Apparatus and method for deep-sea mining vehicle motion environment disturbance plume experiment

Abstract

The application discloses a kind of deep-sea mining car motion environment disturbance plume experimental device and method.The application mainly includes the following three parts: layered environment water body generating device, mining car motion simulation system, environment disturbance plume observation system.Mining car motion simulation system is composed of mining car model, adjustable motion mode electric slide rail, double-shaft controller, double-shaft controller controls mining car motion simulation slide rail and environment disturbance plume observation system double slide rail synchronous motion, different motion mode is set by motor program, drive mining car motion to simulate the development process of disturbance plume generated by its environmental disturbance, and the diffusion process and intensity of disturbance plume are recorded by particle image velocimetry system, turbidimeter, doppler flowmeter etc.The application can simulate the environmental disturbance process of mining car under actual deep-sea environment, and optimizes the observation of target object under moving condition and post-processing method using particle image velocimetry system.

Description

Technical Field

[0001] This invention belongs to the field of plume dynamics research, specifically relating to an experimental device and method for environmental disturbance plumes caused by the movement of deep-sea mining vehicles. Background Technology

[0002] Currently, marine mining is considered an emerging and popular resource extraction method globally. However, nodule collector vehicles traveling on the seabed alter surface sediments and generate disturbance plumes. A significant portion of mineral resources are located near sensitive ecosystems, and the disturbances caused by mining can have long-term impacts on seabed ecosystems. The loss of seabed integrity due to nodule and sediment removal reduces biological density and ecosystem function. Suspended disturbance plumes will cover benthic habitats beyond the mining area, affecting numerous seabed ecosystem functions, such as biogeochemical remineralization processes and benthic community productivity.

[0003] By conducting environmental impact experiments on deep-sea mining vehicle movement, instruments can be used to measure changes in the physical properties of disturbed plumes during mining operations, such as their physicochemical characteristics. This allows for the analysis of biodiversity, species connectivity, and resilience to environmental changes in the mining area, thereby inferring the habitat characteristics, microbial and eukaryotic community composition of the seabed ecosystem and developing biodiversity assessment techniques. Ultimately, based on the impact results, monitoring strategies and standardized procedures for deep-sea mining operations can be developed, and indicators of good environmental condition can be defined. Possible remediation measures can be identified, such as spatial management plans for mining operations and means to promote ecosystem restoration. Reasonable methods for assessing environmental risks and estimating benefits can be developed, and uncertainties in the impact can be incorporated into an appropriate regulatory framework to support sustainable deep-sea development through good management practices. However, to date, there are no clearly defined experimental devices and methods for environmental disturbance plumes caused by deep-sea mining vehicle movement under specific deep-sea backgrounds and topographical conditions.

[0004] Flume experiments are a classic method for studying plume dynamics; however, currently published technical solutions lack experimental observation devices and methods for environmental disturbance plumes generated by deep-sea mining vehicle movement under actual deep-sea backgrounds and topographic conditions. The experimental device and method of this invention can effectively simulate disturbance plumes generated by mining vehicle movement, and can simulate actual deep-sea water and topographic conditions. It proposes methods for capturing and optimizing particle image velocimetry technology under corresponding conditions, and can quantitatively calculate the scale of influence of suspended sediment disturbance plumes, specifically such as the distribution range, characteristic length, and lifting height of sediments over time; the evolution of the physicochemical characteristics of mining plume diffusion and sediment deposition, specifically such as the flow characteristics of the plume (velocity field, eddy field, turbulent kinetic energy, turbulent dissipation rate, etc.), and the physicochemical characteristics of the disturbance plume (material transport, entrainment coefficient, density change, etc.). This allows for the assessment of the influence range of the disturbance plume, optimization of mining vehicle operation methods, and support for sustainable deep-sea development through sound management practices. Summary of the Invention

[0005] In order to overcome the shortcomings of the prior art, the present invention provides an experimental device and method for environmental disturbance plume of deep-sea mining vehicle movement.

[0006] An experimental device for environmental disturbance plume of deep-sea mining vehicle movement, including an environmental disturbance plume observation system, a mining vehicle movement simulation system, and a stratified environmental water body generation device;

[0007] The mining vehicle model in the mining vehicle motion simulation system is located in a test tank, the bottom of which is covered with a hard deep-sea terrain model and sediment particles; the mining vehicle model moves on the sediment particles.

