A sampling path planning method and device for non-buoyant hydrothermal plumes

Abstract

The present application discloses a sampling path planning method and device for non-buoyant hydrothermal plumes, including obtaining at least two consecutive first methane concentrations in a specified area according to a preset search path; determining a corresponding uniformity index based on each first methane concentration, and when at least two consecutive uniformity indices are detected to exceed a preset index threshold, obtaining a target sampling position according to a preset distance parameter and a first position; wherein the first position is the position corresponding to the last uniformity index of at least two consecutive uniformity indices; and performing sampling processing based on the target sampling position. By real-time detection of the maximum value of methane concentration in a specified area, the area with the richest hydrothermal material in the non-buoyant layer of the hydrothermal plume is found, and sampling processing is performed in the area with the richest hydrothermal material to obtain water samples with higher research value, and the sampling efficiency and accuracy can be effectively improved.

Description

Technical Field

[0001] The present application belongs to the technical field of marine hydrological environment investigation, and in particular relates to a sampling path planning method and device for non-buoyant hydrothermal plumes. Background Art

[0002] Deep-sea hydrothermal activity is a major discovery in the field of earth science. It is caused by complex water-rock reactions between seawater and surrounding rocks under high temperature and high pressure conditions deep in the marine lithosphere, generating high-temperature fluids rich in various metal elements, which then gush out through seafloor hydrothermal vents. Among them, the ejected hydrothermal fluid will mix with the surrounding cold seawater to form a hydrothermal plume. After rising to a certain height, the hydrothermal plume evolves into a non-buoyant plume where gravity and buoyancy are balanced. The non-buoyant plume stops rising and spreads laterally under the influence of ocean currents, and its lateral displacement can reach several kilometers or even tens of kilometers. Long-term seafloor hydrothermal activity not only has an important impact on global thermal and chemical balance, but also can form different types of metal deposits near seafloor hydrothermal vents. Metal-bearing sediments formed by seafloor hydrothermal activity are a mineral resource with high mining value. The distribution of metal-bearing sediments is related to the movement characteristics of non-buoyant hydrothermal plumes, and the composition is mainly related to hydrothermal fluids, and the composition of hydrothermal fluids is mainly determined by factors such as the original seawater composition, the composition and structure of bedrock, and the nature of the heat source. Based on this, studying the composition of hydrothermal materials in non-buoyant hydrothermal plumes not only helps to understand the composition and structure of the oceanic lithosphere, but also helps to analyze the types and distribution of mineral resources near hydrothermal vents.

[0003] In the process of studying the composition of hydrothermal fluids, the most critical step is how to obtain hydrothermal plume water samples rich in hydrothermal substances. However, the deep-sea environment is under extreme conditions of high pressure and low temperature, and the structure and movement characteristics of hydrothermal plumes are easily affected by ocean currents. The existing method of sampling hydrothermal vent fluids based on ship-borne sampling equipment is not only time-consuming and laborious, but also difficult to track the dynamic characteristics of non-buoyant hydrothermal plumes that are constantly changing in space and time, and thus cannot guarantee the sampling efficiency of non-buoyant hydrothermal plumes. Summary of the invention

[0004] In order to solve the above-mentioned technical problems that the existing method of sampling hydrothermal vent fluids based on ship-borne sampling equipment is not only time-consuming and labor-intensive, but also difficult to track the dynamic characteristics of non-buoyant hydrothermal plumes that are constantly changing in space and time, and thus cannot guarantee the sampling efficiency of non-buoyant hydrothermal plumes, this application proposes a sampling path planning method and device for non-buoyant hydrothermal plumes, and its technical solution is as follows:

[0005] In a first aspect, an embodiment of the present application provides a sampling path planning method for a non-buoyant hydrothermal plume, comprising:

[0006] According to a preset search path, obtaining at least two consecutive first methane concentrations in a specified area;

[0007] Determine a corresponding uniformity index based on each first methane concentration, and when it is detected that at least two consecutive uniformity indexes both exceed a preset index threshold, obtain a target sampling position according to a preset distance parameter and a first position; wherein the first position is a position corresponding to the last uniformity index of the at least two consecutive uniformity indexes;

[0008] Sampling processing is performed based on the target sampling position.

[0009] In an optional solution of the first aspect, determining a corresponding uniformity index based on each first methane concentration includes:

[0010] Performing low-pass filtering on the nth first methane concentration to obtain the nth second methane concentration; wherein n is a positive integer greater than or equal to 2;

[0011] The nth uniformity index is calculated based on the nth second methane concentration and the first n-1 second methane concentrations.

[0012] In another optional solution of the first aspect, the preset distance parameters include a maximum longitudinal distance and a maximum diving distance;

[0013] Obtaining a target sampling position according to a preset distance parameter and a first position includes:

[0014] Performing an upward floating movement based on the first position, and acquiring a plurality of third methane concentrations and corresponding depth positions at preset time intervals;

[0015] When it is detected that the distance of the upward movement is consistent with the maximum longitudinal distance, a first distance between the second position and the depth position corresponding to the third maximum methane concentration is calculated, and the second position is moved to the third position so that the distance between the third position and the second position is consistent with the first distance; wherein the second position is determined based on the first position and the maximum longitudinal distance;

[0016] Performing a diving movement based on the third position, and acquiring a plurality of fourth methane concentrations and corresponding depth positions at preset time intervals;

[0017] When it is detected that the distance of the diving movement is consistent with the maximum diving distance, the maximum longitudinal methane concentration is determined according to all the third methane concentrations and all the fourth methane concentrations, and the second distance between the fourth position and the depth position corresponding to the maximum longitudinal methane concentration is calculated; wherein the fourth position is determined based on the third position and the maximum diving distance;

[0018] Move from the fourth position to the fifth position so that the distance between the fifth position and the fourth position is consistent with the second distance, and determine the target depth position according to the depth position corresponding to the fifth position;

[0019] The target sampling position is obtained according to the target depth position and the preset distance parameters.

[0020] In another optional solution of the first aspect, determining the maximum longitudinal methane concentration according to all the third methane concentrations and all the fourth methane concentrations comprises:

[0021] determining a maximum third methane concentration among all third methane concentrations, and determining a maximum fourth methane concentration among all fourth methane concentrations;

[0022] When the third maximum methane concentration is greater than or equal to the fourth maximum methane concentration, the third maximum methane concentration is taken as the longitudinal maximum methane concentration;

[0023] When the third maximum methane concentration is less than the fourth maximum methane concentration, the fourth maximum methane concentration is taken as the maximum longitudinal methane concentration.

[0024] In another optional solution of the first aspect, after obtaining a plurality of third methane concentrations and corresponding depth positions at preset time intervals, the method further includes:

[0025] When it is detected that the ratio between any third methane concentration and the maximum third methane concentration is lower than a preset ratio threshold, move from the depth position corresponding to any third methane concentration to the depth position corresponding to the maximum third methane concentration;

[0026] The diving movement is performed based on the depth position corresponding to the third maximum methane concentration, and a plurality of fourth methane concentrations and corresponding depth positions are acquired at preset time intervals.

