CN108871881B - Cutter-suction type natural gas hydrate acquisition system - Google Patents

Abstract

The invention discloses a cutter-suction type natural gas hydrate collecting system, which belongs to the technical field of new energy exploitation and comprises a trolley, wherein the trolley comprises a cutter suction head, a lever arm, a trolley body and a chassis, the cutter suction head is connected with the bottom of the front end of the trolley body through the lever arm, a pipeline is arranged below the lever arm to connect the cutter suction head and the trolley body, the trolley body is arranged on the chassis and is of a hollow structure, a separator, a hydraulic pump station and an electronic bin are arranged in the trolley body, and crawler belts are arranged on two sides of the chassis. The invention can solve the problems of small exploitation area and low exploitation efficiency of the conventional seabed natural gas hydrate, integrates acquisition, transportation and separation, has more reasonable lever arm structure and balanced stress, and can recover most of gasified combustible ice to protect the environment.

Description

Cutter-suction type natural gas hydrate acquisition system

Technical Field

The invention relates to the technical field of new energy exploitation, in particular to a cutter-suction type natural gas hydrate acquisition system.

Background

The natural gas hydrate (combustible ice) is a clean, efficient and large-storage new energy, and in the future work, the natural gas hydrate (combustible ice) is combined with the actual geological conditions of the sea area in China and key scientific problems found in exploration and development, so that trial production, exploitation processes and technical equipment which are suitable for different types of characteristics are researched and developed, and a development technical equipment system which is suitable for the characteristics of resources in China is established.

Because combustible ice generally exists in the seabed or a permafrost layer, the existing exploitation of natural gas hydrate is limited by a complex seabed environment and is difficult to adopt a conventional drilling exploitation mode, so that the exploitation efficiency of solid natural gas hydrate is difficult to improve, the natural gas hydrate cannot be effectively acquired, and if the exploitation steps are improper, the solid natural gas hydrate is gasified, because the natural gas hydrate is greenhouse gas, the greenhouse effect of the natural gas hydrate is far greater than that of carbon dioxide, once a large amount of natural gas hydrate leaks into the air, the environment is affected immeasurably, and disastrous results are generated.

The mining mode of the cutter suction is that solid natural gas water and substances on the surface layer of the seabed are crushed through the rotation of a reamer, the mixture of the natural gas water and sand grains is sucked into a hose through the polymerization of the cutter suction and the suction provided by a hydraulic pump station and is conveyed to a separator in a vehicle body for primary separation, and then the mixture is conveyed to a destination through the hose. The winch suction, the separation and the transportation are carried out simultaneously, and the lever arm which is matched with the hydraulic cylinder group and can move up and down, left and right can efficiently collect the natural gas hydrate on the surface layer of the seabed in a large area. Chinese patent application No. 201510568442.0 discloses a subsea tamarine hydrate cutter suction type mining method, which provides corresponding mining vehicles and pipelines and ships, but it does not provide specific structures, in particular, it does not describe how to avoid the leakage of the vapors into the air (which is difficult to avoid in open cutter suction type mining, where some solid-phase combustible ice liquefies and gasifies and floats up to the surface into the atmosphere due to agitation and friction).

Disclosure of Invention

In order to solve the problems, the invention provides a cutter-suction type natural gas hydrate acquisition system based on the research on the exploitation of seabed natural gas hydrates which is deeply researched at present, so that the natural gas hydrates on the surface of a seabed can be effectively exploited, and meanwhile, the leakage can be effectively avoided.

The technical scheme of the invention is as follows:

the utility model provides a cutter-suction type natural gas hydrate collection system, includes the dolly, the dolly includes hank suction head, lever arm, automobile body, chassis, the hank suction head passes through the lever arm and links to each other with automobile body front end bottom, is equipped with pipe connection hank suction head and automobile body below the lever arm, and the automobile body is hollow structure, and the automobile body is built-in to be equipped with separator, hydraulic power unit, electron storehouse, and the automobile body is installed on the chassis, and the chassis both sides are equipped with the track.

Furthermore, the twisting and sucking head comprises six streamline blades, and 7 tangential trapezoidal knives are embedded in each blade; the twisting suction head is connected to a hydraulic motor arranged in the lever arm through a rotating shaft.

