Controllable source operation control system and method

Abstract

The application provides a controllable seismic source operation control system and method, wherein a navigation control module is arranged to provide operation parameters and real-time position information of a seismic source vehicle for a decision control module; the decision control module is arranged to determine a target running speed and a target turning angle of the seismic source vehicle according to the operation parameters and the real-time position information of the seismic source vehicle provided by the navigation control module, in combination with attitude information and obstacle information of the seismic source vehicle, and send the target running speed and the target turning angle to a walking control module; a seismic source vibration instruction is issued to a vibration control module; the walking control module is arranged to control the seismic source vehicle to walk according to the target running speed and the target turning angle of the seismic source vehicle; and the vibration control module is arranged to control the seismic source vibrator to vibrate according to the seismic source vibration instruction issued by the decision control module. The automatic operation of the controllable seismic source is realized, thereby reducing the labor intensity of the operator and improving the operation efficiency.

Description

Technical Field

[0001] This invention relates to the field of controlled source operation technology for seismic exploration, and particularly to a controlled source operation control system and method. Background Technology

[0002] Controlled seismic sources are widely used excitation devices in seismic exploration. Currently, during controlled seismic source operations, the map, trajectory, and shot point files of the work area are imported into the seismic source navigation system. After setting the relevant parameters according to the construction operation mode, the navigation tablet automatically selects the target point. The seismic source operator drives the seismic source vehicle to the target point according to the navigation guidance, lowers the tablet, sends a ready signal to the seismic acquisition instrument, and waits for the instrument to start the vibration. After the vibration ends, the operator proceeds to the next target point according to the navigation instructions to continue the operation. With the routine application of efficient controlled seismic source acquisition technologies (Slip-Sweep, DSSS, ISSS), controlled seismic source operators need to drive the seismic source to move the point and excite it repeatedly hundreds or even thousands of times a day. This repetitive work can easily lead to operator fatigue and even low work efficiency. Summary of the Invention

[0003] This invention provides a controllable seismic source operation control system to reduce the labor intensity of operators and improve operation efficiency. The system includes:

[0004] The navigation control module provides the decision control module with operational parameters and the real-time location information of the seismic source vehicle.

[0005] The decision control module is used to determine the target running speed and target turning angle of the seismic source vehicle based on the operation parameters provided by the navigation control module and the real-time position information of the seismic source vehicle, combined with the attitude information and obstacle information of the seismic source vehicle, and send the target running speed and target turning angle of the seismic source vehicle to the walking control module; and issue seismic source vibration commands to the vibration control module.

[0006] The walking control module is used to control the movement of the seismic source vehicle based on the target running speed and target turning angle of the seismic source vehicle sent by the decision control module;

[0007] The vibration control module is used to control the vibration of the vibrator based on the vibration command issued by the decision control module.

[0008] This invention also provides a controllable seismic source operation control method to reduce the labor intensity of operators and improve operation efficiency. The method includes:

[0009] The navigation control module provides the decision control module with operational parameters and the real-time location information of the seismic source vehicle;

[0010] Based on the operational parameters provided by the navigation control module and the real-time location information of the seismic source vehicle, combined with the attitude information and obstacle information of the seismic source vehicle, the decision control module determines the target running speed and target turning angle of the seismic source vehicle, and sends the target running speed and target turning angle of the seismic source vehicle to the travel control module; and issues the seismic source vibration command to the vibration control module.

[0011] The walking control module controls the movement of the seismic source vehicle based on the target running speed and target turning angle sent by the decision control module.

[0012] The vibration control module controls the vibration of the source vibrator according to the source vibration command issued by the decision control module.

[0013] In this embodiment of the invention, a navigation control module provides the decision control module with operational parameters and the real-time location information of the seismic source vehicle. The decision control module, based on the operational parameters and real-time location information provided by the navigation control module, combined with the vehicle's attitude information and obstacle information, determines the target operating speed and target turning angle of the seismic source vehicle and sends these parameters to the travel control module. It also sends a seismic source vibration command to the vibration control module. The travel control module controls the movement of the seismic source vehicle based on the target operating speed and target turning angle sent by the decision control module. Finally, the vibration control module controls the vibration of the seismic source vibrator based on the vibration command issued by the decision control module. Based on the navigation technology of the controllable seismic source, and combined with the vehicle's attitude information for compensation, the target operating speed and target turning angle of the seismic source vehicle are determined. The hydraulic control technology of the controllable seismic source is used to control the movement of the seismic source vehicle, thereby achieving automated operation of the controllable seismic source, reducing the labor intensity of operators, and improving operational efficiency. Attached Figure Description

[0014] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 This is a schematic diagram of the controllable seismic source operation control system in an embodiment of the present invention.

