A method, device and system for determining the direction of shear waves excited by a shear-wave controllable vibrator

Abstract

The embodiment of the present application provides a method, device and system for determining the direction of shear waves excited by a shear-wave controllable vibrator, the method comprising: a plurality of vibration points, the plurality of vibration points being set on a vibration curve; when the vehicle where the shear-wave controllable vibrator is located is at the position of the vibration point, obtaining the tangent direction of the curve where the vibration point is located; determining the target vibration direction of the shear-wave controllable vibrator according to the tangent direction; exciting shear waves in the target vibration direction by the shear-wave controllable vibrator, so that the tangent direction and the direction perpendicular to the tangent direction simultaneously generate shear waves of the same energy. In the embodiment of the present application, by adjusting the direction of the shear wave emitted by the shear-wave controllable vibrator, so that the tangent direction of the vibration point and the direction perpendicular to the tangent direction simultaneously generate shear waves of the same energy, the need to adjust the body of the vehicle where the shear-wave controllable vibrator is located during construction is avoided, thereby improving the construction efficiency of shear wave exploration.

Description

Technical Field

[0001] The present application relates to the field of seismic exploration technology, and in particular to a method, device and system for determining the direction of shear waves excited by a shear-wave controllable vibrator. Background Art

[0002] Seismic exploration is a geophysical exploration method that uses differences in the elasticity and density of underground media to infer the properties and morphology of subsurface rock formations by observing and analyzing the response of strata to artificially excited seismic waves. Seismic waves are divided into two types: shear waves and longitudinal waves. Shear waves are directional. Shear waves with different vibration directions produce different reflection effects when passing through different strata or fractures. This characteristic of shear waves enables vector seismic exploration.

[0003] A shear-wave vibrator is an artificial seismic signal generator that excites shear waves. In shear-wave exploration, the location where the vibrator is located is called a vibration point. An exploration project has multiple vibration points, and the line connecting these points is typically called a vibration curve. The vibrator travels along the vibration curve, stopping at each vibration point in sequence to complete the excitation. Due to exploration requirements, the vibrator must excite shear waves in two directions at each vibration point: parallel to the tangent line of the vibration curve, and perpendicular to the tangent line of the vibration curve.

[0004] However, at a certain position and orientation of a vehicle body, only transverse waves in one direction can be excited. To excite transverse waves in another direction, the direction of the controllable vibrator vehicle body needs to be adjusted on the spot. In the actual construction process, due to terrain restrictions, the position of the vehicle body may be different when the controllable vibrator stops at each vibration point, and it is difficult to adjust the position of the vehicle body or it is impossible to adjust the position of the vehicle body at all. Summary of the Invention

[0005] The embodiments of the present application provide a method, device and system for determining the direction of shear waves excited by a shear wave controllable source, so as to solve the problem that the existing controllable source can only excite shear waves in one direction at a time at a certain position and a certain vehicle body orientation.

[0006] In order to solve the above problems, this application is implemented as follows:

[0007] In a first aspect, an embodiment of the present application provides a method for determining the direction of a shear wave excited by a shear-wave vibrator, the method comprising:

[0008] A plurality of vibration points, wherein a plurality of the vibration points are arranged on the vibration curve;

[0009] When the vehicle where the shear wave vibrator is located is at the position of the vibration point, obtaining the tangent direction of the curve where the vibration point is located;

[0010] determining a target vibration direction of the shear wave vibrator according to the tangent direction;

[0011] The shear wave controllable source vibrator is used to excite shear waves in the target vibration direction, so that shear waves with the same energy are generated simultaneously in the tangential direction and the direction perpendicular to the tangential direction.

[0012] In a second aspect, an embodiment of the present application provides a device for determining the direction of shear waves excited by a shear-wave vibrator, the device comprising:

[0013] An information acquisition module, configured to acquire a tangent direction of a curve at which the vibration point is located when the vehicle where the shear wave vibrator is located is located at the vibration point;

[0014] A direction determination module determines a target vibration direction of the shear wave vibrator according to the tangent direction.

[0015] In a third aspect, an embodiment of the present application provides a system for determining the direction of shear waves excited by a controllable shear wave source, comprising a controller, the controller comprising a memory processor and a computer program stored on the memory and runnable on the processor, and the processor implementing the above-mentioned method for determining the direction of shear waves excited by a controllable shear wave source when executing the computer program.