[0027] In yet another optional solution of the first aspect, the preset distance parameter further includes a maximum lateral distance;

[0028] The target sampling position is obtained according to the target depth position and the preset distance parameters, including:

[0029] Performing a first lateral movement based on the fifth position, and acquiring a plurality of fifth methane concentrations and corresponding latitude positions at preset time intervals;

[0030] When it is detected that the distance of the first lateral movement is consistent with the maximum lateral distance, a third distance between the sixth position and the latitude position corresponding to the fifth maximum methane concentration is calculated, and the sixth position is moved to the seventh position so that the distance between the seventh position and the sixth position is the third distance; wherein the sixth position is determined based on the fifth position and the maximum lateral distance;

[0031] Performing a second lateral movement based on the seventh position, and acquiring a plurality of sixth methane concentrations and corresponding latitude positions at preset time intervals; wherein the second lateral movement is opposite to the direction of the first lateral movement;

[0032] When it is detected that the distance of the second lateral movement is consistent with the maximum lateral distance, the maximum lateral methane concentration is determined according to all the fifth methane concentrations and all the sixth methane concentrations, and a fourth distance between the eighth position and the latitude position corresponding to the maximum lateral methane concentration is calculated; wherein the eighth position is determined based on the seventh position and the maximum lateral distance;

[0033] Move from the eighth position to the ninth position so that the distance between the ninth position and the eighth position is consistent with the fourth distance, and determine the target latitude position according to the latitude position corresponding to the ninth position;

[0034] The target sampling position is obtained according to the target depth position and the target latitude position.

[0035] In another optional solution of the first aspect, performing sampling processing based on the target sampling position includes:

[0036] respectively calculating a first difference between the target depth position and a preset depth position, and a second difference between the target latitude position and a preset latitude position;

[0037] When it is detected that the sum of the first difference and the second difference is lower than a preset sampling threshold, sampling processing is performed at the target sampling position.

[0038] In a second aspect, an embodiment of the present application provides a sampling path planning device for a non-buoyant hydrothermal plume, comprising:

[0039] A concentration acquisition module, used to acquire at least two consecutive first methane concentrations in a specified area according to a preset search path;

[0040] A position determination module, configured to determine a corresponding uniformity index based on each first methane concentration, and when it is detected that at least two consecutive uniformity indexes both exceed a preset index threshold, obtain a target sampling position according to a preset distance parameter and a first position; wherein the first position is a position corresponding to the last uniformity index of the at least two consecutive uniformity indexes;

[0041] The sampling processing module is used to perform sampling processing based on the target sampling position.

[0042] In a third aspect, an embodiment of the present application further provides a sampling path planning device for a non-buoyancy hydrothermal plume, comprising a processor and a memory;

[0043] The processor is connected to the memory;

[0044] A memory for storing executable program codes;

[0045] The processor runs a program corresponding to the executable program code by reading the executable program code stored in the memory, so as to implement the sampling path planning method for non-buoyancy hydrothermal plumes provided by the first aspect of the embodiment of the present application or any one of the implementations of the first aspect.

[0046] In a fourth aspect, an embodiment of the present application provides a computer storage medium, which stores a computer program. The computer program includes program instructions. When the program instructions are executed by a processor, the sampling path planning method for non-buoyant hydrothermal plumes provided by the first aspect of the embodiment of the present application or any one of the implementation methods of the first aspect can be implemented.

[0047] In an embodiment of the present application, when planning the sampling path for a non-buoyant hydrothermal plume, at least two consecutive first methane concentrations can be obtained in a specified area according to a preset search path; a corresponding uniformity index is determined based on each first methane concentration, and when at least two consecutive uniformity indices are detected to exceed a preset index threshold, a target sampling position is obtained according to a preset distance parameter and a first position; wherein the first position is the position corresponding to the last uniformity index of at least two consecutive uniformity indices; and sampling processing is performed based on the target sampling position. By real-time detection of the maximum value of the methane concentration in the specified area, the area with the richest hydrothermal material in the non-buoyant layer of the hydrothermal plume is found, and sampling processing is performed in the area with the richest hydrothermal material, so as to obtain water samples with higher research value, and the sampling efficiency and accuracy can be effectively improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. 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 paying creative work.

[0049] Figure 1 An overall flow chart of a sampling path planning method for a non-buoyant hydrothermal plume provided in an embodiment of the present application;

[0050] Figure 2 A schematic diagram of a search path planning provided in an embodiment of the present application;

[0051] Figure 3 A schematic diagram of a longitudinal movement path provided in an embodiment of the present application;

[0052] Figure 4 A schematic diagram of a path for lateral movement provided in an embodiment of the present application;

[0053] Figure 5 A schematic diagram of the structure of a sampling path planning device for non-buoyant hydrothermal plumes provided in an embodiment of the present application;

[0054] Figure 6 A schematic diagram of the structure of an autonomous underwater robot provided in an embodiment of the present application. DETAILED DESCRIPTION

[0055] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

[0056] In the following introduction, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance. The following introduction provides multiple embodiments of the present application, and different embodiments can be replaced or combined, so the present application can also be considered to include all possible combinations of the same and / or different embodiments recorded. Therefore, if one embodiment includes features A, B, and C, and another embodiment includes features B and D, then the present application should also be considered to include embodiments containing one or more of all other possible combinations of A, B, C, and D, although the embodiment may not be clearly recorded in the following text.

[0057] The following description provides examples and does not limit the scope, applicability or examples set forth in the claims. Changes may be made to the functions and arrangements of the elements described without departing from the scope of the present application. Various processes or components may be appropriately omitted, substituted or added to each example. For example, the described method may be performed in an order different from the order described, and various steps may be added, omitted or combined. In addition, features described in some examples may be combined in other examples.

[0058] See also Figure 1 , Figure 1 An overall flow chart of a sampling path planning method for non-buoyant hydrothermal plumes provided in an embodiment of the present application is shown.

[0059] like Figure 1 As shown, the sampling path planning method for non-buoyant hydrothermal plumes may at least include the following steps:

[0060] Step 102: Obtain at least two consecutive first methane concentrations in a designated area according to a preset search path.

[0061] In the embodiment of the present application, the sampling path planning method for non-buoyant hydrothermal plumes can be, but is not limited to, applied to an autonomous underwater robot, which can be understood as an unmanned underwater detection platform, which not only has the characteristics of long range and intelligence, but also can carry a variety of sensors and sampling equipment to be suitable for deep-sea fluid sampling. Among them, the autonomous underwater robot can be moved to a designated area where non-buoyant hydrothermal plumes may exist by a manual or automatic control program according to the fluid sampling requirements, and in the designated area, it can be, but is not limited to, based on the real-time methane data obtained by the methane sensor to find the area with the richest hydrothermal material in the non-buoyant layer of the hydrothermal plume, and perform sampling and processing in the area with the richest hydrothermal material to obtain water samples with higher research value, and can effectively improve the sampling efficiency and accuracy.