[0016] Figure 2 This is a simplified structural diagram of the navigation control module 101 in a specific embodiment of the present invention.

[0017] Figure 3 This is a simplified structural diagram of the decision control module 102 in a specific embodiment of the present invention.

[0018] Figure 4 This is a simplified structural diagram of the walking control module 103 in a specific embodiment of the present invention.

[0019] Figure 5 This is a simplified structural diagram of the vibration control module 104 in a specific embodiment of the present invention.

[0020] Figure 6 This is a schematic diagram of the controllable seismic source operation control method in an embodiment of the present invention.

[0021] Figure 7 This is a schematic diagram illustrating the specific implementation method of step 601 in a specific embodiment of the present invention.

[0022] Figure 8 This is a schematic diagram illustrating the specific implementation method of step 602 in a specific embodiment of the present invention.

[0023] Figure 9 This is a schematic diagram illustrating the specific implementation method of step 803 in a specific embodiment of the present invention.

[0024] Figure 10 This is a schematic diagram illustrating the specific implementation method of step 603 in a specific embodiment of the present invention.

[0025] Figure 11 This is a schematic diagram illustrating the specific implementation method of step 604 in a specific embodiment of the present invention. Detailed Implementation

[0026] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] This invention provides a controllable seismic source operation control system and method to reduce the labor intensity of operators and improve operation efficiency, such as... Figure 1 As shown, the system includes:

[0028] The navigation control module 101 is used to provide the decision control module 102 with operating parameters and real-time location information of the seismic source vehicle;

[0029] The decision control module 102 is used to determine the target running speed and target turning angle of the seismic source vehicle based on the operation parameters provided by the navigation control module 101 and the real-time position information of the seismic source vehicle, combined with the attitude information and obstacle information of the seismic source vehicle, and send the target running speed and target turning angle of the seismic source vehicle to the walking control module 103; and issue a seismic source vibration command to the vibration control module 104.

[0030] The walking control module 103 is used to control the walking of the seismic source vehicle according to the target running speed and target turning angle of the seismic source vehicle sent by the decision control module 102;

[0031] The vibration control module 104 is used to control the vibration of the source vibrator according to the source vibration command issued by the decision control module 102.

[0032] In this embodiment of the invention, the navigation control module 101 provides the decision control module 102 with operating parameters and real-time location information of the seismic source vehicle; the decision control module 102 determines the target running speed and target turning angle of the seismic source vehicle based on the operating parameters and real-time location information provided by the navigation control module 101, combined with the attitude information and obstacle information of the seismic source vehicle, and sends the target running speed and target turning angle of the seismic source vehicle to the walking control module 103; and issues a seismic source vibration command to the vibration control module 104; the walking control module 103 controls the movement of the seismic source vehicle based on the target running speed and target turning angle of the seismic source vehicle sent by the decision control module 102; and the vibration control module 104 controls the vibration of the seismic source vibrator based on the seismic source vibration command issued by the decision control module 102. Based on the navigation technology of controllable seismic sources, and combined with the attitude information of the seismic source vehicle for compensation, the target running speed and target turning angle of the seismic source vehicle are determined. The hydraulic control technology of the controllable seismic source is used to control the movement of the seismic source vehicle, thereby realizing the automated operation of the controllable seismic source, thereby reducing the labor intensity of operators and improving the work efficiency.

[0033] In a specific embodiment, the navigation control module 101 establishes data interaction with the decision control module 102 via the TCP / IP protocol, and provides real-time positioning data to the decision control module 102 at a rate of 20Hz via the RS232 protocol. The decision control module 102 establishes data interaction with the walking control module 103 via the CAN protocol.

[0034] In practical implementation, the simplified structure of the navigation control module 101 is as follows: Figure 2 As shown, it includes:

[0035] The positioning antenna 201 is located on the roof of the seismic source vehicle and is used to determine the location data of the seismic source vehicle.

[0036] Directional antenna 202 is used to determine the forward direction data of the seismic source vehicle;

[0037] Differential data antenna 203 is used to determine the differential positioning data of the seismic source vehicle;

[0038] The satellite positioning host 204 is used to receive the location data of the seismic source vehicle, the forward direction data of the seismic source vehicle, and the differential positioning data of the seismic source vehicle. Combined with the GPS positioning information of the seismic source vehicle, it obtains the real-time location information of the seismic source vehicle and sends the real-time location information of the seismic source vehicle to the navigation tablet computer 205.

[0039] The navigation tablet computer 205 is used to generate operation parameters based on the pre-imported operation area map, operation trajectory, blast point coordinates and construction operation mode; receive the real-time location information of the seismic source vehicle sent by the satellite positioning host 204; and provide the operation parameters and the real-time location information of the seismic source vehicle to the decision control module 102.

