Deep-sea mining vehicle laboratory simulation test platform and test method
By designing an integrated deep-sea mining vehicle laboratory simulation test platform, the problem of insufficient all-terrain and ocean current simulation in existing technologies has been solved, and efficient testing and rapid fault handling of mining vehicles in complex environments have been achieved, reducing the risks and costs of offshore trials.
Patent Information
- Application Number
- CN202510808007.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-06-17
- Publication Date
- 2025-09-16
AI Technical Summary
Existing deep-sea mining vehicle test platforms lack integrated testing covering all-terrain and anti-ocean current conditions, and are unable to verify the adaptability and system linkage of mining vehicles in complex environments. In addition, the laboratory simulation environment is very different from the real ocean environment, making it impossible to assess the ecological impact. There is a lack of fault location and non-destructive recovery systems, resulting in a high risk of failure in offshore trials and increased costs.
A laboratory simulation test platform for deep-sea mining vehicles was designed, which includes an adjustable terrain simulation unit, an underwater flow-generating unit, a mobile hoisting and transfer unit, a positioning unit, a multi-dimensional monitoring unit, and an underwater emergency rescue unit. Combined with a central control unit, it achieves all-terrain adaptability, anti-ocean current stability, and simultaneous multi-dimensional data acquisition, and is equipped with a rapid fault location and non-destructive recovery system.
It has achieved full-terrain and ocean current environment simulation in the laboratory, improved the authenticity and reliability of mining vehicle testing in complex environments, reduced the risk of failure in offshore tests, provided multi-dimensional data support, ensured the continuity and safety of testing, and reduced costs.
Smart Images
Figure CN120651481A_ABST
Abstract
Description
Technical Field
[0001] The present invention belongs to the technical field of deep-sea mining simulation, and in particular relates to a laboratory simulation test platform and a test method for a deep-sea mining vehicle. Background Art
[0002] The deep seabed is rich in solid mineral resources, driving countries to actively develop deep-sea mining equipment and operating systems. The development of deep-sea mining equipment and systems requires testing and verification in the appropriate environments and operating conditions. However, the complex ocean and seabed environments make field testing at sea prohibitively expensive. Therefore, laboratory testing and verification are crucial for the development of deep-sea mining vehicle technology.
[0003] Currently, most test platforms focus on testing and verifying individual mechanisms, such as walking, digging, or collecting. The data obtained is relatively limited, and a systematic testing and verification method for deep-sea mining vehicles has not yet been established. This has significantly hindered the systematic testing and technical verification of deep-sea mining equipment. Some deep-sea equipment has not undergone sufficient laboratory testing and trials, or the test environment does not adequately simulate the marine environment. This has led to major technical problems or accidents in the real ocean environment, resulting in a significant expenditure of manpower and resources without achieving the desired test results.
[0004] Existing deep-sea mining vehicle testing and verification technologies have the following significant drawbacks:
[0005] 1. The lack of an integrated test platform covering all terrain conditions (obstacle crossing, slope climbing, ditch crossing, etc.) and anti-ocean current conditions makes it impossible to verify the adaptability of mining vehicles in complex environments; single-unit testing breaks the system correlation, making it difficult to evaluate the reliability of the mining vehicle's mechanism linkage in continuous operation, resulting in a high risk of failure in offshore trials.
[0006] 2. The ocean current field simulated in the laboratory is unstable, the terrain module cannot be dynamically adjusted, and there are significant differences from the real seabed environment. It also does not fully consider the environmental impacts caused by mining operations, such as plume diffusion, heavy metal pollution, and noise disturbance, and cannot provide a basis for ecological assessment.
[0007] 3. The existing platform lacks a system for quickly locating and non-destructively recovering faulty mining vehicles. Once testing is interrupted, it takes a lot of time to repair, which slows down the R&D cycle and increases costs. Summary of the Invention
[0008] The object of the present invention is to provide a laboratory simulation test platform and test method for a deep-sea mining vehicle that covers all terrains and takes into account the impact of ocean currents.
