After the mining vehicle is transferred to the next new mining area, the ROV firstly contracts the film to a small volume, and then floats to the next preset position to be expanded, so that the mobility shielding that the film moves along with the mining area is realized. Each film is connected with 4 underwater robots by using rigid pipe fittings, the fixed distance between each ROV is utilized to ensure the stability of the opening angle and the shape of the film, and the subsequent flexible rope for power generation is placed in the pipeline, so that the influence of external force on the periodic force transmission is conveniently reduced. Meanwhile, the ROV can utilize a suction anchor to enhance the ground holding force, so that a certain protection effect is provided for mining in a region with large ocean current, and the normal work of the whole device can be ensured; still can be for ROV is equipped with monitoring device and carries out reconnaissance monitoring to the environment in mining area, makes things convenient for personnel on water to observe the working condition of mining vehicle from a plurality of angles.

It should be noted that the ROV underwater robot itself is a mature prior art, so the principle of the ROV underwater robot itself will not be described in detail herein.

3. Compared with the traditional float, the pull wire power generation mode saves fuel, and the thin film pulled up behind the mining area can capture enough ocean current energy for power generation while inhibiting the diffusion of pollutants. The film is periodically stressed under the action of ocean current and is transmitted to the flexible rope, and the power generation modules carried by the ROVs generate power; and meanwhile, the speed reduction generator is also connected with an electricity storage module and a rectification voltage stabilization module of the ROV. Because the film can not reach the generating efficiency equivalent to a float with special design, the captured ocean current energy is directly used for providing power for the underwater robot, the use of ROV fuel energy can be reduced, the cost is saved, and the influence on the environment is avoided.

The research method comprises the following steps:

1. considering the scientific nature of the deposit diffusion: the higher the sediment concentration is, the easier the flocculation sedimentation is, and the smaller the diffusion range is; conversely, the lower the sediment concentration, the less likely it will settle and the greater the extent of diffusion.

2. After the suspended particle plume generated by mining and bottom water react chemically, the suspended particle plume and mining debris are redeposited on the sea floor and cover animals and plants to suffocate and submerge the animals and plants. The bottom layer plume can be continuously spread to be beyond dozens of kilometers after the mining is finished for several days, and the influence range is wide.

3. Determining key parts of occlusion, such as:

1) The sludge is shielded close to the ore collector, so that the concentration of the sludge is improved and the flocculation precipitation is accelerated;

2) Shielding before the biological community;

3) Ensuring that the membrane device is located in the downstream direction of the ocean current;

4) For mining areas with small slopes, shielding by considering plume;

5) And considering multi-layer shielding, and continuously optimizing a shielding mode based on advanced shielding effect prediction of numerical simulation.

The operation method of the mining device comprises the following steps:

1. the film device 1 adopts a flexible semi-permeable film material, water molecules can pass through but sediment particles cannot pass through, and the film device has certain compression resistance and stretching capacity, can be enclosed behind the submarine mining area in the range of motion of the underwater mining vehicle 2, and can isolate and collect pollutants generated in the mining process, thereby realizing disturbance-reducing submarine mineral resource development activity. Under the control of an operator, several ROV underwater robots 3 bring the folded membrane 1 to the seabed mine site. The ROV underwater robot 3 is a flexible underwater movable device and carries a stay wire generating module 4, and can adapt to different seabed environments to quickly arrange the membrane device 1.

2. The mining vehicle 2 is lowered to a seabed mining area through a crane, the movement speed and the movement range of the ROV underwater robots 3 are controlled according to different seabed flows during collection, in the mining process, pollutants generated by the mining vehicle 2 are mainly diffused and concentrated at the lateral rear part of the mining area, the plurality of ROV underwater robots 3 are used for opening and fixing the film 1 at a key part under the synergistic effect, a semi-closed surrounding type limited-volume film filter belt is formed, and the pollutants generated by the mining vehicle 2 are shielded. When the mining vehicle is transferred to the next new mining area, the ROV underwater robot 3 firstly contracts the film to a small volume, then floats to the next preset position to be expanded, so that the mobility shielding that the film flexibly moves along with the change of the mining area is realized, and the capacity range of mining work is expanded.

3. The film 1 is connected with a stay wire power generation module 4 on the ROV underwater robot 3 through a stay wire 5. The stay wire 5 is made of a material with small elasticity and high toughness, and can bear and effectively transmit the received acting force. The pull-wire power generation module 4 is a device which can convert the pulling force of the pull wire 5 into electric energy by doing work. When the film 1 is used for shielding work, ocean current on the seabed can apply periodic acting force to the film, work is transmitted through the stay wire 5, the work is converted into mechanical energy through the coil spring structure 6 arranged on the stay wire power generation module 4, then the mechanical energy is converted into electric energy through the speed reduction generator 7, and power driving can be directly provided for the ROV underwater robot 3.

4. After the work is finished, the mining vehicle 2 stops working, and the ROV underwater robot 3 can continue working for a period of time to prevent pollution diffusion in the interval distance between the underwater mining vehicle 2 and the film device 1. After the sheltered pollutants naturally settle, the ROV underwater robot 3 is controlled to slowly fold the film device 1, so that the discharged water can be conveniently recycled.