[0008] The stratified environmental water body generation device is used to prepare linearly stratified water bodies that conform to the actual marine background environment;

[0009] The environmental disturbance plume observation system observes the disturbance plume generated by the winch during the movement of the mining vehicle model, or the environmental disturbance plume jointly caused by the moving winch of the mining vehicle model and the tailings fluid discharged from the tail of the mining vehicle model through a hollow capillary tube. By calibrating the actual dimensions, the system uses image cross-correlation to quantitatively determine the vertical and lateral flow regime, displacement distance, velocity field, and vorticity field of the disturbance plume, so as to determine the head position, head velocity, turbidity, and turbulent kinetic energy dissipation at different times. This allows for the quantitative identification of the key influencing factors of the disturbance plume on the diffusion rate of the disturbance plume and its impact on environmental pollution.

[0010] An experimental method for detecting environmental disturbance plumes during deep-sea mining vehicle movement, using the aforementioned apparatus, includes the following steps:

[0011] Step a. Deploy the actual deep-sea terrain environment

[0012] A hard deep-sea topographic model was placed at the bottom of the test tank, and sediment particles were laid on top of it;

[0013] The mining vehicle model was placed on the sediment particles, and the hollow tube was fixed to the mining vehicle model;

[0014] Step b. Build a mining vehicle motion simulation system

[0015] The first electric slide rail was mounted on the test water tank, and the hollow tube was connected to the first electric slide rail. The movement speed and direction of the first electric slide rail were initially set using a dual-axis controller. Power was applied to move the first electric slide rail to determine the movement stability of the hollow tube and the mining car model. Then the dual-axis controller was turned off.

[0016] Step c. Establish an environmental disturbance plume observation system

[0017] A laser was placed on top of a fixed steel frame, turbidity meters were evenly distributed on the sediment particle layer, and a Doppler current meter was fixed in the test water tank.

[0018] A second electric slide rail is built on the side perpendicular to the first electric slide rail, and a high-speed camera is fixed on the second electric slide rail; the second electric slide rail is controlled by the dual-axis controller, and power is supplied to ensure that the movement of the second electric slide rail is synchronized with that of the first electric slide rail;

[0019] Step d. Prepare linearly stratified water bodies;

[0020] Step e. Turn on the first electric slide rail, the second electric slide rail, the laser and the high-speed camera. After confirming that the motion mode is appropriate, start the dual-axis controller to make the hollow tube drive the mining car model to move.

[0021] Step f. Use a high-speed camera, Doppler current meter, and turbidimeter to record the turbulence plume entrainment process and the mixing of the turbulence with the stratified water body;

[0022] By calibrating actual dimensions and using image cross-correlation, the vertical and lateral flow patterns, displacement distance, characteristic length, velocity field, vorticity field, and turbulent kinetic energy of the disturbed plume are quantitatively determined, so as to determine the head position, head velocity, and turbidity at different times; thereby quantitatively identifying the impact of key influencing factors of the disturbed plume on the diffusion rate of the disturbed plume and its environmental pollution.

[0023] Step g. By changing the movement speed and movement mode of the mining vehicle model through a dual-axis controller, the stratification degree of the stratified water body, the particle size and density of the bottom sediment particles, and repeatedly observing and quantitatively analyzing the disturbed plume, a more scientific and environmentally friendly mining method using mining vehicles can be determined.

[0024] The beneficial effects of this invention are as follows:

[0025] 1. The experimental apparatus and method for environmental disturbance plume during deep-sea mining vehicle movement of the present invention are simple in facilities and easy in process, and have good reliability, accuracy and ease of use.

[0026] 2. The purpose of generating linearly stratified water bodies and laying hard deep-sea topographic models and sediment particles is to simulate the actual deep-sea water bodies and topographic environments. The mining vehicle model is moved as close as possible to the sediment particle layer to simulate the disturbance plume process generated by the disturbance of the sediment bottom layer and the environmental water body when the mining vehicle moves. This allows us to observe the physical characteristics of the disturbance plume near the mining vehicle and the changes in the flow field of the environmental water body.

[0027] The linearly stratified water body prepared by this invention has good stratification. The salinity of each prepared linearly stratified water body is measured every 5 cm depth using a solution sampling plate. Linear regression analysis is performed on the salinity and density distribution of multiple prepared stratified brine bodies. The average linear correlation coefficient between salinity and density under the working conditions can reach more than 0.999.