[0062] Specifically, when planning the sampling path for a non-buoyant hydrothermal plume, the autonomous underwater robot may first move to a designated area in the deep sea where a plume may exist through manual control or a preset automatic control program. The designated area may be, but is not limited to, derived by the autonomous underwater robot based on historical sampling position data, or manually inputting the position coordinates corresponding to the corresponding area into the display interface of the autonomous underwater robot, so that the autonomous underwater robot moves to the corresponding area according to the position coordinates. Among them, since methane is a non-conservative component, it is easily diluted or consumed by ocean current mixing, chemical reaction and diffusion, but the continuous replenishment of the vent hydrothermal fluid and the conservative characteristics of the hydrothermal plume cause methane to remain in the water column for a long time, and the methane concentration in the hydrothermal plume changes with the increase of the distance of the plume from the vent. Based on this, the autonomous underwater robot in the embodiment of the present application may be provided with a methane sensor for obtaining the methane concentration, so as to obtain the methane concentration in real time during the movement, and then find the area with the most abundant hydrothermal substances in the non-buoyant hydrothermal plume.

[0063] Further, after arriving at the designated area, the autonomous underwater robot can move regularly in the designated area according to the preset search path, and collect the surrounding methane concentration in real time during the movement to obtain at least two first methane concentrations that are continuous in time intervals. Here, the preset search path can be, but is not limited to, a periodic path that moves a certain distance horizontally and a certain distance vertically, and each point where the moving direction changes can be used as a key point of the path, so that the autonomous underwater robot can move in combination with multiple key points of the path, for example, see Figure 2 FIG. 1 is a schematic diagram of a search path planning provided by an embodiment of the present application. Figure 2As shown, the autonomous underwater robot can first move to the initial position of the search path in the specified area, then move vertically downward for a distance and then move horizontally to the right for a distance, and repeat this movement method for multiple periodic movements (which can also be understood as a grid-shaped search path) until it moves to the final position of the search path.

[0064] It is understandable that the autonomous underwater robot can control the methane sensor to obtain the methane concentration when moving to each key point in the search path, or can also control the methane sensor to obtain the methane concentration at a preset time interval so that the time interval corresponding to each two adjacent methane concentrations remains consistent.

[0065] Step 104: determine a corresponding uniformity index based on each first methane concentration, and when it is detected that at least two consecutive uniformity indexes both exceed a preset index threshold, obtain a target sampling position according to a preset distance parameter and the first position.

[0066] Specifically, after obtaining at least two consecutive first methane concentrations, it can be determined whether the autonomous underwater robot has moved from the seawater area to the non-buoyancy plume area according to the uniformity indexes corresponding to all the first methane concentrations. It can be understood that when it is detected that at least two consecutive uniformity indexes both exceed the preset index threshold, it can be indicated that the position of the autonomous underwater robot has moved from the seawater area to the non-buoyancy plume area, and the total number of at least two consecutive uniformity indexes here also needs to be guaranteed to exceed the preset number threshold to ensure the accuracy of the autonomous underwater robot in the non-buoyancy plume area. When it is detected that at least one uniformity index of at least two consecutive uniformity indexes does not exceed the preset index threshold, or when the total number of at least two consecutive uniformity indexes does not exceed the preset number threshold, it indicates that the position of the autonomous underwater robot has moved from the non-buoyancy plume area to the seawater area, or has been in the seawater area, and then it is necessary to continue to move in the specified area in combination with the search path, and obtain multiple methane concentrations until the position of the autonomous underwater robot has moved from the seawater area to the non-buoyancy plume area.

[0067] As an option of the embodiment of the present application, determining a corresponding uniformity index based on each first methane concentration includes:

[0068] Performing low-pass filtering on the nth first methane concentration to obtain the nth second methane concentration; wherein n is a positive integer greater than or equal to 2;

[0069] The nth uniformity index is calculated based on the nth second methane concentration and the first n-1 second methane concentrations.

[0070] Specifically, in the process of calculating the uniformity index corresponding to each first methane concentration, in order to avoid the influence of noise or isolated water spots on the methane concentration data, each first methane concentration may be subjected to low-pass filtering to obtain a second methane concentration with higher accuracy. The processing method may be, but is not limited to, referring to the following formula:

[0071]

[0072] In the above formula, It can be corresponded to the nth second methane concentration (the character in the formula here is Equivalent to n), L can correspond to the number of data points involved in the calculation, that is, the length of the low-pass filter window, It can correspond to the nth first methane concentration, It may correspond to any first methane concentration among the first n-1 first methane concentrations.

[0073] It can be understood that, here n is a positive integer greater than or equal to 2, and the first methane concentration can determine the corresponding second methane concentration according to the length of the low-pass filter window, and it is not limited thereto.

[0074] Next, after the nth second methane concentration is obtained, the nth uniformity index may be obtained according to the nth second methane concentration and the first n-1 second methane concentrations, by referring to but not limited to the following formula:

[0075]

[0076] In the above formula, It can be corresponded to the nth uniformity index (the character in the formula here Equivalent to n), N can correspond to the number of data points involved in the calculation.

[0077] Further, after detecting that at least two consecutive uniformity indexes both exceed the preset index threshold, that is, after determining that the position of the autonomous underwater robot has moved from the seawater area to the non-buoyancy plume area, the target sampling position can be obtained according to the preset distance parameter and the first position, where the first position is the current position of the autonomous underwater robot, and the uniformity index corresponding to the position and at least two adjacent consecutive uniformity indexes both exceed the preset index threshold. Among them, the preset distance parameter may include but is not limited to any at least two of the maximum longitudinal distance, the maximum diving distance and the maximum lateral distance, the maximum longitudinal distance and the maximum diving distance can be used to determine the target depth position, that is, the depth position where the maximum methane concentration is located, the maximum lateral distance can be used to determine the target longitude position and the target latitude position, that is, the longitude position and the latitude position where the maximum methane concentration is located, and the target sampling position in the embodiment of the present application can be obtained according to but is not limited to any at least two of the target depth position, the target longitude position and the target latitude position, which is not limited to this.