Further, the lever arm rear end is equipped with 2# hydraulic cylinder group, makes the lever arm can the luffing motion, and the lever arm rear end is equipped with 1# hydraulic cylinder group and is connected with the lever arm front end for the lever arm front end can the horizontal hunting, and the lever arm front end below is installed the 1# hose, and 1# hose rear end is equipped with the 2# hose, and passes the fuselage through the 2# hose and be connected to the separator.

Furthermore, an acquisition object inlet is formed in the side face of the separator, a natural gas hydrate outlet is formed in the top of the separator, the acquisition object inlet is connected with the No. 2 hose, the natural gas hydrate outlet is connected with the No. 3 hose, and the separator separates the natural gas hydrate through the action of hydraulic cyclone; the hydraulic pump station is connected with the 2# hydraulic cylinder group, the 1# hydraulic cylinder group and the hydraulic motor through self-contained oil pipes and provides power; the electronic cabin is a control center for the trolley to work; the vehicle body is loaded on the chassis.

Furthermore, the chassis is provided with a crawler belt, two ends of the crawler belt are respectively in meshing transmission through gears, and the chassis is connected with the crawler belt through pulleys.

Furthermore, the lever arm anterior segment is equipped with recovery unit, and recovery unit includes shell, stay tube, the shell comprises 5 boards, and it openly is down trapezoidal, and the side is positive trapezoidal, and its rear end is equipped with the stay tube, and the stay tube bottom is equipped with the 4# hose, and the 4# hose is connected to the 1# hose, and the stay tube bottom is connected in the lever arm upper end, and the stay tube is hollow structure, and its top is equipped with the ooff valve in the position that is close to the shell inboard.

Furthermore, the lower part of the shell is provided with two split bottom plates, the bottom plates are connected to two sides of the shell through a rotating shaft, the rotating shaft is provided with a rotating motor, four sides of the bottom surface of the shell are provided with sealing cushion layers, a joint surface is also arranged at the joint of the two bottom plates, a sealing gasket is arranged in the joint surface, and the sealing gasket is rubber with good pressure resistance;

the top of the shell is provided with a one-way valve, the bottom of the front end of the shell is provided with a liquid level detector as a 2# liquid level detector, and the top of the inner side of the supporting tube is provided with a liquid level detector as a 1# liquid level detector.

Furthermore, the joint of the bottom of the supporting tube and the lever arm is a hinge rotating shaft with an adjustable angle, and an adjusting motor is arranged to adjust the rotating angle of the hinge rotating shaft, so that the recovery device can keep different angles to ensure that the recovery device is right above the twisting and sucking head.

A use method of a cutter-suction type natural gas hydrate collecting system comprises the following steps:

s1, conveying the trolley to the position near the designated position of the seabed, controlling the trolley to move to the target position of the area to be mined through the electronic bin center, providing power by a hydraulic pump station, and driving the twisting and sucking head to rotate by a hydraulic motor;

s2, a hydraulic pump station provides power, a No. 2 hydraulic cylinder group swings up and down, the lever arm position is adjusted and the twisting suction head is driven to begin mining, the twisting suction head 1 rotates at a high speed to generate a vortex twisting suction force, a mixture of natural gas hydrate and rock particles crushed by a trapezoidal cutter is converged to a No. 1 hose port, the hydraulic pump station provides a suction force, and the mixture is conveyed;

s3, in the mining process, the No. 1 hydraulic cylinder group swings left and right to form a sector mining range, so that natural gas hydrates in the whole front area of the vehicle can be mined simultaneously, and the mining range is enlarged;

s4, conveying the mixture of the natural gas hydrate and the rock particles to a separator in the vehicle body through a No. 1 hose and a No. 2 hose, separating the mixture according to different densities, and conveying the separated natural gas hydrate upwards through an outlet No. 3 hose;

s5, in the mining process, part of natural gas hydrate is gasified into gas in the winching process and does not enter the winching head due to the fact that the gas is not absorbed, the gas floats to the inside of the shell of the recovery device due to gravity and is kept in the top area, when the gathered gas has a certain degree, namely the 2# liquid level detector cannot detect liquid, the bottom plate is closed, a sealed space is formed inside the gas, then the switch valve and the one-way valve are opened, the gas inside is absorbed into the 4# hose and conveyed to the separator through the 1# hose, leakage is avoided, after the 1# liquid level detector detects the liquid, the gas absorption is finished, and the switch valve is closed.