[0009] The deep-sea mining vehicle laboratory simulation test platform provided by the present invention includes a water area, an adjustable terrain simulation unit, an underwater flow-generating unit, a mobile hoisting and transferring unit, a positioning unit, a multi-dimensional monitoring unit, an underwater emergency rescue unit and a central control unit; the water area includes open water and indoor water; the adjustable terrain simulation unit is arranged in the open water for dynamically simulating the seabed terrain characteristics; the underwater flow-generating unit is configured to generate a controllable ocean current environment in the water area; the mobile hoisting and transferring unit is arranged across the water area; the positioning unit is used to track the mining vehicle's position information in real time; the multi-dimensional monitoring unit includes a mining vehicle operation status monitoring and environmental disturbance monitoring subsystem; the underwater emergency rescue unit is configured to perform non-destructive recovery operations on the faulty mining vehicle; the central control unit is arranged in the observation room and connected to various functional units.
[0010] In one embodiment of the above-mentioned platform, the adjustable terrain simulation unit includes simulated obstacles with adjustable spacing, simulated gully devices with adjustable width, climbing ramps with adjustable angles, and simulated bottom paving layers; the open water area is connected to the indoor water area, and a driving track is set up above the indoor water area.
[0011] In one embodiment of the above-mentioned platform, the underwater flow-generating unit includes flat inlet and outlet ports provided at the bottom of two opposite sides of the open water area; a return pipe connected to the flat inlet and outlet ports; a flow-generating pump for driving the water flow; and wave energy absorption holes provided at the top of the two sides.
[0012] In one embodiment of the above-mentioned platform, the mobile hoisting and transferring unit includes a guide rail erected above the water area; a mobile overhead crane moving along the guide rail; a mineral material conveying pipeline connecting the mining vehicle and the silo; a photoelectric composite cable wound around a composite cable pay-off wheel; and an electric guide wheel provided at the end of the guide rail.
[0013] In one embodiment of the above-mentioned platform, the positioning unit includes positioning base stations arranged around the water area; a positioning transponder installed on the top of the mining vehicle; and a GPS / Beidou positioning system mounted on the mining vehicle, which transmits signals through a positioning pole extending vertically to the water surface.
[0014] In one embodiment of the above-mentioned platform, the underwater emergency rescue unit includes a large floating body on the water surface composed of two rectangular buoyancy bodies; electric propellers installed on the end and side faces of the floating body; a central hanger provided on the top of the floating body; and an electric magnetic hanger suspended on the central hanger.
[0015] In one embodiment of the above-mentioned platform, the multi-dimensional monitoring unit includes surface cameras arranged at the perimeter of the water area; cameras, sonar and lighting equipment installed underwater; a matrix-arranged hydrophone array; plume monitoring sensors installed at the front and rear ends of the mining vehicle and on both sides of the path; and heavy metal detection sensors arranged on both sides of the mining vehicle path.
[0016] In one embodiment of the above platform, the central control unit includes an operating console, a central console, a multi-screen matrix display interface, and a cable spray cleaning and cooling chamber located in the observation room.
[0017] A testing method implemented using one of the above platforms comprises the following steps:
[0018] 1. All-terrain adaptability test
[0019] The mining vehicle is placed on the flat ground of an open-air pool and started. It is controlled by the operating console to drive in a straight line to the obstacle crossing area; the spacing of simulated obstacles is adjusted to test the mining vehicle's ability to continuously cross obstacles of different spacings; the mining vehicle is controlled to enter the gully area, and the width of the simulated gully device is adjusted in real time to verify its gully crossing performance; the angle of the climbing ramp (0°-30°) is adjusted to test the climbing stability of the mining vehicle at different slopes; the mining vehicle is controlled to perform turning and circling driving tests in the open-air pool; and the mining vehicle is controlled to perform mining driving tests in the open-air pool.
[0020] 2. Anti-ocean current stability test
[0021] The underwater flow-generating component's flow pump was activated to drive water through the flat inlet and outlet to form a one-way circulation flow. The flow-generating system was simultaneously activated during the flatland, obstacle crossing, and slope climbing tests to simulate 0.5-2 knots of submarine current. Wave energy absorption holes were used to reduce water surface fluctuations and maintain a stable flow field.
[0022] 3. Synchronous collection of multi-dimensional data
[0023] By linking the positioning base station with the positioning transponder on top of the mining vehicle, combined with the GPS / Beidou dual-system surface positioning pole signal, the centimeter-level trajectory of the mining vehicle is recorded in real time; underwater cameras and sonars collect images of the mining vehicle's operating posture; matrix hydrophone arrays monitor the mining vehicle's noise spectrum; plume monitoring system sensors analyze dust diffusion patterns; and heavy metal detection systems monitor water pollution indicators in real time.