[0078] As another option of the embodiment of the present application, obtaining the target sampling position according to the preset distance parameter and the first position includes:

[0079] Performing an upward floating movement based on the first position, and acquiring a plurality of third methane concentrations and corresponding depth positions at preset time intervals;

[0080] When it is detected that the distance of the upward movement is consistent with the maximum longitudinal distance, a first distance between the second position and the depth position corresponding to the third maximum methane concentration is calculated, and the second position is moved to the third position so that the distance between the third position and the second position is consistent with the first distance; wherein the second position is determined based on the first position and the maximum longitudinal distance;

[0081] Performing a diving movement based on the third position, and acquiring a plurality of fourth methane concentrations and corresponding depth positions at preset time intervals;

[0082] When it is detected that the distance of the diving movement is consistent with the maximum diving distance, the maximum longitudinal methane concentration is determined according to all the third methane concentrations and all the fourth methane concentrations, and the second distance between the fourth position and the depth position corresponding to the maximum longitudinal methane concentration is calculated; wherein the fourth position is determined based on the third position and the maximum diving distance;

[0083] Move from the fourth position to the fifth position so that the distance between the fifth position and the fourth position is consistent with the second distance, and determine the target depth position according to the depth position corresponding to the fifth position;

[0084] The target sampling position is obtained according to the target depth position and the preset distance parameters.

[0085] Specifically, in the process of determining the position corresponding to the area with the richest hydrothermal material, the autonomous underwater robot can float at the current position, and in the process of floating, it can be but not limited to obtaining multiple third methane concentrations and corresponding depth positions at preset time intervals, and as a preferred method, the maximum third methane concentration can be updated in real time during the floating process. Then, when the distance of the floating movement is consistent with the preset maximum longitudinal distance, the floating is stopped, and the first distance is calculated according to the depth position corresponding to the maximum third methane concentration and the depth position when the floating is stopped at present, so as to control the autonomous underwater robot to move to the depth position corresponding to the maximum third methane concentration according to the first distance. It can be understood that here, in addition to stopping the floating when the distance of the floating movement is consistent with the preset maximum longitudinal distance, it is also possible to detect in real time whether the ratio between any third methane concentration and the maximum third methane concentration is lower than the preset ratio threshold value during the floating process of the autonomous underwater robot, and stop floating when a certain ratio is detected to be lower than the preset ratio threshold value, and the depth position of the autonomous underwater robot at this time is the depth position corresponding to any third methane concentration.

[0086] Then, after the autonomous underwater robot moves to the depth position corresponding to the maximum third methane concentration, it can dive and move downward, and similarly, multiple fourth methane concentrations are obtained at preset time intervals during the diving process. When the distance of the diving movement is consistent with the maximum diving distance, the diving is stopped, and the second distance is calculated according to the depth position corresponding to the longitudinal maximum methane concentration and the depth position when the diving is currently stopped, so as to control the autonomous underwater robot to move to the depth position corresponding to the maximum methane concentration according to the second distance, and the depth position corresponding to the maximum methane concentration is the target depth position. It can be understood that, in addition to stopping the diving when the distance of the floating movement is consistent with the preset maximum diving distance, it is also possible to detect in real time during the diving of the autonomous underwater robot whether the ratio between any fourth methane concentration and the maximum fourth methane concentration is lower than the preset ratio threshold, and stop diving when a certain ratio is detected to be lower than the preset ratio threshold, and the depth position of the autonomous underwater robot at this time is the depth position corresponding to any fourth methane concentration.

[0087] Here, in the embodiment of the present application, the maximum methane concentration may be the maximum value between the maximum third methane concentration and the maximum fourth methane concentration, and there may be multiple maximum methane concentrations in the actual process (that is, the target depth position is determined by the periodic movement of floating and diving), and the maximum methane concentration may also be the maximum value among the multiple maximum methane concentrations.

[0088] Of course, the target depth position can also be obtained after the autonomous underwater robot performs multiple alternating movements of surfacing and diving, for example, see Figure 3 A schematic diagram of a longitudinal movement path provided by an embodiment of the present application is shown, such as Figure 3 As shown, the autonomous underwater robot can float and dive along the vertical longitudinal direction, and the control method for the floating and diving movements can be to adjust the rudder angle spiral upward (that is, Figure 3 The buoyancy movement path shown in FIG. 1 may also be to adjust the buoyancy engine vertically upward, but this is not limited to this. It is understood that in Figure 3 The black area shown in the figure may correspond to the area where the target depth position is located, that is, the methane concentration in the black area is the highest; the two light gray areas below the black area may correspond to the areas where different methane concentrations are located during the diving movement of the autonomous underwater robot, and the methane concentration intervals and depth position intervals corresponding to different areas are different, and the edge of the area at the bottom may be understood as, but not limited to, the depth position corresponding to the maximum diving distance (it may also be the depth position corresponding to the ratio between the methane concentration and the maximum methane concentration when it is lower than the preset ratio threshold); the two light gray areas above the black area may correspond to the areas where different methane concentrations are located during the floating movement of the autonomous underwater robot, and the methane concentration intervals and depth position intervals corresponding to different areas are different, and the edge of the area at the top may be understood as, but not limited to, the depth position corresponding to the maximum floating distance (it may also be the depth position corresponding to the ratio between the methane concentration and the maximum methane concentration when it is lower than the preset ratio threshold).

[0089] As another option of the embodiment of the present application, obtaining the target sampling position according to the target depth position and the preset distance parameter includes:

[0090] Performing a first lateral movement based on the fifth position, and acquiring a plurality of fifth methane concentrations and corresponding latitude positions at preset time intervals;

[0091] When it is detected that the distance of the first lateral movement is consistent with the maximum lateral distance, a third distance between the sixth position and the latitude position corresponding to the fifth maximum methane concentration is calculated, and the sixth position is moved to the seventh position so that the distance between the seventh position and the sixth position is the third distance; wherein the sixth position is determined based on the fifth position and the maximum lateral distance;

[0092] Performing a second lateral movement based on the seventh position, and acquiring a plurality of sixth methane concentrations and corresponding latitude positions at preset time intervals; wherein the second lateral movement is opposite to the direction of the first lateral movement;

[0093] When it is detected that the distance of the second lateral movement is consistent with the maximum lateral distance, the maximum lateral methane concentration is determined according to all the fifth methane concentrations and all the sixth methane concentrations, and a fourth distance between the eighth position and the latitude position corresponding to the maximum lateral methane concentration is calculated; wherein the eighth position is determined based on the seventh position and the maximum lateral distance;

[0094] Move from the eighth position to the ninth position so that the distance between the ninth position and the eighth position is consistent with the fourth distance, and determine the target latitude position according to the latitude position corresponding to the ninth position;

[0095] The target sampling position is obtained according to the target depth position and the target latitude position.