[0028] 3. The purpose of using a dual-axis controller to control the synchronous movement of the first and second electric slide rails is to accurately capture the disturbance plume swirling process during the movement of the underwater mining vehicle. The first electric slide rail can also realize different movement modes of the mining vehicle model to meet the actual operation mode of the mining vehicle.

[0029] In this experiment, the mining vehicle model is in motion. The image cross-correlation algorithm based on PIV uses the vector displacement of tracer particles to calculate the flow field. It requires that the positions of the mining vehicle model and other environmental elements in two adjacent frames be completely consistent. Therefore, this invention considers rebuilding a second electric sliding rail, using a dual-axis controller to connect the two sliding rails carrying the mining vehicle and the camera in series. This ensures that the two sliding rails move at completely consistent speeds and start-ups, thus eliminating errors caused by the displacement of the mining vehicle and environmental background in adjacent images. Furthermore, based on this, a post-processing method based on particle image velocimetry under the motion conditions of a layered deep-sea mining vehicle is proposed. A vibration damping plate is used to mount a high-speed camera, and the center of gravity of the high-speed camera is lowered to reduce vibration amplitude, thereby reducing vector displacement caused by camera vibration in two adjacent frames. In addition, this invention also considers calculating the flow field of multiple images in the image post-processing method and synthesizing an average flow field. The total exposure time of multiple photos must be greater than 10 cycles of the motor's natural vibration frequency to eliminate errors caused by shooting in a moving background environment.

[0030] 4. The purpose of using a particle image velocimetry system and a Doppler current meter to jointly measure the flow field is to ensure the accuracy of the calculated environmental flow field. The Doppler current meter provides point measurements, while the particle image velocimetry system can acquire overall flow field information. If small-diameter sediment particles are added to the experiment, the movement of the mining vehicle will cause them to be swept up, resulting in the high-speed camera capturing tracer particles mixed with fine sediment particles. This will lead to inaccuracies in the flow field at the bottom of the tank calculated using the particle image velocimetry system. In this case, a Doppler current meter is needed to verify the accuracy of the flow field. If large-diameter sediment particles are added to the experiment, or if no sediment particles are added (only the disturbance of the environmental fluid by the mining vehicle's movement is observed), then the particle image velocimetry system can obtain more accurate global flow field, vorticity field, and turbulent kinetic energy.

[0031] 5. There are two main reasons for using hollow capillary tubes to connect and embed the mining car model. Firstly, the capillary tubes can ensure that the movement of the mining car will not have a significant impact on the disturbed plume and the flow field of the environmental water body. Secondly, the hollow structure design allows for the observation of the disturbed plume generated by the moving winch of the mining car model alone, as well as preliminary experiments for the subsequent observation of the environmental disturbed plume caused by the moving winch of the mining car model and the tailings fluid discharged by the hollow capillary tubes. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of the structure of an embodiment of this application;

[0033] Figure 2 for Figure 1 The right view.

[0034] The components include: 1. High-density solution tank; 2. Low-density solution tank; 3. First stirrer; 4. Second stirrer; 5. First peristaltic pump; 6. Second peristaltic pump; 7. First connecting pipe; 8. First outlet valve; 9. Second outlet valve; 10. Second connecting pipe; 11. Disc outflow device; 12. Test water tank; 13. Mining vehicle model; 14. Disturbance plume; 15. Sediment particles; 16. Hard deep-sea topography model; 17. Hollow capillary tube; 18. First electric slide rail; 19. Dual-axis controller; 20. Fixed steel frame; 21. Laser; 22. Doppler current meter; 23. Turbidity meter; 24. High-speed camera; 25. Second electric slide rail. Detailed Implementation

[0035] The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0036] like Figure 1 As shown in the figure, this application provides an experimental device for environmental disturbance plume of deep-sea mining vehicle movement, including an environmental disturbance plume observation system, a stratified environmental water body generation device, and a mining vehicle movement simulation system.

[0037] in:

[0038] An environmental disturbance plume observation system is composed of a fixed bracket 20, a laser 21, a high-speed camera 24, a Doppler current meter 22, a turbidimeter 23, a second electric slide rail 25, and a high-performance computer.

[0039] The mining car motion simulation system is composed of the first electric slide rail 18, the dual-axis controller 19, the mining car model 13, and the hollow tube 17.