[0040] The real-time location information of the seismic source vehicle refers to the standard Google tile map and GPX format trajectory, which is provided to the decision control module 102 in the NMEA0183 standard format.

[0041] Furthermore, differential positioning data can greatly improve positioning accuracy, reducing the error between the detected positioning and the actual positioning to a very small range.

[0042] In a specific embodiment, the simplified structure of the decision control module 102 is as follows: Figure 3 As shown, it includes:

[0043] Attitude sensor 301 is installed on the seismic source vehicle to detect the attitude information of the seismic source vehicle;

[0044] The lidar 302 is installed at the front of the seismic source vehicle to detect obstacles in front of the vehicle.

[0045] The embedded industrial control host 303 is used to receive the operation parameters provided by the navigation control module 101, the real-time position information of the vibration source vehicle, the attitude information of the vibration source vehicle detected by the attitude sensor 301, and the obstacle information detected by the lidar 302. Based on the operation parameters, the real-time position information of the vibration source vehicle, the attitude information of the vibration source vehicle, and the obstacle information, it determines the target running speed and target turning angle of the vibration source vehicle and sends the target running speed and target turning angle of the vibration source vehicle to the walking control module 103. Based on the operation parameters and the real-time position information of the vibration source vehicle, when the vibration source vehicle is located at the operation point, it sends a vibration command to the vibration control module 104.

[0046] The attitude information is used to characterize the forward and backward tilt and left and right tilt of the seismic source vehicle, specifically including: three-axis attitude angle data, pitch angle data, roll angle data and heading data.

[0047] In a specific embodiment, the lidar 302 is specifically used to detect obstacle information within a semicircle along the direction of travel of the seismic source vehicle, with the front of the vehicle as the center and a preset detection length as the radius. The preset detection length can be, for example, 100m, 150m, 200m, etc.

[0048] In this embodiment of the invention, the process of determining the target operating speed and target turning angle of the seismic source vehicle based on operating parameters, real-time location information of the seismic source vehicle, attitude information of the seismic source vehicle, and obstacle information specifically includes:

[0049] Based on the operation parameters and obstacle information, path planning is performed to obtain the target path data;

[0050] Based on the attitude information of the seismic source vehicle, the attitude compensation algorithm is used to perform positioning compensation on the seismic source vehicle to obtain the positioning compensation data of the seismic source vehicle.

[0051] Based on the positioning compensation data of the seismic source vehicle, the real-time location information of the seismic source vehicle, and the target path data, a path tracking algorithm is used to perform path tracking and obtain the speed data and yaw angle data of the seismic source vehicle.

[0052] By using the kinematics of the seismic source, motion calculations are performed on the velocity and yaw angle data of the seismic source vehicle to determine the target speed and target turning angle of the seismic source vehicle.

[0053] To ensure that the vibratory source vehicle can stop at the designated position after the vibration command issued by the decision control module 102, so that the vibration control module 104 can control the vibration of the vibratory source vibrator, the travel control module 103 also includes a brake valve, which is used to control the braking of the vibratory source vehicle according to the parking command of the hydraulic travel controller.

[0054] Accordingly, the decision control module 102 will issue a stop command to the travel control module 103. The travel control module 103 will control the vibrator vehicle to brake and stop at the designated position required by the operation according to the stop command issued by the decision control module 102, and then feed back to the decision control module 102 to ensure that the vibrator vehicle stops before the decision control module 102 issues a vibration command to the vibration control module 104.

[0055] In a specific embodiment of the present invention, the simplified structure of the walking control module 103 is as follows: Figure 4 As shown, it includes:

[0056] Angle sensor 401 is used to detect the real-time steering angle of the seismic source vehicle;

[0057] The hydraulic travel controller 402 is used to receive the target running speed and target steering angle of the seismic source vehicle sent by the decision control module 102, and adjust the steering ratio valve 404 according to the target steering angle and real-time steering angle of the seismic source vehicle; and adjust the hydraulic pressure of the drive pump 403 according to the target running speed of the seismic source vehicle.

[0058] Drive pump 403 to control the real-time operating speed of the seismic source vehicle by adjusting the hydraulic pressure.

[0059] In a specific embodiment, the simplified structure of the vibration control module 104 is as follows: Figure 5 As shown, it includes:

[0060] Accelerometer 501 is used to detect the vibration acceleration of the vibrator.

[0061] Displacement sensor 502 is used to detect the vibration displacement of the vibrating source vibrator;

[0062] The vibration controller 503 is used to receive the vibration command from the source vibrator issued by the decision control module 102, determine the vibration frequency and vibration amplitude according to the vibration command, and generate a vibration start command; send the vibration start command to the data transmission radio 504; receive the vibration acceleration and vibration displacement of the source vibrator, and adjust the servo valve 505 with the vibration frequency and vibration amplitude as the target; receive the vibration result data of the source vibrator fed back by the data transmission radio 504, and send it to the decision control module 102.