[0016] Compared with the prior art, the method, device, and system for determining the direction of shear waves excited by a shear-wave vibrator described in this application have the following advantages:

[0017] In an embodiment of the present application, the direction of the shear wave emitted by the shear wave controllable source vibrator is adjusted so that the projection energy of the excited shear wave vibration in the direction parallel to the tangent and the direction perpendicular to the tangent is the same, and the excitation of shear waves in two directions can be achieved through one vibration, and the precise excitation direction of each excited shear wave can be guaranteed, thereby avoiding the need to adjust the body of the vehicle where the shear wave controllable source is located during construction, thereby improving the construction efficiency of shear wave exploration. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments of the present application. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0019] Figure 1 A flow chart showing a method for determining the direction of shear waves excited by a shear-wave vibrator according to an embodiment of the present application;

[0020] Figure 2Schematic diagram showing the relationship between angle α, angle β and angle θ in the embodiment of the present application;

[0021] Figure 3 A schematic diagram showing the angle between the target vibration direction and the tangent line in an embodiment of the present application;

[0022] Figure 4 A schematic diagram showing the structure of a device for determining the direction of shear waves excited by a shear-wave vibrator according to an embodiment of the present application;

[0023] Figure 5 A schematic diagram showing the structure of a vehicle in which a device for determining the direction of shear waves excited by a shear-wave controllable vibrator according to an embodiment of the present application is located.

[0024] Description of reference numerals:

[0025] 10. Shear wave controllable source vibrator; 11. Vehicle; 12. Rotating mechanism; 13. Angle sensor; 14. Positioning satellite signal receiving antenna; 15. Electronic compass sensor. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0027] It should be understood that references throughout this specification to "one embodiment" or "an embodiment" mean that a particular feature, structure, or characteristic associated with the embodiment is included in at least one embodiment of the present application. Therefore, the appearances of "in one embodiment" or "in an embodiment" throughout this specification do not necessarily refer to the same embodiment. Furthermore, these particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0028] In the various embodiments of the present application, it should be understood that the size of the serial numbers of the following processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0029] Below, in conjunction with the accompanying drawings, a method for determining the direction of shear waves excited by a shear-wave controllable vibrator provided in an embodiment of the present application is described in detail through specific embodiments and application scenarios.

[0030] Reference Figure 1 , shows a flowchart of the steps of a method for determining the direction of shear waves excited by a shear-wave controllable vibrator described in an embodiment of the present application.

[0031] Step 101: multiple vibration points, multiple vibration points are set on the vibration curve;

[0032] In shear wave exploration, the vibration location of a shear wave vibrator is called a vibration point. An exploration project has multiple vibration points, and the line connecting these multiple vibration points is typically called a vibration curve. A vehicle 11 containing the shear wave vibrator travels along the vibration curve, sequentially stopping at each vibration point and stimulating shear wave energy at each vibration point to conduct shear wave exploration. Before the vehicle 11 containing the shear wave vibrator travels along the vibration curve, the multiple vibration points and the vibration curve have already been determined.

[0033] The above steps can determine the locations of multiple vibration points, each of which is arranged on a vibration curve. In practical applications, the multiple vibration points and vibration curves are determined when the vehicle 11, which houses the shear wave vibrator, travels to each vibration point. The vibration points and vibration curves can be stored locally on the vehicle 11 or retrieved from a server.

[0034] Step 102: When the vehicle 11 on which the shear wave vibrator 10 is mounted is located at the vibration point, obtaining the tangent direction of the curve at which the vibration point is located;

[0035] In the above steps, when the vehicle 11 travels to a predetermined vibration point, the tangent direction of the vibration point on the vibration curve can be obtained by the position of the vibration point of the vehicle 11 where the shear wave controllable source vibrator 10 is located.

[0036] Step 103: determining a target vibration direction of the shear wave vibrator 10 according to the tangent direction;

[0037] In practical applications, due to the requirements of shear wave exploration, a shear wave vibrator must excite shear waves in two directions at each vibration point: one parallel to the tangent line at that vibration point, and one perpendicular to the tangent line at that vibration point. In the above steps, the target vibration direction of the shear wave vibrator 10 is determined by the tangent line direction.

[0038] It should be noted that the target vibration direction may be a direction with an angle of 45 degrees to the tangent direction of the vibration point, or a direction with an angle of 45 degrees to the direction perpendicular to the tangent direction, and this embodiment does not impose any limitation on this.