[0040] A stratified environmental water body generating device is composed of a high-density solution tank 1, a low-density solution tank 2, a first stirrer 3, a second stirrer 4, a first peristaltic pump 5, a second peristaltic pump 6, a first outlet valve 8, a second outlet valve 9, a first connecting pipe 7, a second connecting pipe 10, and a disc outlet device 11.

[0041] Furthermore, the low-density solution tank 1 is equipped with a first stirrer 3, and the lower part is connected to a first peristaltic pump 5 with adjustable flow rate through a first water outlet pipe 7. The fluid flows into the low-density solution tank 2 through a first water outlet valve 8. The low-density solution tank 2 is equipped with a second stirrer 4, and the lower part is connected to a second peristaltic pump 6 with adjustable flow rate through a second water outlet pipe 10. The fluid flows out through a disc outlet device 11 through a second water outlet valve 9. The high-density solution tank 1 and the low-density solution tank 2 are used to prepare linearly stratified water bodies that conform to the actual marine background environment.

[0042] Furthermore, the bottom of the experimental water tank 12 can be laid with a hard deep-sea topographic model 16 and sediment particles 15. The mining vehicle model 13 is connected by a hollow thin tube 17, which is fixed to the first electric slide rail 18. The dual-axis controller 19 jointly controls the first electric slide rail 18 and the second electric slide rail 25. The second electric slide rail 25 is equipped with a high-speed camera 24, and the fixed steel frame 20 is equipped with a laser source 21 and a Doppler current meter 22. The turbidimeter 23 is fixed on the sediment particle layer 15. In the figure, the y-axis is the horizontal direction, and the positive z-axis is the vertical direction opposite to the direction of gravitational acceleration.

[0043] Furthermore, the mining car model 13 is connected to and fixed to the first electric slide rail 18 through the hollow thin tube 17. The dual-axis controller 19 jointly controls the synchronous movement of the first electric slide rail 18, which simulates the movement of the mining car, and the second electric slide rail 25, which is part of the environmental disturbance plume observation system. Different movement modes are set by the motor program to drive the mining car to simulate the environmental disturbance plume process. The diffusion process and intensity of the disturbance plume are recorded by the high-speed camera 24, turbidimeter 23, Doppler current meter 22, etc.

[0044] Preferably, the test water tank is made of transparent acrylic sheet, which has good light transmission performance. The width of the mining vehicle model is between 1 / 5 and 1 / 3 of the width of the water tank, and the length of the water tank is greater than 240cm, the width is greater than 25cm, and the height is greater than 50cm.

[0045] Preferably, the hollow capillary tube is made of salt-resistant 316 stainless steel, with an inner diameter of 5mm-9mm and an outer diameter of no more than 10mm.

[0046] Preferably, the hard deep-sea topographic model is made of ABS resin, and the sediment particle size is between 5-500μm.

[0047] Preferably, the first and second electric slide rails should have multiple motion modes and a motion speed in the range of 0-20cm / s.

[0048] Preferably, the turbidity meter is fixed by a rigid deep-sea topographic model and is arranged at equal intervals in the horizontal and vertical directions.

[0049] Preferably, the dimensionless hydrodynamic parameter of the perturbed plume should be either the Froude number or the Richardson number.

[0050] Preferably, the laser is a continuous-wave Nd:YAG laser source with a wavelength of 532nm and a power of 10.5W. A Powell prism with a refraction angle of 30° is placed at the laser source outlet. After refraction by the prism, the laser light forms a thin surface with a thickness of about 4mm. The position is adjusted to ensure that the mining vehicle can pass completely through the laser surface when moving. The high-speed camera has an exposure time of 3000μs per frame, a controlled acquisition frame rate of 100Hz, and a shooting time of 100s for each test.

[0051] Preferably, the tracer particles in the experimental apparatus are polystyrene with a particle size of 50 μm and a density of 1.04 g / cm³. 3 .

[0052] Accordingly, the experimental method for generating environmental disturbance plumes from the movement of deep-sea mining vehicles using the aforementioned device mainly includes the following steps:

[0053] a. Deploy real-world deep-sea terrain and environment.

[0054] First, a rigid deep-sea topographic model 16 is placed at the bottom of the test tank 12, and sediment particles 15 are laid on top of it. A mining vehicle model 13 is then placed on the sediment particles 15, and the hollow capillary tube 17 is fixed to the mining vehicle model 13. Specific seabed topography can be found on the corresponding test area's seabed topographic map.

[0055] b. Build a mining vehicle motion simulation system.