[0063] The data transmission radio 504 is used to control the start of the source vibrator according to the vibration start command, collect the vibration result data of the source vibrator, and feed back the vibration result data of the source vibrator to the vibration controller 503.

[0064] Servo valve 505 is used to adjust the vibration frequency and amplitude of the vibrator.

[0065] To ensure that the vibration effect of the seismic source meets the operational requirements, the decision control module 102 is also used for:

[0066] The vibration result data of the vibration source vibrator sent by the vibration controller 503 is received, and the vibration is deemed qualified based on the operating parameters.

[0067] If the vibration fails to meet the requirements, a vibration source command is resent to the vibration control module 104 until the vibration is deemed acceptable.

[0068] In specific implementation, the working logic of the controllable seismic source operation control system provided in this embodiment of the invention is as follows:

[0069] The navigation tablet computer 205 generates operation parameters based on the imported operation area map, trajectory, blast point file and relevant parameters set in the construction operation mode, and receives the real-time location information of the seismic source vehicle sent by the satellite positioning host 204, and automatically sends the operation parameters and real-time location information to the decision control module 102.

[0070] The decision control module 102 calculates the source speed and turning angle in real time and sends them to the walking control module 103 based on the distance to the target point, the vehicle information fed back by the attitude sensor 301 and the obstacle information identified by the lidar 302, and integrates the attitude compensation algorithm, path tracking algorithm and source kinematics calculation.

[0071] The walking control module 103 controls the movement of the seismic source vehicle based on the speed and steering angle provided by the decision control module 102;

[0072] The decision control module 102 automatically adjusts the speed and controls the drop height of the vibrating source based on the real-time distance from the target point. When the vibrating source reaches the error range of the specified stopping point, it controls the vibrating source to stop and drop the plate.

[0073] After the vibration control module 104 completes the landing, it sends a ready signal to the seismic instrument via the data transmission radio 504 and waits for the instrument to start the vibration. When the vibration control module 104 receives the start command, it controls the source vibrator to complete the vibration.

[0074] After the vibration ends, the vibration control module 104 automatically raises the lower plate to the set position. The decision control module 102 determines whether the operation is qualified based on the operation quality control threshold value and gives the target point for re-vibration or the next operation. Based on the new target point, the walking control module 103 proceeds to perform the next operation according to the instructions.

[0075] The controllable seismic source operation control system provided by the present invention utilizes the decision control module 102 to integrate location information, geographic information, attitude information, and obstacle information, and outputs travel speed and steering signals in real time based on attitude compensation algorithm and path tracking algorithm to control the hydraulic travel and vibration operation of the seismic source, thereby realizing the automation of controllable seismic source operation.

[0076] In practical applications, this invention can not only automate controllable seismic source construction operations, reduce the labor intensity of operators, and improve construction quality, but also effectively increase production efficiency by more than 10% and reduce the failure rate of hydraulic systems.

[0077] The above specific applications are merely examples; other implementation methods will not be described in detail.

[0078] Based on the same inventive concept, this invention also provides a controllable seismic source operation control method. Since the principle behind the problem solved by the controllable seismic source operation control method is similar to that of the controllable seismic source operation control system, the implementation of the controllable seismic source operation control method can be referred to the implementation of the controllable seismic source operation control system. Repeated details will not be elaborated further. Figure 6 As shown, it includes:

[0079] Step 601: The navigation control module 101 provides the decision control module 102 with operating parameters and the real-time location information of the seismic source vehicle;

[0080] Step 602: The decision control module 102 determines the target running speed and target turning angle of the seismic source vehicle based on the operation parameters provided by the navigation control module 101 and the real-time position information of the seismic source vehicle, combined with the attitude information and obstacle information of the seismic source vehicle, and sends the target running speed and target turning angle of the seismic source vehicle to the walking control module 103; and issues a seismic source vibration command to the vibration control module 104.

[0081] Step 603: The walking control module 103 controls the movement of the seismic source vehicle according to the target running speed and target turning angle of the seismic source vehicle sent by the decision control module 102;

[0082] Step 604: The vibration control module 104 controls the vibration of the source vibrator according to the vibration command issued by the decision control module 102.

[0083] In a specific embodiment, the specific implementation method of step 601 is as follows: Figure 7 As shown, it includes:

[0084] Step 701: Positioning antenna 201 determines the location data of the seismic source vehicle;

[0085] Step 702: The directional antenna 202 determines the forward direction data of the seismic source vehicle;

[0086] Step 703: Differential data antenna 203 determines the differential positioning data of the seismic source vehicle;

[0087] Step 704: The satellite positioning host 204 receives the location data of the seismic source vehicle, the forward direction data of the seismic source vehicle, and the differential positioning data of the seismic source vehicle. Combined with the GPS positioning information of the seismic source vehicle, it obtains the real-time location information of the seismic source vehicle and sends the real-time location information of the seismic source vehicle to the navigation tablet computer 205.