[0039] Step 104: Exciting shear waves in the target vibration direction by the shear-wave controllable source vibrator 10 so that shear waves of the same energy are simultaneously generated in the tangential direction and the direction perpendicular to the tangential direction.

[0040] In the above steps, after the target vibration direction is determined, the shear wave is excited in the target vibration direction by the shear wave controllable source vibrator 10 so that shear waves of the same energy are generated simultaneously in the tangential direction and the direction perpendicular to the tangential direction.

[0041] In an embodiment of the present application, the direction of the shear wave emitted by the shear wave controllable source vibrator 10 is adjusted so that the projection energy of the vibration of the excited shear wave in the direction parallel to the tangent and the direction perpendicular to the tangent are the same, and the excitation of shear waves in two directions can be achieved through one vibration, and the precise excitation direction of the shear wave can be guaranteed each time, thereby avoiding the need to adjust the body of the vehicle 11 where the shear wave controllable source is located during construction, thereby improving the construction efficiency of shear wave exploration.

[0042] Optionally, in the embodiment of the present application, when the vehicle 11 where the shear wave vibrator 10 is located is at the position of the vibration point, obtaining the tangent direction of the curve where the vibration point is located includes:

[0043] Step 1021: Obtain the positioning coordinates of the vehicle 11;

[0044] When the vehicle 11 is traveling, the vehicle 11 travels toward the location of the vibration point. When the vehicle 11 is stationary at a certain location, the positioning coordinates of the location of the vehicle 11 are obtained.

[0045] Specifically, the positioning coordinates of the vehicle 11 may be obtained through a satellite positioning system, or through a positioning device such as an electronic compass sensor 15 , and this embodiment does not impose any limitation on this.

[0046] Step 1023: Compare the positioning coordinates with the coordinates of the vibration point. When the comparison result indicates that the positioning coordinates are consistent with the coordinates of the vibration point, obtain the tangent direction of the curve where the vibration point is located.

[0047] After obtaining the positioning coordinates of the vehicle 11, the obtained positioning coordinates can be compared with the coordinates of each vibration point obtained. If the positioning coordinates of the vehicle 11 are the same as the coordinates of a certain vibration point, the position of the vehicle 11 is determined to be the coordinate position of the vibration point. Therefore, the tangent direction of the position of the vehicle 11 can be obtained from the coordinate information of the vibration point.

[0048] It should be noted that the vibration points and vibration curves may also be stored in a server. The vehicle 11 may send its own positioning information to the server, which compares the positioning information with the vibration points and returns the comparison results to the vehicle 11 .

[0049] Optionally, in the embodiment of the present application, before comparing the positioning coordinates with the coordinates of the vibration point, the method includes:

[0050] Step 1022: Obtain the coordinates of the vibration point.

[0051] The vibration points and vibration curves can be stored in advance on the vehicle 11 or on the server. The coordinates of the vibration points and information such as the tangent of the vibration curve at the location of the vibration point can also be stored on the vehicle 11 or on the server. Before comparing the positioning coordinates of the vehicle 11 with the positioning coordinates of each vibration point, the coordinates of each vibration point can be obtained from the vehicle 11 or on the server.

[0052] Optionally, in the embodiment of the present application, determining the target vibration direction of the shear wave vibrator 10 according to the tangent direction includes:

[0053] Step 1031: Acquire the body direction of the vehicle 11;

[0054] The electronic compass sensor 15 transmits the detected body direction signal of the vehicle 11 to the controller, and the controller determines the body direction according to the signal transmitted by the electronic compass sensor 15 .

[0055] Step 1032: Determine the angle between the vehicle body direction of the vehicle 11 and the north direction;

[0056] The electronic compass sensor 15 obtains the body direction of the vehicle 11 , and the controller determines the angle between the body direction of the vehicle 11 and the north direction based on a comparison between the body direction and the north direction.

[0057] It should be noted that the angle between the body direction of the vehicle 11 and the north direction can be stored locally in the vehicle 11, or can be uploaded to a server and stored in the server.

[0058] Step 1033: Determine the direction of the shear wave vibrator 10;

[0059] The angle sensor 13 can obtain the angle between the shear wave controllable source vibrator 10 and the vehicle body. The angle between the shear wave controllable source vibrator 10 and the vehicle body can be stored locally in the vehicle 11 or uploaded to and stored in a server.