S6, if the seabed is not a plane seabed, a certain inclination angle exists, the hinge rotating shaft needs to be adjusted, the recovery device is positioned right above the winch suction head, the raised natural gas bubbles can be accurately recovered, and gas escape is avoided as much as possible.

And S7, after the natural gas hydrate in the surface layer range of a certain seabed is exploited, the track is controlled to move through the electronic bin center, the trolley is driven to safely move to the next target position, and the exploitation operation is continued.

The invention has the beneficial effects that:

1. the method has the advantages of wide area of the adopted natural gas hydrate, high exploitation efficiency, integration of acquisition, separation and transportation, cost saving, novel idea and ingenious design;

2. the lever arm is arranged in the middle of the front end of the machine body and close to the chassis, so that the lever arm can run in a larger angle from top to bottom, the gravity center can be reduced, and the running stability of the trolley on the seabed is improved;

3. the recovery device is arranged on the lever arm, so that the recovery of partially gasified natural gas hydrate can be effectively ensured, and meanwhile, the angle of the recovery device can be adjusted, and the position of the recovery device can be adjusted to be always positioned above the twisting and sucking head, so that the recovery device can be effectively opposite to the recovered gas;

4. by designing a one-way valve and an on-off valve in the recovery device and connecting the support pipe with the No. 1 hose, other pipelines are not required to be arranged separately, and gas can be recovered.

Drawings

Fig. 1 is a perspective view (perspective view of a recovery device) of a cutter-suction type natural gas hydrate collecting trolley of the invention;

FIG. 2 is a front view of FIG. 1;

FIG. 3 is a schematic view of the construction of the wringing tip;

FIG. 4 is a schematic diagram of the separator;

FIG. 5 is an enlarged partial view at 3 of FIG. 2;

FIG. 6 is a front view of the recycling apparatus;

fig. 7 is a schematic sectional view a-a of fig. 6.

Reference numerals:

1 is a twisting suction head, 2 is a cutter wing, 3 is a hydraulic motor, 4 is a lever arm, 5 is a No. 1 hydraulic cylinder group, 6 is a No. 2 hydraulic cylinder group, 7 is a No. 2 hose, 8 is a No. 3 hose, 9 is a separator, 10 is a hydraulic pump station, 11 is a vehicle body, 12 is an electronic cabin, 13 is a chassis, 14 is a gear, 15 is a pulley, 16 is a crawler belt, 17 is a No. 1 hose, 18 is a trapezoidal cutter, 19 is a recovery device,

the device comprises a shell 191, a bottom plate 192, a one-way valve 193, an on-off valve 194, a No. 1 liquid level detector 195, a No. 2 liquid level detector 196, a support pipe 197, a No. 4 hose 198 and a hinge shaft 199.

Detailed Description

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

As shown in fig. 1-5, a cutter-suction type natural gas hydrate collecting system comprises a trolley, wherein the trolley comprises a cutter suction head 1, a lever arm 4, a trolley body 11 and a chassis 13, the cutter suction head 1 is connected with the bottom of the front end of the trolley body 11 through the lever arm 4, a pipeline is arranged below the lever arm 4 to connect the cutter suction head 1 and the trolley body 11, the trolley body 11 is of a hollow structure, a separator 9, a hydraulic pump station 10 and an electronic bin 12 are arranged in the trolley body 11, the trolley body 11 is installed on the chassis 13, and two sides of the chassis 13 are provided with tracks 16. The cutter-suction head 1 comprises six streamline-shaped blades 2, 7 tangential trapezoidal knives 18 are embedded in each blade 2, in order to enable the natural gas hydrate to generate larger cutter suction force and better aggregation during collection, the blades 2 of the cutter-suction head 1 are distributed in a streamline shape, 6 blades 2 are arranged in total, and the cutter-suction head 1 is connected with a hydraulic motor 3 through a shaft to drive the cutter-suction head 1 to rotate.