[0088] Step 705: The navigation tablet computer 205 generates operation parameters based on the pre-imported operation area map, operation trajectory, blast point coordinates and construction operation mode; receives the real-time location information of the seismic source vehicle sent by the satellite positioning host 204; and provides the operation parameters and the real-time location information of the seismic source vehicle to the decision control module 102.

[0089] In specific implementation, the method for implementing step 602 is as follows: Figure 8 As shown, it includes:

[0090] Step 801: Attitude sensor 301 detects the attitude information of the vibration source vehicle;

[0091] Step 802: LiDAR 302 detects obstacle information in front of the seismic source vehicle;

[0092] Step 803: The embedded industrial control host 303 receives the operation parameters provided by the navigation control module 101, the real-time position information of the vibratory source vehicle, the attitude information of the vibratory source vehicle detected by the attitude sensor 301, and the obstacle information detected by the lidar 302. Based on the operation parameters, the real-time position information of the vibratory source vehicle, the attitude information of the vibratory source vehicle, and the obstacle information, it determines the target running speed and target turning angle of the vibratory source vehicle and sends the target running speed and target turning angle of the vibratory source vehicle to the walking control module 103. Based on the operation parameters and the real-time position information of the vibratory source vehicle, when the vibratory source vehicle is located at the operation point, it sends a vibration command to the vibration control module 104.

[0093] The attitude sensor 301 is mounted on the seismic source vehicle, and the attitude information is used to characterize the vehicle's forward and backward tilt and left and right tilt. The attitude information includes: three-axis attitude angle data, pitch angle data, roll angle data, and heading data.

[0094] In practice, the lidar 302 detects obstacle information in front of the seismic source vehicle, including:

[0095] The lidar 302 detects obstacles within a semicircle centered on the front of the seismic source vehicle, with a preset detection length as its radius, along the vehicle's direction of travel. The lidar 302 is mounted on the front of the seismic source vehicle.

[0096] In a specific embodiment, the embedded industrial control host 303 determines the method for achieving the target running speed and target turning angle of the seismic source vehicle based on the operating parameters, the real-time position information of the seismic source vehicle, the attitude information of the seismic source vehicle, and obstacle information. Figure 9 As shown, it includes:

[0097] Step 901: The embedded industrial control host 303 performs path planning based on the operation parameters and obstacle information to obtain the target path data;

[0098] Step 902: Based on the attitude information of the seismic source vehicle, the embedded industrial control host 303 uses an attitude compensation algorithm to perform positioning compensation on the seismic source vehicle, and obtains the positioning compensation data of the seismic source vehicle.

[0099] Step 903: Based on the positioning compensation data of the seismic source vehicle, the real-time position information of the seismic source vehicle, and the target path data, the embedded industrial control host 303 uses a path tracking algorithm to perform path tracking and obtain the speed data and yaw angle data of the seismic source vehicle.

[0100] Step 904: The embedded industrial control host 303 uses the kinematics calculation of the seismic source to perform motion calculation on the speed data and yaw angle data of the seismic source vehicle, and determines the target running speed and target turning angle of the seismic source vehicle.

[0101] In a specific embodiment, the specific implementation method of step 603 is as follows: Figure 10 As shown, it includes:

[0102] Step 1001: Angle sensor 401 detects the real-time steering angle of the vibration source vehicle;

[0103] Step 1002: The hydraulic travel controller 402 receives the target running speed and target steering angle of the seismic source vehicle sent by the decision control module 102, and adjusts the steering ratio valve 404 according to the target steering angle and the real-time steering angle of the seismic source vehicle; and adjusts the hydraulic pressure of the drive pump 403 according to the target running speed of the seismic source vehicle.

[0104] Step 1003: Drive pump 403 controls the real-time running speed of the vibratory source vehicle by adjusting the hydraulic pressure.

[0105] In practice, the specific implementation method of step 604 is as follows: Figure 11 As shown, it includes:

[0106] Step 1101: Accelerometer 501 detects the vibration acceleration of the vibrator source;

[0107] Step 1102: Displacement sensor 502 detects the vibration displacement of the vibration source vibrator;

[0108] Step 1103: The vibration controller 503 receives the vibration command from the source vibrator issued by the decision control module 102, determines the vibration frequency and vibration amplitude according to the vibration command, and generates a vibration start command; sends the vibration start command to the data transmission radio 504; receives the vibration acceleration and vibration displacement of the source vibrator, and adjusts the servo valve 505 with the vibration frequency and vibration amplitude as the target; receives the vibration result data of the source vibrator fed back by the data transmission radio 504 and sends it to the decision control module 102.