[0024] The beneficial effects of the present invention are as follows:
[0025] 1. A large water pool integrates terrain modules such as straight-line driving areas, obstacle crossing areas, and climbing areas, and uses underwater flow-generating components to simulate real-world submarine currents. This is the first time that a mining vehicle's terrain adaptability and anti-current stability under all operating conditions have been linked in the laboratory, significantly improving the authenticity of environmental simulation and reducing the risk of failure in marine field tests due to environmental differences.
[0026] 2. Simultaneously deploy plume monitoring, heavy metal detection, noise disturbance monitoring, and GPS / Beidou dual positioning systems, combined with underwater sonar and visual monitoring, to collect real-time data on the environmental impact of mining vehicle operations and system linkage. This breaks through the limitations of traditional single-unit testing and for the first time enables simultaneous acquisition of multi-dimensional data on mining vehicles: "structure, environment, and disturbance," providing complete parameter support for system reliability optimization and ecological impact assessment.
[0027] 3. A closed-loop emergency system consisting of a surface float, electric propellers, and an electric magnetic crane is installed to rapidly locate and non-destructively recover faulty mining vehicles through an automatic guidance device. This significantly shortens fault resolution time and avoids equipment damage, ensuring long-term testing continuity and reducing laboratory verification costs and safety risks. BRIEF DESCRIPTION OF THE DRAWINGS
[0028] Figure 1 This is a schematic diagram of the axonometric structure of an embodiment of the present invention. (The indoor pool is not shown)
[0029] Figure 2 for Figure 1 Schematic diagram of the top view structure.
[0030] Figure 3 for Figure 1 Schematic diagram of the side structure.
[0031] Figure 4 for Figure 3 Schematic diagram of the cross-sectional structure at AA in the middle.
[0032] Figure 5 This is an axonometric structural diagram of the underwater emergency rescue device.
[0033] Figure 6 for Figure 5 Schematic diagram of the side structure.
[0034] Figure 7 for Figure 5 Schematic diagram of the side structure from another direction.
[0035] Figure 8 Schematic diagram of the test track of this embodiment. DETAILED DESCRIPTION
[0036] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the relevant technical solutions. Obviously, the embodiments described are only some embodiments, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.
[0037] like Figure 1 As shown, the deep-sea mining vehicle laboratory simulation test platform disclosed in this embodiment is divided into an open-air area and an indoor area. The open-air area is an open-air pool 1, and the indoor area includes an indoor pool 2 and an observation room 3. This test platform also includes a mobile hoisting auxiliary component 4, an underwater flow generating component 5, a positioning system, a monitoring system, and an underwater emergency rescue device 6.
[0038] The open-air pool 1 includes a simulated obstacle 11, a simulated gully device 12, a climbing ramp 13 and a simulated bottom paving layer.
[0039] Simulated obstacles 11, simulated gully devices 12, and a climbing ramp 13 are fixed to one side of the open-air pool 1, with the other side being flat ground. The spacing between the simulated obstacles is adjustable, the gully width of the simulated gully device can be adjusted in real time, and the climbing ramp's climbing angle is adjustable. These components are used to simulate submarine obstacle crossing areas, gully crossing areas, climbing areas, and flat ground, verifying the mining vehicle's all-terrain adaptability.
[0040] The indoor pool 2 is located in the center of the indoor area and is connected to the outdoor pool 1. A driving track is set above the indoor pool, and its structure is similar to that of the outdoor pool guide rail.
[0041] An indoor water pool is set up to expand the testing space and provide a mining vehicle testing area in an indoor controlled environment.
[0042] The mobile hoisting auxiliary assembly 4 includes a guide rail 41 , a mobile overhead crane 42 , a mineral material conveying pipeline 43 , a silo 44 , a photoelectric composite cable 45 , a composite cable pay-off wheel 46 and a guide wheel 47 .
[0043] like Figure 2 and Figure 3 As shown, the guide rail 41 is composed of railing-type guide rails on both sides of the open-air pool and plate-shaped guide rails mounted thereon. The plate-shaped guide rails slide along the length direction of the railing-type guide rails through electrically controlled pulleys.