While the preferred embodiments of the present invention have been described, those skilled in the art will appreciate that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (9)

1. A dynamic barrier to the problem of sediment diffusion caused by seafloor mining, characterized by: the system comprises a film device (1), an ROV underwater robot (3), a stay wire generating module (4) and a stay wire (5);

the ROV underwater robot (3) is provided with at least 2 and is respectively provided with the stay wire power generation modules (4);

one end of the stay wire (5) is connected with the stay wire power generation module (4), and the other end of the stay wire is connected with the film device (1);

the film device (1) can be converted from a folded state into an unfolded state under the action of the pull wire (5);

the film device (1) is in a parachute shape or a kite shape; the surface of the material is in a porous form;

the film device (1) is internally provided with grid lines for supporting, is in a cover body shape after being unfolded, has the unfolded area 20-80 times of the orthographic projection area of the underwater mining vehicle (2), and is provided with at least 2 end point parts (8);

the film device (1) adopts a flexible semi-permeable film material, water molecules can pass through but sediment particles cannot pass through, and the film device has compression resistance and expansion capacity; the thin film device is arranged around the underwater mining vehicle (2) after being unfolded under the action of ocean currents and the traction of at least 2 ROV underwater robots (3), and the thin film device can block the sediment diffusion caused by the mining process.

2. The dynamic barrier against the problem of sediment propagation caused by seafloor mining as claimed in claim 1, wherein: the number of ROV underwater robots (3) is at least 2, and the number of ROV underwater robots is consistent with the number of end points (8) of the thin film device (1).

3. The dynamic barrier to the problem of sediment propagation caused by seafloor mining of claim 1, wherein: the number of the stay wire generating modules (4) is at least 2, the number of the stay wire generating modules is consistent with that of the end point positions (8) of the film device (1), and the stay wire generating modules are installed and fixed at the tail part of the ROV underwater robot (3).

4. The dynamic barrier to the problem of sediment propagation caused by seafloor mining of claim 2, wherein: the pull wire power generation module (4) comprises a speed reduction generator (7) and a coil spring structure (6); and the input shaft of the speed reduction generator (7) is connected with the coil spring structure (6).

5. The dynamic barrier against the problem of sediment propagation caused by seafloor mining as claimed in claim 4, wherein: the stay wires (5) are made of materials with small elasticity and high toughness, the number of the stay wires (5) is not less than 2, and the number of the stay wires is consistent with that of the end point parts (8) of the film device (1); one end of the pull wire (5) is connected with the end point part (8) of the film device (1), and the other end of the pull wire is wound on the coil spring structure (6) of the pull wire power generation module (4).

6. A dynamic barrier method for sediment diffusion problems caused by seafloor mining, characterized by: with the dynamic barrier device for the problem of sediment diffusion caused by seafloor mining as claimed in claim 1, at least 2 of the ROV underwater robots (3) carry the membrane device (1) in a folded state under control to the seafloor mining work area and pull the membrane device (1) by the pull wire (5) to spread out, surround and follow the seafloor mining vehicle (2), to block the sediment diffusion caused by mining work; meanwhile, ocean currents exert periodic acting force on the film device (1), work is transmitted to the stay wire power generation module (4) through contraction of the stay wire (5), and the stay wire power generation module (4) converts mechanical energy into electric energy and provides power energy for the ROV underwater robot (3).

7. The dynamic barrier method against sediment propagation problems caused by seafloor mining as claimed in claim 6, wherein: the cooperation of at least 2 sets of dynamic barrier means for the problem of sediment diffusion caused by seafloor mining as claimed in any one of claims 1 to 5.

8. The dynamic barrier method against sediment propagation problems caused by seafloor mining as claimed in claim 6, comprising the steps of:

s1, a plurality of ROV underwater robots are used for bringing the film device in a folded state to an underwater mining vehicle operation area on the seabed;

s2, the plurality of ROV underwater robots work cooperatively to stretch the film device by drawing a stay wire and move around and along the underwater mining vehicle;

s3, covering the diffused sediments by the unfolded film device, and naturally settling the sediments;

and S4, applying periodic acting force to the unfolded film device by ocean currents on the seabed, transmitting mechanical energy to a coil spring structure of the stay wire power generation module through stay wires, and converting the mechanical energy of the coil spring structure into electric energy by a speed reduction generator (7) to provide power energy for the ROV underwater robot.

9. The dynamic barrier method against sediment propagation problems caused by seafloor mining as claimed in claim 8, further comprising the steps of:

s5, after the underwater mining vehicle stops working, at least 2 sets of needles continue to work for a period of time for the dynamic blocking device for the sediment diffusion problem caused by submarine mining, so that pollution diffusion in the interval distance between the underwater mining vehicle and the film device (1) is prevented;

s6, after the sediments to be diffused naturally settle, the plurality of ROV underwater robots fold and shrink the film device to a smaller volume and then float, and the film device is transferred to the next operation mining area or effluent is recycled along with the underwater mining vehicle.

Images