The twisting-suction head 1 is connected to a hydraulic motor 3 provided in a lever arm 4 via a rotating shaft thereof. The rear end of the lever arm 4 is provided with a No. 2 hydraulic cylinder group 6, so that the lever arm 4 can swing up and down, the rear end of the lever arm 4 is provided with a No. 1 hydraulic cylinder group 5 which is connected with the front end of the lever arm 4, so that the front end of the lever arm 4 can swing left and right, a No. 1 hose 17 is installed below the front end of the lever arm 4, a No. 2 hose 7 is arranged at the rear end of the No. 1 hose 17, and the rear end of the No. 2 hose 7 penetrates through the machine body to. The side surface of the separator 9 is provided with an acquisition object inlet, the top of the separator is provided with a natural gas hydrate outlet, the acquisition object inlet is connected with the No. 2 hose 7, the natural gas hydrate outlet is connected with the No. 3 hose 8, and the separator 9 separates the natural gas hydrate through the action of hydraulic cyclone; the hydraulic pump station 10 is connected with the 2# hydraulic cylinder group 6, the 1# hydraulic cylinder group 5 and the hydraulic motor 3 through self-contained oil pipes and provides power; the electronic bin 12 is a control center for the trolley to work; the vehicle body 11 is mounted on a chassis 13. The chassis 13 is provided with a crawler belt 16, gears 14 are respectively meshed at two ends of the crawler belt 16 for transmission, and the chassis 13 is connected with the crawler belt 16 through pulleys 15.

The position of the lever arm 4 connecting the vehicle body 11 is at the bottom of the vehicle body 11, the 2# hydraulic cylinder group 6 is hinged to the rear end of the lever arm 4 and the vehicle body 11 through a shaft, the 1# hydraulic cylinder group 5 is hinged to two sides of the front end of the lever arm 4 through a shaft, and the power of the hydraulic cylinder group is provided by the hydraulic pump station 10 arranged in the vehicle body 11, so that the lever arm 4 can freely swing in four directions of up and down, left and right. As shown in figure 8, the lever arm 4 is CD, the No. 1 hydraulic rod is AD, the extension limit of the hydraulic rod is 3400mm, the shortening limit is 2350mm, and the up-down moving angle of the lever arm 4 is-8.8-38.3 degrees. The arc-shaped surface swept by the twisting suction head 1 through the No. 2 hydraulic cylinder group 6 is shown in FIG. 9.

As shown in fig. 6-7, the recovery device 19 is disposed at the front section of the lever arm 4, the recovery device 19 comprises a housing 191 and a supporting tube 197, the housing 191 is composed of 5 plates, the front surface of the housing is inverted trapezoid, the side surface of the housing is right trapezoid, the supporting tube 197 is disposed at the rear end of the housing, the bottom of the supporting tube 197 is provided with a 4# hose 198, the 4# hose 198 is connected to the 1# hose 17, the bottom of the supporting tube 197 is connected to the upper end of the lever arm 4, the supporting tube 197 is of a hollow structure, and the top of the supporting tube 197 is provided. The lower part of the shell 191 is provided with two split bottom plates 192, the bottom plates 192 are connected to two sides of the shell 191 through rotating shafts, rotating motors are arranged on the rotating shafts, sealing cushion layers are arranged on four sides of the bottom surface of the shell 191, an interface surface is also arranged at the joint of the two bottom plates 192, and a sealing gasket is arranged in the interface surface and is made of rubber with good pressure resistance; the top of the shell 191 is provided with a one-way valve 193 which is arranged at the top to avoid the influence of silt at the bottom, the bottom of the front end of the shell 191 is provided with a liquid level detector as a 2# liquid level detector 196, and the top of the inner side of a supporting pipe 197 is provided with a liquid level detector as a 1# liquid level detector 195. The connection between the bottom of the support pipe 197 and the lever arm 4 is an adjustable angle hinge 199, and an adjustment motor is provided to adjust the rotation angle, so that the recovery device 19 can maintain different angles to ensure that it is right above the twisting head 1.