[0096] Specifically, after obtaining the target depth position, the autonomous underwater robot can start to move horizontally from the target depth position from south to north, and in the process of moving horizontally from south to north, multiple fifth methane concentrations and corresponding latitude positions can be obtained at preset time intervals, but not limited to, and preferably, the maximum fifth methane concentration can be updated in real time during the process of moving horizontally from south to north. Then, when the distance of the horizontal movement from south to north is consistent with the preset maximum horizontal distance, the movement from south to north is stopped, and the third distance is calculated based on the latitude position corresponding to the maximum fifth methane concentration and the latitude position when the movement from south to north is currently stopped, so as to control the autonomous underwater robot to move to the latitude position corresponding to the maximum fifth methane concentration according to the third distance. It can be understood that, in addition to stopping movement when the distance moved from south to north is consistent with the preset maximum lateral distance, the autonomous underwater robot can also detect in real time whether the ratio between any fifth methane concentration and the maximum fifth methane concentration is lower than the preset ratio threshold during the movement from south to north, and stop moving from south to north when it is detected that a certain ratio is lower than the preset ratio threshold, and the latitude position of the autonomous underwater robot at this time is the latitude position corresponding to any fifth methane concentration.

[0097] Then, after the autonomous underwater robot moves to the latitude position corresponding to the fifth maximum methane concentration, it can move from north to south, and similarly acquire multiple sixth methane concentrations at preset time intervals during the movement from north to south. When the distance moved from north to south is consistent with the maximum lateral distance, the movement from north to south is stopped, and the fourth distance is calculated based on the latitude position corresponding to the sixth maximum methane concentration in the longitudinal direction and the latitude position when the movement from north to south is currently stopped, so as to control the autonomous underwater robot to move to the latitude position corresponding to the sixth maximum methane concentration based on the fourth distance, and at this time, the latitude position corresponding to the sixth maximum methane concentration is the target latitude position. It can be understood that, in addition to stopping diving when the distance moved from north to south is consistent with the preset maximum lateral distance, the autonomous underwater robot can also detect in real time whether the ratio between any sixth methane concentration and the maximum sixth methane concentration is lower than the preset ratio threshold during the movement from north to south, and stop moving from north to south when a certain ratio is detected to be lower than the preset ratio threshold, and the latitude position of the autonomous underwater robot at this time is the latitude position corresponding to any sixth methane concentration.

[0098] Of course, after determining the target latitude position, the autonomous underwater robot can also, but is not limited to, move from the target latitude position to the west, move to the longitude position corresponding to the maximum methane concentration, and then move from the west to the east, and move to the target longitude position corresponding to the maximum methane concentration again. The target longitude position, latitude position and depth position at this time are the target sampling position. It can be understood that the method for determining the target longitude position here can refer to the above-mentioned embodiment corresponding to determining the target latitude position, and no further details will be given here.

[0099] Also see here Figure 4 The schematic diagram of a lateral movement path provided by the embodiment of the present application is shown, in which a cross-shaped path search is performed in four directions of southeast, northwest (or up, down, left, and right) to obtain the corresponding target latitude position and target longitude position in the plane, such as Figure 4 As shown, the autonomous underwater robot can move from bottom to top along path 1, and move to the position corresponding to the maximum methane concentration in the process of moving from bottom to top through path 2; then move from right to left along path 3, and move to the position corresponding to the maximum methane concentration in the process of moving from right to left through path 4; then move from left to right along path 5, and move to the position corresponding to the maximum methane concentration in the process of moving from left to right through path 6; then move from top to bottom along path 7, and move to the position corresponding to the maximum methane concentration in the process of moving from top to bottom through path 8, and the position coordinates at this time are the target latitude position and the target longitude position.

[0100] Step 106: Perform sampling processing based on the target sampling position.

[0101] Specifically, after obtaining the target sampling position, it is also possible to determine whether the target sampling position meets the sampling conditions through the historical sampling positions.

[0102] As another option of the embodiment of the present application, the sampling process is performed based on the target sampling position, including:

[0103] respectively calculating a first difference between the target depth position and a preset depth position, and a second difference between the target latitude position and a preset latitude position;

[0104] When it is detected that the sum of the first difference and the second difference is lower than a preset sampling threshold, sampling processing is performed at the target sampling position.

[0105] Of course, when the target sampling position includes the target depth position, the target longitude position and the target latitude position, it is also possible but not limited to refer to the following formula to determine whether the sampling condition is met:

[0106]

[0107] In the above formula, , as well as Corresponding to the i-th target depth position, target longitude position and target latitude position, , as well as It corresponds to the i-1th target depth position, target longitude position and target latitude position.

[0108] When S is lower than the preset sampling threshold, it indicates that the current position information is not much different from the position information obtained last time, that is, the sampling condition is met, and sampling processing can be performed at the current position.

[0109] In the process of actually determining the target sampling position, the length L of the low-pass filter window and the number N of data points involved in the calculation mentioned in one or more of the above embodiments can be set to 12, the preset index threshold can be set to 0.1, the maximum longitudinal distance and the maximum diving distance can be set to 50 meters, the preset ratio threshold can be set to 20%, the maximum lateral distance can be set to 200 meters, the preset sampling threshold can be set to 3 meters, and the number of at least two consecutive first methane concentrations can be set to 10. In one or more of the above-mentioned embodiments of the present application, the sampling path planning method for non-buoyant hydrothermal plumes can have the following advantages:

[0110] 1. Stable, reliable, easy to implement, and able to obtain water samples with high research value;

[0111] 2. The methane concentration uniformity index is used to determine whether the AUV has entered the plume area, which effectively avoids noise interference and improves accuracy;

[0112] 3. Adopt a cross-cross search method, and the straight line path is the shortest path to return the maximum value area;

[0113] 4. Using the ratio of the current methane concentration to the maximum real-time methane concentration as the condition for ending the search early can effectively reduce the exploration path of areas with lower methane concentration and improve the detection efficiency of AUV.

[0114] See also Figure 5 , Figure 5 A schematic structural diagram of a sampling path planning device for non-buoyant hydrothermal plumes provided in an embodiment of the present application is shown.

[0115] like Figure 5 As shown, the sampling path planning device 500 for non-buoyant hydrothermal plumes may include at least a concentration acquisition module 501, a position determination module 502, and a sampling processing module 503, wherein:

[0116] The concentration acquisition module 501 is used to acquire at least two consecutive first methane concentrations in a specified area according to a preset search path;

[0117] The position determination module 502 is used to determine a corresponding uniformity index based on each first methane concentration, and when it is detected that at least two consecutive uniformity indexes both exceed a preset index threshold, obtain a target sampling position according to a preset distance parameter and a first position; wherein the first position is a position corresponding to the last uniformity index of the at least two consecutive uniformity indexes;

[0118] The sampling processing module 503 is used to perform sampling processing based on the target sampling position.

[0119] In some possible embodiments, determining a corresponding uniformity index based on each first methane concentration includes:

[0120] Performing low-pass filtering on the nth first methane concentration to obtain the nth second methane concentration; wherein n is a positive integer greater than or equal to 2;

[0121] The nth uniformity index is calculated based on the nth second methane concentration and the first n-1 second methane concentrations.