[0060] It should be noted that the angle between the shear wave controllable source vibrator 10 and the vehicle body may be the direction of the shear wave controllable source vibrator 10 .

[0061] Step 1034 : determining the target vibration direction of the shear wave controllable source vibrator 10 according to the vehicle body direction, the angle between the vehicle body direction and the north direction, and the direction of the shear wave controllable source vibrator 10 .

[0062] The controller determines the target vibration direction of the shear wave controllable source vibrator 10 according to the vehicle body direction, the angle between the vehicle body direction and the north direction, and the direction data of the shear wave controllable source vibrator 10 obtained in the above steps.

[0063] Optionally, in the embodiment of the present application, determining the target vibration direction of the shear wave vibrator 10 according to the vehicle body direction, the angle between the vehicle body direction and the north direction, and the direction of the shear wave vibrator 10 includes:

[0064] Reference Figure 2 and Figure 3 Step 10341: Determine the target rotation angle of the shear wave vibrator 10 according to A=(β+45°)%360°-(α+θ)%360°, where the direction pointed by the target rotation angle is the target vibration direction;

[0065] Wherein, β is used to represent the angle between the tangent direction and the north direction, α is used to represent the angle between the vehicle body direction and the north direction, and θ is used to represent the angle between the direction of the shear wave controllable source vibrator 10 and the vehicle body direction.

[0066] It should be noted that if the result A is a positive value, the shear wave vibrator 10 rotates clockwise, and if the result is a negative value, the shear wave vibrator 10 rotates counterclockwise.

[0067] In summary, the embodiment of the present application provides a method for determining the direction of shear waves excited by a shear-wave controllable vibrator, comprising: multiple vibration points, multiple vibration points are set on a vibration curve; when the vehicle 11 where the shear-wave controllable vibrator 10 is located is at the position of the vibration point, the tangent direction of the curve where the vibration point is located is obtained; the target vibration direction of the shear-wave controllable vibrator 10 is determined according to the tangent direction; the shear wave is excited in the target vibration direction by the shear-wave controllable vibrator 10, so that the tangential direction and the direction perpendicular to the tangent direction simultaneously generate shear waves of the same energy. In the embodiment of the present application, by adjusting the direction of the shear wave emitted by the shear-wave controllable vibrator 10, the projection energy of the vibration of the excited shear wave in the direction parallel to the tangent and the direction perpendicular to the tangent is the same, and the excitation of shear waves in two directions can be achieved through one vibration, and the precise excitation direction of the shear wave can be guaranteed each time, thereby avoiding the need for the shear-wave controllable vibrator to adjust the body of the vehicle 11 where the shear-wave controllable vibrator is located during construction, thereby improving the construction efficiency of shear wave exploration.

[0068] On the basis of the above embodiments, an embodiment of the present application further provides a device for determining the direction of shear waves excited by a shear-wave controllable vibrator.

[0069] Reference Figure 4 and Figure 5 Optionally, in an embodiment of the present application, the device includes:

[0070] The information acquisition module 201 is used to obtain the tangent direction of the curve where the vibration point is located when the vehicle 11 where the shear wave vibrator 10 is located is at the position of the vibration point;

[0071] The direction determination module 202 determines the target vibration direction of the shear wave vibrator 10 according to the tangent direction.

[0072] Optionally, in an embodiment of the present application, the device further includes:

[0073] A positioning information acquisition module, used to obtain the positioning coordinates of the vehicle 11;

[0074] Specifically, the positioning information acquisition module may include a positioning satellite signal receiving antenna 14. The positioning satellite signal receiving antenna 14 is disposed at the center of the shear wave controllable source vibrator 10. The coordinates of the positioning satellite signal receiving antenna 14 are determined based on the positioning signal, and the positioning coordinates of the vehicle 11 where the shear wave controllable source is located are determined based on the coordinates.

[0075] The tangent information acquisition module is used to compare the positioning coordinates with the coordinates of the vibration point, and when the comparison result indicates that the positioning coordinates are consistent with the coordinates of the vibration point, obtain the tangent direction of the curve where the vibration point is located.

[0076] Optionally, in an embodiment of the present application, the device further includes:

[0077] The vibration point information acquisition module is used to obtain the coordinates of the vibration point.