The invention provides a using method of a cutter-suction type natural gas hydrate collecting system, which comprises the following steps:

s1, on a construction ship on the sea surface, the trolley is conveyed to the position near the designated position of the sea bottom through a hanging rope and an ROV (underwater robot) (a plurality of trolleys can be released at the same time for collective operation), then the trolley is controlled to move to the target position of the area to be mined through the central pivot of the electronic bin 12, the hydraulic pump station 10 provides power, and the hydraulic motor 3 drives the twisting and sucking head 1 to rotate;

s2, the hydraulic pump station 10 provides power, the No. 2 hydraulic cylinder group 6 swings up and down, the lever arm 4 is adjusted and the twisting suction head 1 is driven to start mining, the No. 1 hydraulic cylinder group 5 swings left and right to form a sector mining range, natural gas hydrates in the whole front area of the vehicle can be mined simultaneously, residual natural gas hydrates solid residues are avoided when the crawler 16 rolls, and the crawler 16 is prevented from further damaging a solid phase structure to cause gasification leakage of the natural gas hydrates;

s3, in the mining process, the No. 1 hydraulic cylinder group 5 swings left and right to form a sector mining range, so that natural gas hydrates in the whole front area can be mined simultaneously, and the mining range is enlarged;

s4, conveying the mixture of the natural gas hydrate and the rock particles to a separator 9 in the vehicle body 11 through a No. 1 hose 17 and a No. 2 hose 7, separating the mixture according to different densities, and conveying the separated natural gas hydrate upwards through an outlet No. 3 hose 8;

s5, during the mining process, part of the gas hydrate is gasified into gas during the winching process, and is not absorbed into the winching head 1, and floats up to the inner shell 191 of the recovery device 19 due to gravity (the bottom plate 192 is in an open structure as shown in FIG. 7, which facilitates the gas to enter), and is kept in the top area, when the accumulated gas has a certain degree, i.e., no liquid is detected by the # 2 liquid level detector 196, the bottom plate 192 is closed to form a sealed space therein, then the switch valve 194 and the one-way valve 193 are opened (the switch valve 194 is electrically controlled, the one-way valve 193 is an adjustable one-way valve 193 and is set according to the depth of the seabed), so that the gas in the inside is absorbed into the No. 4 hose 198 and is conveyed to the separator 9 through the No. 1 hose 17 to avoid leakage, when the No. 1 liquid level detector 195 detects liquid, indicating that gas absorption is complete, the on-off valve 194 is closed.

S6, if the seabed is not a plane seabed, a certain inclination angle exists, the hinge shaft 199 needs to be adjusted, the recovery device 19 is positioned right above the winch suction head 1, the rising natural gas bubbles can be accurately recovered, and gas escape is avoided as much as possible.

S7, after the natural gas hydrate in the surface layer range of a certain seabed is exploited, the movement of the caterpillar tracks 16 is controlled through the center of the electronic bin 12, the trolley is driven to safely move to the next target position, and the exploitation operation is continued;

and S8, after the mining operation is finished, the trolley is recovered through the hanging rope.

Other settings such as sealing under water injection, electric protection and the like are set according to the current ROV standard.

Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (4)

1. A cutter-suction type natural gas hydrate collecting system comprises a trolley, wherein the trolley comprises a cutter suction head, a lever arm, a trolley body and a chassis, and is characterized in that the cutter suction head is connected with the bottom of the front end of the trolley body through the lever arm, a pipeline is arranged below the lever arm to connect the cutter suction head and the trolley body, the trolley body is of a hollow structure, a separator, a hydraulic pump station and an electronic bin are arranged in the trolley body, the trolley body is arranged on the chassis, and crawler belts are arranged on two sides of the chassis;

the twisting and sucking head comprises six streamline blades, and 7 tangential trapezoidal knives are embedded in each blade; the twisting suction head is connected to a hydraulic motor arranged in the lever arm through a rotating shaft;

the rear end of the lever arm is provided with a No. 2 hydraulic cylinder group to enable the lever arm to swing up and down, the rear end of the lever arm is provided with a No. 1 hydraulic cylinder group, the No. 1 hydraulic cylinder group is connected with the front end of the lever arm to enable the front end of the lever arm to swing left and right, a No. 1 hose is arranged below the front end of the lever arm, the rear end of the No. 1 hose is provided with a No. 2 hose, and the hose penetrates through the machine body through the No. 2 hose to be connected to the separator;

the side surface of the separator is provided with an acquisition object inlet, the top of the separator is provided with a natural gas hydrate outlet, the acquisition object inlet is connected with the No. 2 hose, the natural gas hydrate outlet is connected with the No. 3 hose, and the separator separates the natural gas hydrate through the action of hydraulic cyclone; the hydraulic pump station is connected with the 2# hydraulic cylinder group, the 1# hydraulic cylinder group and the hydraulic motor through self-contained oil pipes and provides power; the electronic cabin is a control center for the trolley to work; the vehicle body is loaded on the chassis;