[0122] In some possible embodiments, the preset distance parameters include a maximum longitudinal distance and a maximum diving distance;

[0123] Obtaining a target sampling position according to a preset distance parameter and a first position includes:

[0124] Performing an upward floating movement based on the first position, and acquiring a plurality of third methane concentrations and corresponding depth positions at preset time intervals;

[0125] When it is detected that the distance of the upward movement is consistent with the maximum longitudinal distance, a first distance between the second position and the depth position corresponding to the third maximum methane concentration is calculated, and the second position is moved to the third position so that the distance between the third position and the second position is consistent with the first distance; wherein the second position is determined based on the first position and the maximum longitudinal distance;

[0126] Performing a diving movement based on the third position, and acquiring a plurality of fourth methane concentrations and corresponding depth positions at preset time intervals;

[0127] When it is detected that the distance of the diving movement is consistent with the maximum diving distance, the maximum longitudinal methane concentration is determined according to all the third methane concentrations and all the fourth methane concentrations, and the second distance between the fourth position and the depth position corresponding to the maximum longitudinal methane concentration is calculated; wherein the fourth position is determined based on the third position and the maximum diving distance;

[0128] Move from the fourth position to the fifth position so that the distance between the fifth position and the fourth position is consistent with the second distance, and determine the target depth position according to the depth position corresponding to the fifth position;

[0129] The target sampling position is obtained according to the target depth position and the preset distance parameters.

[0130] In some possible embodiments, determining the maximum longitudinal methane concentration according to all the third methane concentrations and all the fourth methane concentrations includes:

[0131] determining a maximum third methane concentration among all third methane concentrations, and determining a maximum fourth methane concentration among all fourth methane concentrations;

[0132] When the third maximum methane concentration is greater than or equal to the fourth maximum methane concentration, the third maximum methane concentration is taken as the longitudinal maximum methane concentration;

[0133] When the third maximum methane concentration is less than the fourth maximum methane concentration, the fourth maximum methane concentration is taken as the maximum longitudinal methane concentration.

[0134] In some possible embodiments, after obtaining a plurality of third methane concentrations and corresponding depth positions at preset time intervals, the method further includes:

[0135] When it is detected that the ratio between any third methane concentration and the maximum third methane concentration is lower than a preset ratio threshold, move from the depth position corresponding to any third methane concentration to the depth position corresponding to the maximum third methane concentration;

[0136] The diving movement is performed based on the depth position corresponding to the third maximum methane concentration, and a plurality of fourth methane concentrations and corresponding depth positions are acquired at preset time intervals.

[0137] In some possible embodiments, the preset distance parameter also includes a maximum lateral distance;

[0138] The target sampling position is obtained according to the target depth position and the preset distance parameters, including:

[0139] Performing a first lateral movement based on the fifth position, and acquiring a plurality of fifth methane concentrations and corresponding latitude positions at preset time intervals;

[0140] When it is detected that the distance of the first lateral movement is consistent with the maximum lateral distance, a third distance between the sixth position and the latitude position corresponding to the fifth maximum methane concentration is calculated, and the sixth position is moved to the seventh position so that the distance between the seventh position and the sixth position is the third distance; wherein the sixth position is determined based on the fifth position and the maximum lateral distance;

[0141] Performing a second lateral movement based on the seventh position, and acquiring a plurality of sixth methane concentrations and corresponding latitude positions at preset time intervals; wherein the second lateral movement is opposite to the direction of the first lateral movement;

[0142] When it is detected that the distance of the second lateral movement is consistent with the maximum lateral distance, the maximum lateral methane concentration is determined according to all the fifth methane concentrations and all the sixth methane concentrations, and a fourth distance between the eighth position and the latitude position corresponding to the maximum lateral methane concentration is calculated; wherein the eighth position is determined based on the seventh position and the maximum lateral distance;

[0143] Move from the eighth position to the ninth position so that the distance between the ninth position and the eighth position is consistent with the fourth distance, and determine the target latitude position according to the latitude position corresponding to the ninth position;

[0144] The target sampling position is obtained according to the target depth position and the target latitude position.

[0145] In some possible embodiments, the sampling process is performed based on the target sampling position, including:

[0146] respectively calculating a first difference between the target depth position and a preset depth position, and a second difference between the target latitude position and a preset latitude position;

[0147] When it is detected that the sum of the first difference and the second difference is lower than a preset sampling threshold, sampling processing is performed at the target sampling position.

[0148] Those skilled in the art can clearly understand that the technical solutions of the embodiments of the present application can be implemented with the help of software and / or hardware. The "unit" and "module" in this specification refer to software and / or hardware that can independently complete or cooperate with other components to complete specific functions, where the hardware can be, for example, a field programmable gate array (FPGA), an integrated circuit (IC), etc.

[0149] See also Figure 6 , Figure 6 A schematic structural diagram of an autonomous underwater robot provided in an embodiment of the present application is shown.

[0150] like Figure 6 As shown, the autonomous underwater robot 600 may include at least one processor 601 , at least one network interface 604 , a user interface 603 , a memory 605 , and at least one communication bus 602 .

[0151] The communication bus 602 may be used to realize the connection and communication among the above-mentioned components.

[0152] The user interface 603 may include buttons, and the optional user interface may also include a standard wired interface or a wireless interface.

[0153] The network interface 604 may include, but is not limited to, a Bluetooth module, an NFC module, a Wi-Fi module, etc.

[0154] Among them, the processor 601 may include one or more processing cores. The processor 601 uses various interfaces and lines to connect various parts in the autonomous underwater robot 600, and executes various functions and processes data of the routing autonomous underwater robot 600 by running or executing instructions, programs, code sets or instruction sets stored in the memory 605, and calling data stored in the memory 605. Optionally, the processor 601 can be implemented in at least one hardware form of DSP, FPGA, and PLA. The processor 601 can integrate one or a combination of CPU, GPU, modem, etc. Among them, the CPU mainly processes the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing the content to be displayed on the display screen; the modem is used to process wireless communications. It can be understood that the above-mentioned modem may not be integrated into the processor 601, and it can be implemented separately through a chip.

[0155] The memory 605 may include a RAM or a ROM. Optionally, the memory 605 includes a non-transitory computer-readable medium. The memory 605 may be used to store instructions, programs, codes, code sets or instruction sets. The memory 605 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the data storage area may store data involved in the above-mentioned various method embodiments, etc. The memory 605 may optionally be at least one storage device located away from the aforementioned processor 601. As Figure 6 As shown, the memory 605 as a computer storage medium may include an operating system, a network communication module, a user interface module, and a sampling path planning application for non-buoyant hydrothermal plumes.

[0156] Specifically, the processor 601 may be used to call a sampling path planning application for non-buoyancy hydrothermal plumes stored in the memory 605, and specifically perform the following operations:

[0157] According to a preset search path, obtaining at least two consecutive first methane concentrations in a specified area;

[0158] Determine a corresponding uniformity index based on each first methane concentration, and when it is detected that at least two consecutive uniformity indexes both exceed a preset index threshold, obtain a target sampling position according to a preset distance parameter and a first position; wherein the first position is a position corresponding to the last uniformity index of the at least two consecutive uniformity indexes;

[0159] Sampling processing is performed based on the target sampling position.