[0044] The movable overhead crane 42 is mounted on a plate-shaped guide rail and can be displaced along the length direction thereof.
[0045] A mineral material conveying pipeline 43 and an optical-electrical composite cable 45 are provided between the mobile overhead crane 42 and the mining vehicle 7 .
[0046] The two ends of the ore delivery pipeline 43 are respectively connected to the mining vehicle 7 and the silo 44. The silo is fixed to the side of the open-air pool away from the observation room for storing the minerals collected by the mining vehicle.
[0047] One end of the photoelectric composite cable 45 is connected to the composite cable pay-off wheel 46, which is located in the observation room 3 and has a large-capacity transformer and a high-voltage frequency converter at the end; the other end is connected to the mining car 7. The observation room supplies power to the mining car through the photoelectric composite cable to provide power.
[0048] A guide wheel 47 is electrically driven and mounted at the end of the plate-shaped guide rail. The optical fiber cable 45 is routed along the rail and wound around the guide wheel. The guide wheel allows the optical fiber cable to be smoothly deployed and retracted as the plate-shaped guide rail and the mobile overhead crane move, facilitating testing and coordinating with the mining vehicle's movement.
[0049] The observation room 3 is also provided with a cable spray cleaning and cooling chamber 48 for spray cleaning and cooling the composite cable reeled and released by the composite cable pay-off wheel 46 to maintain the working condition of the composite cable.
[0050] like Figure 4 As shown, the underwater flow-generating assembly 5 includes a flat inlet and outlet 51, a return flow pipe and a flow-generating pump.
[0051] Two rows of flat inlet and outlet ports 51 are located at the bottom of the side of the open-air pool, one facing away from the observation room and the other facing closer to the observation room. These ports are connected by a return pipe, with a flow pump driving the water circulation. Wave energy absorption holes 52 are located at the top of these two sides. The flat inlet and outlet ports work with the flow pump to simulate submarine currents; the wave energy absorption holes mitigate surface fluctuations and maintain flow stability.
[0052] The positioning system includes positioning base stations, positioning transponders and GPS / Beidou positioning systems.
[0053] Positioning base stations are located at the corners of the open-air pool 1 and the indoor pool 2. A positioning transponder is mounted on the top of the mining vehicle 7. The GPS / Beidou positioning system is also mounted on the top of the mining vehicle 7, extending out of the water via a positioning pole that extends vertically to the water surface and enables signal transmission.
[0054] The positioning base station is linked to the positioning transponder on the top of the mining vehicle, while the GPS / Beidou system receives satellite signals through the surface positioning rod. The two work together to achieve centimeter-level precision positioning while the mining vehicle is in motion, assisting with trajectory tracking and position calibration.
[0055] The monitoring system includes a surface monitoring component, an underwater monitoring component, a noise disturbance monitoring component and a mining environment monitoring component.
[0056] The water surface monitoring components are water surface cameras arranged in all directions around the open-air pool 1 and the indoor pool 2.
[0057] Underwater monitoring components include underwater cameras, underwater short-range sonar and underwater lighting equipment, which are evenly distributed on the bottom and side walls of the pool.
[0058] The noise disturbance monitoring component is a matrix-arranged hydrophone array distributed in key areas of the pool to monitor the sound field conditions during the operation of the mining vehicle.
[0059] The mining environment monitoring components include a plume monitoring system and a heavy metal detection system. The sensors of the plume monitoring system are arranged at the front and rear ends of the mining vehicle 7 and on both sides of the driving path; the sensors of the heavy metal detection system are arranged on both sides of the driving path of the mining vehicle 7.
[0060] Surface and underwater cameras and sonars collect real-time images and spatial data of mining vehicle operations; hydrophone arrays monitor the noise spectrum of mining vehicle operations; plume monitoring systems analyze dust diffusion patterns, and heavy metal detection systems monitor water pollution indicators in real time.
[0061] Observation room 3 is equipped with an observation window 31, an operating console 32, a central control console 33, and a multi-screen matrix display interface 34. The operating console 32 integrates the equipment control terminal; the central control console 33 has a built-in data processing unit; and the multi-screen matrix display interface 34 displays monitoring data and video images in real time.
[0062] like Figure 5 、 Figure 6 and Figure 7 As shown, the underwater emergency rescue device 6 includes a large surface float 61, an electric propeller 62, a central hanger 63 and an electric magnetic hanger 64.