[0056] The first electric slide rail 18 is mounted on the experimental water tank 12, and the hollow tube 17 is connected to the first electric slide rail 18. The dual-axis controller 19 is used to initially set the movement speed and movement direction of the first electric slide rail 18. Power is turned on to move the first electric slide rail 18 to determine the movement stability of the hollow tube 17 and the mining car model 13. Then the dual-axis controller 19 is turned off.

[0057] c. Establish an environmental disturbance plume observation system.

[0058] A laser 21 is placed on top of the fixed steel frame 20. Turbidimeters 23 are evenly distributed on the sediment particle layer. A Doppler current meter 22 is fixed in the test water tank. A second electric slide rail 25 is built in front, and a high-speed camera 24 is fixed on the second electric slide rail 25. The second electric slide rail 25 is controlled by a dual-axis controller 19. Power is supplied to ensure that the movement mode (movement speed, movement direction, etc.) of the second electric slide rail 25 is synchronized with the first electric slide rail 18.

[0059] d. Preparation of linearly stratified water bodies.

[0060] Colorless high-density solutions and low-density solutions containing tracer particles were poured into high-density solution tank 1 and low-density solution tank 2, respectively. The first stirrer 3 and the second stirrer 4 were turned on to mix the solutions in the two tanks evenly. Then, the first outlet valve 8, the second outlet valve 9, the first peristaltic pump 5 and the second peristaltic pump 6 were turned on. The flow rate of the second peristaltic pump 6 was set to twice that of the first peristaltic pump 5, so that the high-density solution was pumped into the low-density solution tank 2. After the mixed solution was thoroughly stirred by the second stirrer 4, it was pumped into the test water tank 12 to generate a linear stratification environment that conforms to the actual marine conditions.

[0061] e. Turn on the first electric slide rail 18, the second electric slide rail 25, the laser 21 and the high-speed camera 24. After confirming that the motion mode is appropriate, start the dual-axis controller 19 to make the hollow tube 17 drive the mining car model 13 to move.

[0062] f. The turbulent plume's swirling process and mixing with stratified water were recorded using a high-speed camera 24, a Doppler current meter 22, and a turbidimeter 23. By calibrating the actual dimensions and employing image cross-correlation and other methods, the vertical and lateral flow regimes, displacement distances, velocity fields, and vorticity fields of the turbulent plume could be quantitatively determined. This allowed for the identification of the head position, head velocity, turbidity, and turbulent kinetic energy dissipation at different times, thereby quantitatively assessing the impact of key influencing factors (such as mining vehicle speed, trajectory, sediment particle density, and particle size) on the plume's diffusion rate and environmental pollution.

[0063] g. Repeat the above experimental steps, and change the movement speed and movement mode of the mining vehicle model 13, the stratification degree of the stratified water body, the particle size and density of the bottom sediment particles 15, etc. through the dual-axis controller 19, and repeat the above-mentioned disturbance plume observation and quantitative analysis methods to determine a more scientific and environmentally friendly mining vehicle mining method.

[0064] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. An experimental apparatus for environmental disturbance plume during deep-sea mining vehicle movement, characterized in that, This includes an environmental disturbance plume observation system, a mining vehicle motion simulation system, and a stratified environmental water body generation device; The mining vehicle model in the mining vehicle motion simulation system is located in a test tank, the bottom of which is covered with a hard deep-sea terrain model and sediment particles; the mining vehicle model moves on the sediment particles. The stratified environmental water body generation device is used to prepare linearly stratified water bodies that conform to the actual marine background environment; The environmental disturbance plume observation system includes a laser, a high-speed camera, a Doppler current meter, and a turbidimeter; The laser, Doppler current meter, and high-speed camera are used together to measure the flow field and profile velocity of the environmental water body; The turbidimeters are evenly distributed in the test water tank and on both sides of the mining vehicle model to measure the turbidity of the disturbed plume at different times and locations. The high-speed camera is mounted on a second electric slide rail, and the second electric slide rail and the first electric slide rail are synchronously controlled by a dual-axis controller. The environmental disturbance plume observation system observes the disturbance plume generated by the winch when the mining car model moves, or observes the environmental disturbance plume jointly caused by the moving winch of the mining car model and the tailings fluid discharged from the tail of the mining car model by the hollow capillary tube. High-speed cameras, Doppler current meters, and turbidimeters were used to record the turbulent plume's entrainment process and the mixing with stratified water. By calibrating actual dimensions, image cross-correlation was used to quantitatively determine the vertical and lateral flow regime, displacement distance, velocity field, and vorticity field of the turbulent plume. This allowed for the determination of the head position, head velocity, turbidity, and turbulent kinetic energy dissipation at different times, thereby quantitatively identifying the key influencing factors of the turbulent plume on its diffusion rate and environmental pollution.