[0160] In some possible embodiments, determining a corresponding uniformity index based on each first methane concentration includes:

[0161] Performing low-pass filtering on the nth first methane concentration to obtain the nth second methane concentration; wherein n is a positive integer greater than or equal to 2;

[0162] The nth uniformity index is calculated based on the nth second methane concentration and the first n-1 second methane concentrations.

[0163] In some possible embodiments, the preset distance parameters include a maximum longitudinal distance and a maximum diving distance;

[0164] Obtaining a target sampling position according to a preset distance parameter and a first position includes:

[0165] Performing an upward floating movement based on the first position, and acquiring a plurality of third methane concentrations and corresponding depth positions at preset time intervals;

[0166] When it is detected that the distance of the upward movement is consistent with the maximum longitudinal distance, a first distance between the second position and the depth position corresponding to the third maximum methane concentration is calculated, and the second position is moved to the third position so that the distance between the third position and the second position is consistent with the first distance; wherein the second position is determined based on the first position and the maximum longitudinal distance;

[0167] Performing a diving movement based on the third position, and acquiring a plurality of fourth methane concentrations and corresponding depth positions at preset time intervals;

[0168] When it is detected that the distance of the diving movement is consistent with the maximum diving distance, the maximum longitudinal methane concentration is determined according to all the third methane concentrations and all the fourth methane concentrations, and the second distance between the fourth position and the depth position corresponding to the maximum longitudinal methane concentration is calculated; wherein the fourth position is determined based on the third position and the maximum diving distance;

[0169] Move from the fourth position to the fifth position so that the distance between the fifth position and the fourth position is consistent with the second distance, and determine the target depth position according to the depth position corresponding to the fifth position;

[0170] The target sampling position is obtained according to the target depth position and the preset distance parameters.

[0171] In some possible embodiments, determining the maximum longitudinal methane concentration according to all the third methane concentrations and all the fourth methane concentrations includes:

[0172] determining a maximum third methane concentration among all third methane concentrations, and determining a maximum fourth methane concentration among all fourth methane concentrations;

[0173] When the third maximum methane concentration is greater than or equal to the fourth maximum methane concentration, the third maximum methane concentration is taken as the longitudinal maximum methane concentration;

[0174] When the third maximum methane concentration is less than the fourth maximum methane concentration, the fourth maximum methane concentration is taken as the maximum longitudinal methane concentration.

[0175] In some possible embodiments, after obtaining a plurality of third methane concentrations and corresponding depth positions at preset time intervals, the method further includes:

[0176] When it is detected that the ratio between any third methane concentration and the maximum third methane concentration is lower than a preset ratio threshold, move from the depth position corresponding to any third methane concentration to the depth position corresponding to the maximum third methane concentration;

[0177] The diving movement is performed based on the depth position corresponding to the third maximum methane concentration, and a plurality of fourth methane concentrations and corresponding depth positions are acquired at preset time intervals.

[0178] In some possible embodiments, the preset distance parameter also includes a maximum lateral distance;

[0179] The target sampling position is obtained according to the target depth position and the preset distance parameters, including:

[0180] Performing a first lateral movement based on the fifth position, and acquiring a plurality of fifth methane concentrations and corresponding latitude positions at preset time intervals;

[0181] When it is detected that the distance of the first lateral movement is consistent with the maximum lateral distance, a third distance between the sixth position and the latitude position corresponding to the fifth maximum methane concentration is calculated, and the sixth position is moved to the seventh position so that the distance between the seventh position and the sixth position is the third distance; wherein the sixth position is determined based on the fifth position and the maximum lateral distance;

[0182] Performing a second lateral movement based on the seventh position, and acquiring a plurality of sixth methane concentrations and corresponding latitude positions at preset time intervals; wherein the second lateral movement is opposite to the direction of the first lateral movement;

[0183] When it is detected that the distance of the second lateral movement is consistent with the maximum lateral distance, the maximum lateral methane concentration is determined according to all the fifth methane concentrations and all the sixth methane concentrations, and a fourth distance between the eighth position and the latitude position corresponding to the maximum lateral methane concentration is calculated; wherein the eighth position is determined based on the seventh position and the maximum lateral distance;

[0184] Move from the eighth position to the ninth position so that the distance between the ninth position and the eighth position is consistent with the fourth distance, and determine the target latitude position according to the latitude position corresponding to the ninth position;

[0185] The target sampling position is obtained according to the target depth position and the target latitude position.

[0186] In some possible embodiments, the sampling process is performed based on the target sampling position, including:

[0187] respectively calculating a first difference between the target depth position and a preset depth position, and a second difference between the target latitude position and a preset latitude position;

[0188] When it is detected that the sum of the first difference and the second difference is lower than a preset sampling threshold, sampling processing is performed at the target sampling position.

[0189] The present application also provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the steps of the above method are implemented. The computer-readable storage medium may include, but is not limited to, any type of disk, including a floppy disk, an optical disk, a DVD, a CD-ROM, a micro drive, and a magneto-optical disk, a ROM, a RAM, an EPROM, an EEPROM, a DRAM, a VRAM, a flash memory device, a magnetic card or an optical card, a nanosystem (including a molecular memory IC), or any type of medium or device suitable for storing instructions and / or data.

[0190] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0191] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0192] In the several embodiments provided in the present application, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are only schematic, such as the division of units, which is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some service interfaces, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0193] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0194] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0195] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a memory, including a number of instructions to enable a computer device (which can be a personal computer, server or network device, etc.) to execute all or part of the steps of the various embodiments of the present application. The aforementioned memory includes: U disk, read-only memory (ROM), random access memory (RAM), mobile hard disk, disk or optical disk and other media that can store program codes.