[0109] Step 1104: The data transmission radio 504 controls the start of the source vibrator according to the vibration start command, collects the vibration result data of the source vibrator, and feeds back the vibration result data of the source vibrator to the vibration controller 503.

[0110] Step 1105: Servo valve 505 adjusts the vibration frequency and amplitude of the vibrator.

[0111] The controllable vibration source operation control method in a specific embodiment further includes: the decision control module 102 receiving vibration result data of the vibration source vibrator sent by the vibration controller 503, and determining whether the vibration is qualified based on the operation parameters.

[0112] If the vibration is not qualified, the decision control module 102 reissues the vibration source command to the vibration control module 104 until the vibration is determined to be qualified.

[0113] In summary, the controllable seismic source operation control system and method provided by the embodiments of the present invention have the following advantages:

[0114] By configuring the navigation control module to provide the decision control module with operational parameters and the real-time location information of the seismic source vehicle, and by configuring the decision control module to determine the target operating speed and target turning angle of the seismic source vehicle based on the operational parameters and real-time location information provided by the navigation control module, combined with the attitude information and obstacle information of the seismic source vehicle, the decision control module sends the target operating speed and target turning angle of the seismic source vehicle to the walking control module; and by configuring the vibration control module to issue seismic source vibration commands to the vibration control module, the walking control module controls the movement of the seismic source vehicle based on the target operating speed and target turning angle sent by the decision control module; and by configuring the vibration control module to control the vibration of the seismic source vibrator based on the seismic source vibration commands issued by the decision control module. Based on the navigation technology of the controllable seismic source, combined with the attitude information of the seismic source vehicle for compensation, the target operating speed and target turning angle of the seismic source vehicle are determined. The hydraulic control technology of the controllable seismic source is used to control the movement of the seismic source vehicle, thereby realizing the automated operation of the controllable seismic source, thereby reducing the labor intensity of operators and improving the operation efficiency.

[0115] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, apparatus, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0116] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus, and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0117] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0118] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0119] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, various modifications and variations of the embodiments of the present invention are possible. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A vibroseis operation control system, characterized by, The method comprises the following steps: The navigation control module is used to provide the operation parameters and the real-time position information of the seismic vehicle for the decision control module; The decision control module is used to determine the target running speed and the target steering angle of the seismic vehicle according to the operation parameters and the real-time position information of the seismic vehicle provided by the navigation control module, in combination with the attitude information and the obstacle information of the seismic vehicle, and send the target running speed and the target steering angle of the seismic vehicle to the walking control module; The vibration control module is used to control the vibration of the seismic vibrator according to the seismic vibration instruction sent by the decision control module. The walking control module is used to control the walking of the seismic vehicle according to the target running speed and the target steering angle of the seismic vehicle sent by the decision control module. The vibration control module is used to control the vibration of the seismic vibrator according to the seismic vibration instruction sent by the decision control module. The navigation control module comprises: The positioning antenna is used to determine the position data of the seismic vehicle; The directional antenna is used to determine the forward direction data of the seismic vehicle; The differential data antenna is used to determine the differential positioning data of the seismic vehicle; The satellite positioning host is used to receive the position data of the seismic vehicle, the forward direction data of the seismic vehicle, the differential positioning data of the seismic vehicle, and obtain the real-time position information of the seismic vehicle in combination with the GPS positioning information of the seismic vehicle, and send the real-time position information of the seismic vehicle to the navigation tablet computer. The navigation tablet computer is used to generate the operation parameters according to the pre-imported operation area map, operation track, shot point coordinates and operation mode, receive the real-time position information of the seismic vehicle sent by the satellite positioning host, and provide the operation parameters and the real-time position information of the seismic vehicle for the decision control module. The decision control module comprises: The embedded industrial control host is used to receive the operation parameters and the real-time position information of the seismic vehicle provided by the navigation control module, the attitude information of the seismic vehicle detected by the attitude sensor and the obstacle information detected by the laser radar, determine the target running speed and the target steering angle of the seismic vehicle according to the operation parameters, the real-time position information of the seismic vehicle, the attitude information of the seismic vehicle and the obstacle information, and send the target running speed and the target steering angle of the seismic vehicle to the walking control module; and send the seismic vibration instruction to the vibration control module when the seismic vehicle is located at the operation point according to the operation parameters and the real-time position information of the seismic vehicle. The target running speed and the target steering angle of the seismic vehicle are determined according to the operation parameters, the real-time position information of the seismic vehicle, the attitude information of the seismic vehicle and the obstacle information, which comprises the following steps: The target path data is obtained by path planning according to the operation parameters and the obstacle information; the positioning compensation data of the seismic vehicle is obtained by using the attitude compensation algorithm to perform positioning compensation on the seismic vehicle based on the attitude information of the seismic vehicle; the speed data and the yaw angle data of the seismic vehicle are obtained by using the path tracking algorithm to perform path tracking based on the positioning compensation data of the seismic vehicle, the real-time position information of the seismic vehicle and the target path data; and the target running speed and the target steering angle of the seismic vehicle are determined by using the seismic kinematics calculation to perform motion calculation on the speed data and the yaw angle data of the seismic vehicle.