[0078] Optionally, in an embodiment of the present application, the device further includes:

[0079] A vehicle body direction acquisition module, configured to acquire the vehicle body direction of the vehicle 11;

[0080] Specifically, the vehicle body direction acquisition module may include an electronic compass sensor 15 , which may be installed at the rear section of the vehicle body of the vehicle 11 where the shear wave controllable vibrator is located, for determining the vehicle body direction of the vehicle 11 where the shear wave controllable vibrator is located.

[0081] A vehicle body angle determination module, used to determine the angle between the vehicle body direction of the vehicle 11 and the north direction;

[0082] A shear wave vibrator 10 direction determination module, used to determine the direction of the shear wave vibrator 10;

[0083] Specifically, the vehicle body angle determination module may include an angle sensor 13 , and the angle of the vibrator relative to the vehicle body may be determined by the angle sensor 13 .

[0084] The target vibration direction module of the shear wave controllable source vibrator 10 is used to determine the target vibration direction of the shear wave controllable source vibrator 10 according to the vehicle body direction, the angle between the vehicle body direction and the north direction, and the direction of the shear wave controllable source vibrator 10.

[0085] Optionally, in an embodiment of the present application, the device further includes:

[0086] a calculation module for determining a target rotation angle of the shear wave vibrator 10 according to A=(β+45°)%360°-(α+θ)%360°, wherein the direction pointed by the target rotation angle is the target vibration direction;

[0087] Wherein, β is used to represent the angle between the tangent direction and the north direction, α is used to represent the angle between the vehicle body direction and the north direction, and θ is used to represent the angle between the direction of the shear wave controllable source vibrator 10 and the vehicle body direction.

[0088] Specifically, the rotating mechanism 12 drives the shear wave vibrator 10 to rotate a desired angle A, thereby ensuring that the shear wave excitation angle forms an angle of 45 degrees with the tangent line.

[0089] In summary, the embodiment of the present application provides a device for determining the direction of shear waves excited by a shear-wave controllable vibrator, comprising: an information acquisition module for acquiring the tangent direction of the curve where the vibration point is located when the vehicle 11 where the shear-wave controllable vibrator 10 is located is at the position of the vibration point; and a direction determination module for determining the target vibration direction of the shear-wave controllable vibrator 10 according to the tangent direction. In the embodiment of the present application, the direction of the shear waves emitted by the shear-wave controllable vibrator 10 is adjusted by the device for determining the direction of shear waves excited by the shear-wave controllable vibrator, so that the projection energy of the vibration of the excited shear waves in the direction parallel to the tangent and the direction perpendicular to the tangent are the same, and the excitation of shear waves in two directions can be achieved through one vibration, and the precise excitation direction of the shear waves excited each time can be guaranteed, thereby avoiding the need for the shear-wave controllable vibrator to adjust the body of the vehicle 11 where the shear-wave controllable vibrator is located during construction, thereby improving the construction efficiency of shear wave exploration.

[0090] Based on the above embodiments, an embodiment of the present application also provides a system for determining the direction of shear waves excited by a shear-wave controllable vibrator, including a controller, the controller including a memory processor and a computer program stored on the memory and capable of running on the processor, and when the processor executes the computer program, it implements the method for determining the direction of shear waves excited by a shear-wave controllable vibrator as described above.

[0091] Specifically, a system for determining the direction of shear waves excited by a shear-wave controllable vibrator may further include a controller. The controller may resolve the positioning signal transmitted by the positioning satellite signal receiving antenna 14 to obtain the positioning coordinates of the vehicle 11; may read the angle value detected by the angle sensor 13; may store each vibration point and the vibration curve at which each vibration point is located; and may calculate the angle required for the shear-wave controllable vibrator 10 to rotate based on the angle of the vibration curve at the current position of the vibration point. In an embodiment of the present application, the direction of the shear wave emitted by the shear-wave controllable vibrator 10 is adjusted by a device for determining the direction of shear waves excited by a shear-wave controllable vibrator, so that the projected energy of the excited shear wave vibration in the direction parallel to the tangent and the direction perpendicular to the tangent are the same, and the excitation of shear waves in two directions can be achieved through one vibration. The precise excitation direction of each excited shear wave can be guaranteed, thereby avoiding the need for the shear-wave controllable vibrator to adjust the vehicle body 11 in which the shear-wave controllable vibrator is located during construction, thereby improving the construction efficiency of shear wave exploration.

[0092] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0093] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of this application, ordinary technicians in this field can also make many forms without departing from the purpose of this application and the scope of protection of the claims, all of which are within the protection of this application.