Claims

1. A sampling path planning method for non-buoyant hydrothermal plumes, characterized in that: include: According to a preset search path, obtaining at least two consecutive first methane concentrations in a specified area; Determine a corresponding uniformity index based on each of the first methane concentrations, and when it is detected that at least two consecutive uniformity indexes both exceed a preset index threshold, obtain a target sampling position according to a preset distance parameter and a first position; wherein the first position is a position corresponding to the last uniformity index of at least two consecutive uniformity indexes; Performing sampling processing based on the target sampling position; The preset distance parameters include any at least two of the maximum longitudinal distance, the maximum diving distance and the maximum lateral distance, the maximum longitudinal distance and the maximum diving distance are used to determine the target depth position, and the maximum lateral distance is used to determine the target longitude position and the target latitude position; The target sampling position is obtained according to any at least two positions of the target depth position, the target longitude position and the target latitude position; The step of obtaining the target sampling position according to the preset distance parameter and the first position includes: Performing an upward floating movement based on the first position, and acquiring a plurality of third methane concentrations and corresponding depth positions at preset time intervals; When it is detected that the distance of the upward movement is consistent with the maximum longitudinal distance, a first distance between the second position and the depth position corresponding to the third maximum methane concentration is calculated, and the second position is moved to the third position so that the distance between the third position and the second position is consistent with the first distance; wherein the second position is determined based on the first position and the maximum longitudinal distance; Performing a diving movement based on the third position, and acquiring a plurality of fourth methane concentrations and corresponding depth positions according to the preset time intervals; When it is detected that the distance of the diving movement is consistent with the maximum diving distance, the maximum longitudinal methane concentration is determined according to all the third methane concentrations and all the fourth methane concentrations, and the second distance between the fourth position and the depth position corresponding to the maximum longitudinal methane concentration is calculated; wherein the fourth position is determined based on the third position and the maximum diving distance; moving from the fourth position to a fifth position so that the distance between the fifth position and the fourth position is consistent with the second distance, and determining a target depth position according to a depth position corresponding to the fifth position; A target sampling position is obtained according to the target depth position and the preset distance parameter.

2. The method according to claim 1, characterized in that The determining a corresponding uniformity index based on each of the first methane concentrations comprises: Performing low-pass filtering on the nth first methane concentration to obtain an nth second methane concentration; wherein n is a positive integer greater than or equal to 2; An nth uniformity index is calculated according to the nth second methane concentration and the first n-1 second methane concentrations.

3. The method according to claim 1, characterized in that The determining of the maximum longitudinal methane concentration according to all the third methane concentrations and all the fourth methane concentrations includes: determining the maximum third methane concentration among all the third methane concentrations, and determining the maximum fourth methane concentration among all the fourth methane concentrations; When the maximum third methane concentration is greater than or equal to the maximum fourth methane concentration, taking the maximum third methane concentration as the maximum longitudinal methane concentration; When the maximum third methane concentration is less than the maximum fourth methane concentration, the maximum fourth methane concentration is taken as the maximum longitudinal methane concentration.

4. The method according to claim 1, characterized in that: After obtaining a plurality of third methane concentrations and corresponding depth positions at preset time intervals, the method further includes: When it is detected that the ratio between any one of the third methane concentrations and the maximum third methane concentration is lower than a preset ratio threshold, move from the depth position corresponding to any one of the third methane concentrations to the depth position corresponding to the maximum third methane concentration; The diving movement is performed based on the depth position corresponding to the maximum third methane concentration, and a plurality of fourth methane concentrations and corresponding depth positions are acquired at the preset time intervals.

5. The method according to claim 1, characterized in that The preset distance parameters also include a maximum lateral distance; The obtaining of the target sampling position according to the target depth position and the preset distance parameter includes: Performing a first lateral movement based on the fifth position, and acquiring a plurality of fifth methane concentrations and corresponding latitude positions according to the preset time intervals; When it is detected that the distance of the first lateral movement is consistent with the maximum lateral distance, a third distance between the sixth position and the latitude position corresponding to the fifth maximum methane concentration is calculated, and the sixth position is moved to the seventh position so that the distance between the seventh position and the sixth position is the third distance; wherein the sixth position is determined based on the fifth position and the maximum lateral distance; Performing a second lateral movement based on the seventh position, and acquiring a plurality of sixth methane concentrations and corresponding latitude positions at the preset time intervals; wherein the second lateral movement is opposite to the first lateral movement in direction; When it is detected that the distance of the second lateral movement is consistent with the maximum lateral distance, the lateral maximum methane concentration is determined according to all the fifth methane concentrations and all the sixth methane concentrations, and a fourth distance between an eighth position and the latitude position corresponding to the lateral maximum methane concentration is calculated; wherein the eighth position is determined based on the seventh position and the maximum lateral distance; moving from the eighth position to a ninth position so that the distance between the ninth position and the eighth position is consistent with the fourth distance, and determining a target latitude position according to the latitude position corresponding to the ninth position; A target sampling position is obtained according to the target depth position and the target latitude position.

6. The method according to claim 5, characterized in that The sampling process based on the target sampling position includes: respectively calculating a first difference between the target depth position and a preset depth position, and a second difference between the target latitude position and a preset latitude position; When it is detected that the sum of the first difference and the second difference is lower than a preset sampling threshold, sampling processing is performed at the target sampling position.

7. A sampling path planning device for non-buoyant hydrothermal plumes, characterized in that: include: A concentration acquisition module, used to acquire at least two consecutive first methane concentrations in a specified area according to a preset search path; A position determination module, configured to determine a corresponding uniformity index based on each of the first methane concentrations, and when it is detected that at least two consecutive uniformity indexes both exceed a preset index threshold, obtain a target sampling position according to a preset distance parameter and a first position; wherein the first position is a position corresponding to the last uniformity index of at least two consecutive uniformity indexes; A sampling processing module, used to perform sampling processing based on the target sampling position The preset distance parameters include any at least two of the maximum longitudinal distance, the maximum diving distance and the maximum lateral distance, the maximum longitudinal distance and the maximum diving distance are used to determine the target depth position, and the maximum lateral distance is used to determine the target longitude position and the target latitude position; The target sampling position is obtained according to any at least two positions of the target depth position, the target longitude position and the target latitude position; The step of obtaining the target sampling position according to the preset distance parameter and the first position includes: Performing an upward floating movement based on the first position, and acquiring a plurality of third methane concentrations and corresponding depth positions at preset time intervals; When it is detected that the distance of the upward movement is consistent with the maximum longitudinal distance, a first distance between the second position and the depth position corresponding to the third maximum methane concentration is calculated, and the second position is moved to the third position so that the distance between the third position and the second position is consistent with the first distance; wherein the second position is determined based on the first position and the maximum longitudinal distance; Performing a diving movement based on the third position, and acquiring a plurality of fourth methane concentrations and corresponding depth positions according to the preset time intervals; When it is detected that the distance of the diving movement is consistent with the maximum diving distance, the maximum longitudinal methane concentration is determined according to all the third methane concentrations and all the fourth methane concentrations, and the second distance between the fourth position and the depth position corresponding to the maximum longitudinal methane concentration is calculated; wherein the fourth position is determined based on the third position and the maximum diving distance; moving from the fourth position to a fifth position so that the distance between the fifth position and the fourth position is consistent with the second distance, and determining a target depth position according to a depth position corresponding to the fifth position; A target sampling position is obtained according to the target depth position and the preset distance parameter.

8. A sampling path planning device for non-buoyant hydrothermal plumes, characterized in that: including a processor and a memory; The processor is connected to the memory; The memory is used to store executable program code; The processor runs a program corresponding to the executable program code by reading the executable program code stored in the memory, so as to execute the steps of the method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: The computer-readable storage medium stores instructions, and when the instructions are executed on a computer or a processor, the computer or the processor executes the steps of the method according to any one of claims 1 to 6.

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