2. The experimental apparatus for environmental disturbance plume of deep-sea mining vehicle movement according to claim 1, characterized in that, The mining vehicle motion simulation system also includes a first electric slide rail, which is located in the test water tank and is connected to one end of the mining vehicle model and the hollow tube. The other end of the hollow tube is fixed to the first electric slide rail.

3. The experimental apparatus for environmental disturbance plume of deep-sea mining vehicle movement according to claim 2, characterized in that, The hollow tube is made of salt-resistant 316 stainless steel, with an inner diameter of 5 mm-9 mm and an outer diameter of no more than 10 mm.

4. The experimental apparatus for environmental disturbance plume of deep-sea mining vehicle movement according to claim 1, characterized in that, The second electric slide rail carries the high-speed camera via a shock-absorbing plate.

5. The experimental apparatus for environmental disturbance plume of deep-sea mining vehicle movement according to any one of claims 1 to 4, characterized in that: The hard deep-sea topography model is made of ABS resin, and the sediment particle size is between 5-500μm.

6. The experimental apparatus for environmental disturbance plume of deep-sea mining vehicle movement according to claim 5, characterized in that: The high-speed camera in the environmental disturbance plume observation system has an exposure time of 3000μs per frame, a frame rate of 100Hz, and a shooting time of 100s for each group of experimental high-speed cameras.

7. The experimental apparatus for environmental disturbance plume of deep-sea mining vehicle movement according to claim 6, characterized in that: By controlling the total exposure time of multiple photos to be greater than 10 cycles of the inherent vibration frequency of the stepper motor in the second electric slide rail, errors in shooting in motion background environments are eliminated.

8. An experimental method for environmental disturbance plumes during deep-sea mining vehicle movement, using the apparatus described in any one of claims 1 to 7, characterized in that: Includes the following steps: Step a. Deploy the actual deep-sea terrain environment A hard deep-sea topographic model was placed at the bottom of the test tank, and sediment particles were laid on top of it; The mining vehicle model was placed on the sediment particles, and the hollow tube was fixed to the mining vehicle model; Step b. Build a mining vehicle motion simulation system The first electric slide rail was mounted on the test water tank, and the hollow tube was connected to the first electric slide rail. The movement speed and direction of the first electric slide rail were initially set using a dual-axis controller. Power was applied to move the first electric slide rail to determine the movement stability of the hollow tube and the mining car model. Then the dual-axis controller was turned off. Step c. Establish an environmental disturbance plume observation system A laser was placed on top of a fixed steel frame, turbidity meters were evenly distributed on the sediment particle layer, and a Doppler current meter was fixed in the test water tank. A second electric slide rail is built on the side perpendicular to the first electric slide rail, and a high-speed camera is fixed on the second electric slide rail; the second electric slide rail is controlled by the dual-axis controller, and power is supplied to ensure that the movement of the second electric slide rail is synchronized with that of the first electric slide rail; Step d. Prepare linearly stratified water bodies; Step e. Turn on the first electric slide rail, the second electric slide rail, the laser and the high-speed camera. After confirming that the motion mode is appropriate, start the dual-axis controller to make the hollow tube drive the mining car model to move. Step f. Use a high-speed camera, Doppler current meter, and turbidimeter to record the turbulence plume entrainment process and the mixing of the turbulence with the stratified water body; By calibrating actual dimensions and using image cross-correlation, the vertical and lateral flow patterns, displacement distance, characteristic length, velocity field, vorticity field, and turbulent kinetic energy of the disturbed plume are quantitatively determined, so as to determine the head position, head velocity, and turbidity at different times; thereby quantitatively identifying the impact of key influencing factors of the disturbed plume on the diffusion rate of the disturbed plume and its environmental pollution. Step g. By changing the movement speed and movement mode of the mining vehicle model through a dual-axis controller, the stratification degree of the stratified water body, the particle size and density of the bottom sediment particles, and repeatedly observing and quantitatively analyzing the disturbed plume, a more scientific and environmentally friendly mining method using mining vehicles can be determined.

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