Claims

1. A method for determining the direction of shear waves excited by a shear-wave vibrator, characterized in that: The method comprises: A plurality of vibration points, wherein a plurality of the vibration points are arranged on the vibration curve; When the vehicle where the shear wave vibrator is located is at the position of the vibration point, obtaining the tangent direction of the curve where the vibration point is located; determining a target vibration direction of the shear wave vibrator according to the tangent direction; Exciting shear waves in the target vibration direction by the shear wave controllable source vibrator so that shear waves of equal energy are simultaneously generated in the tangential direction and in a direction perpendicular to the tangential direction; Determining the target vibration direction of the shear wave vibrator according to the tangent direction includes: Obtaining the body direction of the vehicle; Determine the angle between the vehicle's body direction and the north direction; Determine the direction of the shear wave vibrator; determining a target vibration direction of the shear wave vibrator according to the vehicle body direction, the angle between the vehicle body direction and the north direction, and the direction of the shear wave vibrator; The step of determining a target vibration direction of the shear wave vibrator according to the vehicle body direction, the angle between the vehicle body direction and the north direction, and the direction of the shear wave vibrator comprises: Determine the target rotation angle of the shear wave vibrator according to A=(β+45°)%360°-(α+θ)%360°, where the direction pointed by the target rotation angle is the target vibration direction; Among them, β is used to represent the angle between the tangent direction and the north direction, α is used to represent the angle between the vehicle body direction and the north direction, and θ is used to represent the angle between the shear wave controllable source vibrator direction and the vehicle body direction.

2. The method for determining the direction of shear waves excited by a shear-wave vibroseis according to claim 1, characterized in that: When the vehicle where the shear wave vibrator is located is at the vibration point, obtaining the tangent direction of the curve where the vibration point is located includes: Obtaining the positioning coordinates of the vehicle; The positioning coordinates are compared with the coordinates of the vibration point, and when the comparison result indicates that the positioning coordinates are consistent with the coordinates of the vibration point, the tangent direction of the curve where the vibration point is located is obtained.

3. The method for determining the direction of shear waves excited by a shear-wave vibroseis according to claim 2, characterized in that: Before comparing the positioning coordinates with the coordinates of the vibration point, the method includes: The coordinates of the vibration point are obtained.

4. A device for determining the direction of shear waves excited by a shear-wave vibrator, characterized in that: The device comprises: An information acquisition module, configured to acquire a tangent direction of a curve at which a vibration point is located when the vehicle where the shear wave vibrator is located is located at the vibration point; a direction determination module, for determining a target vibration direction of the shear wave vibrator according to the tangent direction; A vehicle body direction acquisition module, used to acquire the vehicle body direction; A vehicle body angle determination module is used to determine the angle between the vehicle body direction and the north direction; a shear wave vibrator direction determination module, configured to determine the direction of the shear wave vibrator; and a shear wave vibrator target vibration direction module, configured to determine the target vibration direction of the shear wave vibrator based on the vehicle body direction, the angle between the vehicle body direction and the north direction, and the shear wave vibrator direction. a calculation module, configured to determine a target rotation angle of the shear wave vibrator according to A=(β+45°)%360°-(α+θ)%360°, wherein the direction pointed by the target rotation angle is the target vibration direction; Among them, β is used to represent the angle between the tangent direction and the north direction, α is used to represent the angle between the vehicle body direction and the north direction, and θ is used to represent the angle between the shear wave controllable source vibrator direction and the vehicle body direction.

5. The device for determining the direction of shear waves excited by a shear-wave vibrator according to claim 4, characterized in that: The device further comprises: A positioning information acquisition module, used to obtain the positioning coordinates of the vehicle; The tangent information acquisition module is used to compare the positioning coordinates with the coordinates of the vibration point, and when the comparison result indicates that the positioning coordinates are consistent with the coordinates of the vibration point, obtain the tangent direction of the curve where the vibration point is located.

6. The device for determining the direction of shear waves excited by a shear-wave vibrator according to claim 5, characterized in that: The device further comprises: The vibration point information acquisition module is used to obtain the coordinates of the vibration point.

7. A system for determining the direction of shear waves excited by a shear-wave vibrator, characterized in that: The method comprises a controller, wherein the controller comprises a memory processor and a computer program stored in the memory and executable on the processor, wherein the method for determining the direction of shear waves excited by a shear-wave controllable vibrator according to any one of claims 1 to 3 is implemented when the processor executes the computer program.

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