[0063] The large surface buoyancy body 61 is a surface buoyancy platform composed of two rectangular buoyancy bodies fixed to each other by a connecting rod. Electric propellers 62 are installed on the end faces of the two rectangular buoyancy bodies and the side face of one rectangular buoyancy body.
[0064] A central hanger 63 is provided on the top surfaces of the two rectangular buoyant bodies, and an electric magnetic hanger 64 is suspended on the central hanger.
[0065] If a mining vehicle breaks down in the center of the pool, unable to be powered or remotely controlled, an underwater emergency rescue device is deployed. The electric propeller drives the floating body to directly above the faulty mining vehicle. The central hanger lowers the vehicle underwater using an electric magnetic lift, magnetically attaching it to the automatic guide device on top of the mining vehicle. Once attached, the central hanger retrieves the mining vehicle onto the floating body, where it is then transferred to the bottom of the mobile overhead crane by the electric propeller for transport. This allows for the rapid and non-destructive recovery of the faulty mining vehicle, ensuring testing continuity.
[0066] A test method implemented based on the deep-sea mining vehicle laboratory simulation test platform includes the following steps:
[0067] 1. All-terrain adaptability test
[0068] The mining vehicle was placed on the flat ground of an open-air pool and started, and was controlled by the operating console to drive straight to the obstacle crossing area; the spacing of the simulated obstacles was adjusted to test the mining vehicle's ability to continuously cross obstacles of different spacings; the mining vehicle was controlled to enter the gully area, and the width of the simulated gully device was adjusted in real time to verify its gully crossing performance; the angle of the climbing ramp (0°-30°) was adjusted to test the climbing stability of the mining vehicle at different slopes; the mining vehicle was controlled to perform turning and circling tests in the open-air pool, and the turning and circling test trajectory was as follows: Figure 8 As shown; control the mining vehicle to conduct mining driving test in an open water pool, the mining driving test track 8 is as shown Figure 8 The mining vehicle completes all-terrain closed-loop testing while continuously moving, simulating complex seabed terrain through obstacles with adjustable spacing, gullies with variable widths, and an angle-adjustable climbing ramp to verify its structural linkage and terrain adaptability.
[0069] 2. Anti-ocean current stability test
[0070] a) Activate the underwater flow pump, driving water through the flat inlet and outlet to form a unidirectional circulation flow. b) Simultaneously activate the flow system during flat ground, obstacle crossing, and slope climbing tests to simulate 0.5-2 knots of submarine current. c) Use wave energy absorption holes to reduce water surface fluctuations and maintain a stable flow field. The flat inlet and outlet, combined with the closed-loop return pipe, generate a uniform flow, while the wave energy absorption holes suppress surface disturbances, simulating a realistic ocean current environment. The mining vehicle's anti-current stability is tested under combined operating conditions (terrain + current).
[0071] 3. Synchronous collection of multi-dimensional data
[0072] By linking the positioning base station with the positioning transponder on top of the mining vehicle, combined with the GPS / Beidou dual-system surface positioning pole signal, the centimeter-level trajectory of the mining vehicle is recorded in real time; underwater cameras and sonars collect images of the mining vehicle's operating posture; matrix hydrophone arrays monitor the mining vehicle's noise spectrum; plume monitoring system sensors analyze dust diffusion patterns; and heavy metal detection systems monitor water pollution indicators in real time.
[0073] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although detailed descriptions have been provided with reference to the aforementioned embodiments, those skilled in the art will be able to modify the technical solutions described in the aforementioned embodiments or substitute equivalents for some of the technical features. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.
Claims
1. A deep-sea mining vehicle laboratory simulation test platform, characterized by: It includes a water area, an adjustable terrain simulation unit, an underwater flow generation unit, a mobile lifting and transfer unit, a positioning unit, a multi-dimensional monitoring unit, an underwater emergency rescue unit and a central control unit; The water area includes open waters and indoor waters; an adjustable terrain simulation unit is arranged in the open water area for dynamically simulating the seabed terrain features; an underwater flow-generating unit is configured to generate a controllable ocean current environment in the water area; a mobile hoisting and transfer unit is arranged across the water area; a positioning unit is used to track the position information of the mining vehicle in real time; a multi-dimensional monitoring unit includes a mining vehicle operation status monitoring and environmental disturbance monitoring subsystem; an underwater emergency rescue unit is configured to perform non-destructive recovery operations on faulty mining vehicles; and a central control unit is arranged in an observation room and connected to various functional units.