2. A controlled source survey system as claimed in claim 1, wherein, The decision control module comprises: A posture sensor is installed on the vibrator truck to detect posture information of the vibrator truck, wherein the posture information is used to represent the front-back and left-right inclination of the vibrator truck. A laser radar is installed on the front of the vibrator truck to detect obstacle information in front of the vibrator truck.

3. A controlled source survey system according to claim 2 wherein, The posture information includes: Three-axis posture angle data, pitch angle data, roll angle data, and heading data.

4. A controlled source survey system as claimed in claim 2, wherein, The laser radar is specifically used to: Detect obstacle information in a semicircle in the direction of travel of the vibrator truck with the front of the vibrator truck as the center and a preset detection length as the radius.

5. A controlled source survey system as claimed in claim 1, wherein, The walking control module includes: An angle sensor for detecting the real-time steering angle of the vibrator truck; A hydraulic walking controller for receiving the target running speed and the target steering angle of the vibrator truck sent by the decision control module, adjusting the steering proportional valve according to the target steering angle of the vibrator truck and the real-time steering angle of the vibrator truck, and adjusting the hydraulic pressure of the drive pump according to the target running speed of the vibrator truck; A drive pump for controlling the real-time running speed of the vibrator truck by adjusting the hydraulic pressure of the drive pump.

6. A controlled source survey system as claimed in claim 1, wherein, The vibration control module includes: An acceleration sensor for detecting the vibration acceleration of the vibrator; A displacement sensor for detecting the vibration displacement of the vibrator; A vibration controller for receiving the vibrator vibration instruction issued by the decision control module, determining the vibration frequency and the vibration amplitude according to the vibrator vibration instruction, generating the start vibration instruction, issuing the start vibration instruction to the data radio, receiving the vibration acceleration of the vibrator and the vibration displacement of the vibrator, adjusting the servo valve with the vibration frequency and the vibration amplitude as the target, receiving the vibration result data of the vibrator fed back by the data radio, and sending the vibration result data to the decision control module; A data radio for controlling the start of the vibrator according to the start vibration instruction, collecting the vibration result data of the vibrator, and feeding back the vibration result data of the vibrator to the vibration controller; A servo valve for adjusting the vibration frequency and amplitude of the vibrator.

7. A controlled source survey system as claimed in claim 6, wherein, The decision control module is further used to: Receive the vibration result data of the vibrator sent by the vibration controller, determine whether the vibration is qualified based on the operation parameters, and If not, reissue the vibrator vibration instruction to the vibration control module until the vibration is determined to be qualified.

8. A method of vibroseis operation control, the method comprising: The controllable vibrator operation control system and method of any one of claims 1-7 include: The navigation control module provides the operation parameters and the real-time position information of the vibrator truck for the decision control module; The decision control module determines the target running speed and the target steering angle of the vibrator truck according to the operation parameters and the real-time position information of the vibrator truck provided by the navigation control module, in combination with the posture information and the obstacle information of the vibrator truck, sends the target running speed and the target steering angle of the vibrator truck to the walking control module, and issues the vibrator vibration instruction to the vibration control module; The walking control module controls the vibrator truck to walk according to the target running speed and the target steering angle of the vibrator truck sent by the decision control module; The vibration control module controls the vibrator to vibrate according to the vibrator vibration instruction issued by the decision control module. The navigation control module provides the operation parameters and the real-time position information of the seismic vehicle for the decision control module, including: The positioning antenna determines the position data of the seismic vehicle; The directional antenna determines the forward direction data of the seismic vehicle; The differential data antenna determines the differential positioning data of the seismic vehicle; The satellite positioning host receives the position data of the seismic vehicle, the forward direction data of the seismic vehicle, and the differential positioning data of the seismic vehicle, combines the GPS positioning information of the seismic vehicle, obtains the real-time position information of the seismic vehicle, and sends the real-time position information of the seismic vehicle to the navigation tablet computer; The navigation tablet computer generates operation parameters according to the pre-imported operation area map, operation track, shot point coordinates, and operation mode, receives the real-time position information of the seismic vehicle sent by the satellite positioning host, and provides the operation parameters and the real-time position information of the seismic vehicle for the decision control module; The embedded industrial host receives the operation parameters and the real-time position information of the seismic vehicle provided by the navigation control module, the attitude information of the seismic vehicle detected by the attitude sensor, and the obstacle information detected by the laser radar, determines the target running speed and the target steering angle of the seismic vehicle according to the operation parameters, the real-time position information of the seismic vehicle, the attitude information of the seismic vehicle, and the obstacle information, sends the target running speed and the target steering angle of the seismic vehicle to the walking control module, and issues a seismic vibration instruction to the vibration control module when the seismic vehicle is located at an operation point according to the operation parameters and the real-time position information of the seismic vehicle; The embedded industrial host determines the target running speed and the target steering angle of the seismic vehicle according to the operation parameters, the real-time position information of the seismic vehicle, the attitude information of the seismic vehicle, and the obstacle information, including: The embedded industrial host performs path planning according to the operation parameters and the obstacle information to obtain target path data, performs positioning compensation on the seismic vehicle by using a posture compensation algorithm based on the attitude information of the seismic vehicle to obtain positioning compensation data of the seismic vehicle, performs path tracking by using a path tracking algorithm based on the positioning compensation data of the seismic vehicle, the real-time position information of the seismic vehicle, and the target path data to obtain speed data and yaw angle data of the seismic vehicle, and performs motion calculation on the speed data and the yaw angle data of the seismic vehicle by using a seismic kinematics calculation to determine the target running speed and the target steering angle of the seismic vehicle.