the chassis is provided with a crawler belt, two ends of the crawler belt are respectively in meshed transmission through gears, and the chassis is connected with the crawler belt through pulleys;

the recovery device is arranged on the front section of the lever arm and comprises a shell and a supporting tube, the shell is composed of 5 plates, the front surface of the shell is inverted trapezoid, the side surface of the shell is regular trapezoid, the supporting tube is arranged at the rear end of the shell, a 4# hose is arranged at the bottom of the supporting tube, the 4# hose is connected to a 1# hose, the bottom of the supporting tube is connected to the upper end of the lever arm, the supporting tube is of a hollow structure, and a switch valve is arranged at the top of the supporting.

2. The cutter-suction type natural gas hydrate collecting system according to claim 1, wherein the lower part of the housing is provided with two split bottom plates, the bottom plates are connected to two sides of the housing through a rotating shaft, the rotating shaft is provided with a rotating motor, four sides of the bottom surface of the housing are provided with sealing cushion layers, a joint part of the two bottom plates is also provided with an interface surface, a sealing gasket is arranged in the interface surface, and the sealing gasket is made of rubber with good pressure resistance;

the top of the shell is provided with a one-way valve, the bottom of the front end of the shell is provided with a liquid level detector as a 2# liquid level detector, and the top of the inner side of the supporting tube is provided with a liquid level detector as a 1# liquid level detector.

3. The cutter-suction type natural gas hydrate collecting system as claimed in claim 2, wherein the connection part of the bottom of the supporting tube and the lever arm is a hinge rotating shaft with an adjustable angle, and an adjusting motor is arranged to adjust the rotating angle of the hinge rotating shaft, so that the recovery device can be adjusted at different angles to ensure that the recovery device works right above the cutter-suction head.

4. The method of using a cutter-suction gas hydrate collection system according to claim 3, comprising the steps of:

s1, conveying the trolley to the position near the designated position of the seabed, controlling the trolley to move to the target position of the area to be mined through the electronic bin center, providing power by a hydraulic pump station, and driving the twisting and sucking head to rotate by a hydraulic motor;

s2, a hydraulic pump station provides power, a No. 2 hydraulic cylinder group swings up and down, the lever arm position is adjusted and the twisting suction head is driven to begin mining, the twisting suction head 1 rotates at a high speed to generate a vortex twisting suction force, a mixture of natural gas hydrate and rock particles crushed by a trapezoidal cutter is converged to a No. 1 hose port, the hydraulic pump station provides a suction force, and the mixture is collected and conveyed;

s3, in the mining process, the No. 1 hydraulic cylinder group swings left and right to form a sector mining range, so that natural gas hydrates in the whole front area of the vehicle can be mined simultaneously, and the mining range is enlarged;

s4, conveying the mixture of the natural gas hydrate and the rock particles to a separator in the vehicle body through a No. 1 hose and a No. 2 hose, separating the mixture according to different densities, and conveying the separated natural gas hydrate upwards through an outlet No. 3 hose;

s5, in the mining process, part of natural gas hydrate is gasified into gas in the winching process, the gas is not absorbed and enters the winching head, but is gathered in the recovery device and is kept in the top area, when the gathered gas reaches a certain degree, namely the liquid cannot be detected by the No. 2 liquid level detector, the bottom plate is closed to form a sealed space in the recovery device, then the switch valve and the one-way valve are opened to enable the gas in the recovery device to be absorbed into the No. 4 hose and conveyed to the separator through the No. 1 hose to avoid leakage, and when the No. 1 liquid level detector detects the liquid, the gas absorption is finished, and the switch valve is closed;

s6, if the seabed is not a plane seabed, a certain inclination angle exists, the hinge rotating shaft needs to be adjusted, the recovery device is positioned right above the winch suction head, the raised natural gas bubbles can be accurately recovered, and gas escape is avoided;

and S7, after the natural gas hydrate in the surface layer range of a certain seabed is exploited, the track is controlled to move through the electronic bin center, the trolley is driven to safely move to the next target position, and the exploitation operation is continued.

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