2. The deep-sea mining vehicle laboratory simulation test platform according to claim 1, characterized in that: The adjustable terrain simulation unit includes simulated obstacles with adjustable spacing, simulated gully devices with adjustable width, climbing ramps with adjustable angles, and simulated bottom paving layers; the open water area is connected to the indoor water area, and a driving track is set up above the indoor water area.
3. The deep-sea mining vehicle laboratory simulation test platform according to claim 1, characterized in that: The underwater flow-generating unit includes flat inlet and outlet ports arranged at the bottom of two opposite sides of the open water area; a return pipe connected to the flat inlet and outlet ports; a flow-generating pump for driving the water flow; and wave energy absorption holes arranged at the top of the two sides.
4. The deep-sea mining vehicle laboratory simulation test platform according to claim 1, characterized in that: The mobile hoisting and transferring unit includes a guide rail erected above the water area; a mobile overhead crane moving along the guide rail; a mineral material conveying pipeline connecting the mining vehicle and the silo; a photoelectric composite cable wound around a composite cable pay-off wheel; and an electric guide wheel located at the end of the guide rail.
5. The deep-sea mining vehicle laboratory simulation test platform according to claim 1, characterized in that: The positioning unit includes positioning base stations arranged around the water area; a positioning transponder installed on the top of the mining vehicle; and a GPS / Beidou positioning system mounted on the mining vehicle, which transmits signals through a positioning pole extending vertically to the water surface.
6. The deep-sea mining vehicle laboratory simulation test platform according to claim 1, characterized in that: The underwater emergency rescue unit includes a large floating body on the water surface composed of two rectangular buoyancy bodies; electric propellers installed on the end and side surfaces of the floating body; a central hanger arranged on the top of the floating body; and an electric magnetic hanger suspended on the central hanger.
7. The deep-sea mining vehicle laboratory simulation test platform according to claim 1, characterized in that: The multi-dimensional monitoring unit includes surface cameras installed around the perimeter of the water area; underwater cameras, sonar and lighting equipment; a matrix-arranged hydrophone array; plume monitoring sensors installed at the front and rear ends of the mining vehicle and on both sides of the path; and heavy metal detection sensors installed on both sides of the mining vehicle's path.
8. The deep-sea mining vehicle laboratory simulation test platform according to claim 1, characterized in that: The central control unit includes an operating console, a central console, a multi-screen matrix display interface, and a cable spray cleaning and cooling chamber located in the observation room.
9. A testing method implemented using the testing platform according to any one of claims 1 to 8, comprising the following steps:
1. All-terrain adaptability test The mining vehicle is placed on the flat ground of an open-air pool and started. It is controlled by the operating console to drive in a straight line to the obstacle crossing area; the spacing of simulated obstacles is adjusted to test the mining vehicle's ability to continuously cross obstacles of different spacings; the mining vehicle is controlled to enter the gully area, and the width of the simulated gully device is adjusted in real time to verify its gully crossing performance; the angle of the climbing ramp (0°-30°) is adjusted to test the climbing stability of the mining vehicle at different slopes; the mining vehicle is controlled to perform turning and circling driving tests in the open-air pool; and the mining vehicle is controlled to perform mining driving tests in the open-air pool.
2. Anti-ocean current stability test The underwater flow-generating component's flow pump was activated to drive water through the flat inlet and outlet to form a one-way circulation flow. The flow-generating system was simultaneously activated during the flatland, obstacle crossing, and slope climbing tests to simulate 0.5-2 knots of submarine current. Wave energy absorption holes were used to reduce water surface fluctuations and maintain a stable flow field.
3. Synchronous collection of multi-dimensional data By linking the positioning base station with the positioning transponder on the top of the mining vehicle and combining the GPS / Beidou dual-system surface positioning rod signal, the centimeter-level trajectory of the mining vehicle can be recorded in real time; Underwater cameras and sonars collect images of the mining vehicle's operating posture; matrix hydrophone arrays monitor the mining vehicle's noise spectrum; plume monitoring system sensors analyze dust diffusion patterns; and heavy metal detection systems monitor water pollution indicators in real time.