9. A controlled source survey operation control method as claimed in claim 8, characterized by, The decision control module determines the target running speed and the target steering angle of the seismic vehicle according to the operation parameters and the real-time position information of the seismic vehicle provided by the navigation control module, in combination with the attitude information and the obstacle information of the seismic vehicle, and sends the target running speed and the target steering angle of the seismic vehicle to the walking control module; The decision control module determines the target running speed and the target steering angle of the seismic vehicle according to the operation parameters and the real-time position information of the seismic vehicle provided by the navigation control module, in combination with the attitude information and the obstacle information of the seismic vehicle, and sends the target running speed and the target steering angle of the seismic vehicle to the walking control module; The attitude sensor detects the attitude information of the seismic vehicle; wherein the attitude sensor is installed on the seismic vehicle, and the attitude information is used to represent the front-back and left-right inclination degrees of the seismic vehicle; The laser radar detects the obstacle information in front of the seismic vehicle; and the laser radar is installed on the front of the seismic vehicle.

10. A controlled source survey method as set forth in Claim 9, wherein, The laser radar detects the obstacle information in front of the seismic vehicle, including: The laser radar detects the obstacle information in the half circle with the head of the seismic vehicle as the center and a preset detection length as the radius in the direction of travel of the seismic vehicle.

11. A controlled source survey method as set forth in Claim 8, wherein, The walking control module controls the seismic vehicle to walk according to the target running speed and the target steering angle of the seismic vehicle sent by the decision control module, including: The angle sensor detects the real-time steering angle of the seismic vehicle; The hydraulic walking controller receives the target running speed and the target steering angle of the seismic vehicle sent by the decision control module, adjusts the steering proportional valve according to the target steering angle of the seismic vehicle and the real-time steering angle of the seismic vehicle, and adjusts the hydraulic pressure of the drive pump according to the target running speed of the seismic vehicle; The drive pump controls the real-time running speed of the seismic vehicle by adjusting the hydraulic pressure of the drive pump.

12. A controlled source survey method as set forth in Claim 8, wherein, The vibration control module controls the seismic vibrator to complete the vibration according to the seismic vibration instruction issued by the decision control module, including: The acceleration sensor detects the vibration acceleration of the seismic vibrator; The displacement sensor detects the vibration displacement of the seismic vibrator; The vibration controller receives the seismic vibration instruction issued by the decision control module, determines the vibration frequency and the vibration amplitude according to the seismic vibration instruction, generates the start vibration instruction, issues the start vibration instruction to the data transmission radio, receives the vibration acceleration of the seismic vibrator and the vibration displacement of the seismic vibrator, adjusts the servo valve with the vibration frequency and the vibration amplitude as the target, receives the vibration result data of the seismic vibrator fed back by the data transmission radio, and sends the vibration result data to the decision control module; The data transmission radio controls the start of the seismic vibrator according to the start vibration instruction, collects the vibration result data of the seismic vibrator, and feeds back the vibration result data of the seismic vibrator to the vibration controller; The servo valve adjusts the vibration frequency and the amplitude of the seismic vibrator.

13. A controlled source survey operation control method as claimed in claim 12, characterized by, Further comprising: The decision control module receives the vibration result data of the seismic vibrator sent by the vibration controller, and determines whether the vibration is qualified based on the operation parameters: If not qualified, the decision control module reissues the seismic vibration instruction to the vibration control module until the vibration is qualified.

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