A seafloor crawling multi-wave source system

Abstract

The invention provides a seabed crawling multi-wave seismic source system, belonging to the field of geophysical technology. The seabed crawling multi-wave seismic source system comprises: a seabed crawling platform, an integrated control module, a seismic source control module, a shear wave transmitting array and a longitudinal wave transmitting array; the seabed crawling platform is flat, and a plurality of crawler wheels are provided at the bottom for crawling forward on the seabed; a sealed cabin is provided at the upper part of the platform for accommodating various control devices; the integrated control module is arranged in the sealed cabin, and comprises a central processing unit, a memory, a communication interface and a power management unit; the central processing unit is electrically connected to the memory for storing and executing control programs; the communication interface is used for exchanging data with external equipment; the power management unit is used for managing the power supply of the system; the seismic source control module is arranged in the sealed cabin; the invention can effectively excite shear waves on the seabed for shear wave seismic exploration, and improve the sedimentary layer structure characterization capability and the sedimentary layer property prediction accuracy.

Description

Technical Field

[0001] The present invention belongs to the field of geophysical technology, and in particular, relates to a seabed crawling multi-wave source system. Background Art

[0002] With the continuous deepening of marine resource exploration and development, the requirements for marine geophysical exploration technology are also increasing. Traditional marine seismic detection uses a conventional seismic source towed in the seawater near the stern of the ship. Since the seismic waves excited by the seismic source in the seawater will lose sound wave energy when propagating and diffusing through the thick seawater layer, the formation penetration ability will be weakened; and since the sound waves of high-frequency components decay faster than low-frequency components, the attenuation of high-frequency components will lead to reduced formation resolution.

[0003] Sound waves are divided into longitudinal waves (also called compression waves) and transverse waves (also called shear waves). When longitudinal waves propagate in a medium, the propagation direction of the wave is consistent with the direction of particle vibration; when transverse waves propagate in a medium, the propagation direction of the wave is perpendicular to the direction of particle vibration. In the same medium, the velocity of transverse waves is lower than that of longitudinal waves. By utilizing the low velocity of transverse waves, seismic profiles with higher resolution than longitudinal waves can be obtained. Since seawater neither provides nor carries shear elastic force, it can only propagate longitudinal waves but not transverse waves. Summary of the invention

[0004] In view of this, the present invention provides a seafloor crawling multi-wave source system, which can effectively excite shear waves on the seafloor for use in shear wave seismic exploration, thereby improving the sedimentary layer structure characterization capability and sedimentary layer property prediction accuracy.

[0005] The present invention is achieved in that:

[0006] The present invention provides a seabed crawling multi-wave seismic source system, which includes: a seabed crawling platform, an integrated control module, a seismic source control module, a transverse wave transmitting array and a longitudinal wave transmitting array; the seabed crawling platform is flat, and a plurality of crawler wheels are provided at the bottom for crawling forward on the seabed; a sealed cabin is provided at the upper part of the platform for accommodating various control devices; the integrated control module is arranged in the sealed cabin, and includes a central processing unit, a memory, a communication interface and a power management unit; the central processing unit is electrically connected to the memory for storing and executing control programs; the communication interface is used for exchanging data with external devices; the power management unit is used for managing the power supply of the system; the seismic source control module is arranged in the sealed cabin, and is electrically connected to the integrated control module, and includes A control chipset, a boost power supply, an energy storage capacitor group, a first solid switch and a second solid switch; the control chipset is equipped with a built-in clock chip for recording the exact time of seismic wave excitation; the boost power supply is used to boost the low-voltage power supply to a high-voltage power supply; the energy storage capacitor group is used to store electrical energy; the first solid switch and the second solid switch are respectively used to control the transmission of electrical energy to the longitudinal wave transmitting array and the transverse wave transmitting array; the longitudinal wave transmitting array is fixedly installed at the front end of the seabed crawling platform, including a sound-transparent pressure-resistant shell, a plurality of cylindrical electrodes and a plurality of needle-shaped electrodes; the sound-transparent pressure-resistant shell is cylindrical, made of acoustically transparent material, and is filled with salt water; the cylindrical electrodes and the needle-shaped electrodes are evenly distributed in the sound-transparent pressure-resistant shell and immersed in salt water; all the cylindrical electrodes are electrically connected to form the same potential , all needle-shaped electrodes are electrically connected to form the same potential, and the polarities of the columnar electrode and the needle-shaped electrode are opposite; the columnar electrode and the needle-shaped electrode are respectively connected to two oppositely polarized terminals of the energy storage capacitor group; the shear wave transmitting array is fixedly installed at the bottom of the seabed crawling platform, including an advancing shovel head, an insulating support plate, at least one high-voltage coil, at least one metal plate, an insulating inner shell and at least one flexible protective film; the advancing shovel head is wedge-shaped, used to shovel the main body of the shear wave transmitting array into the seabed sediment layer; the insulating support plate is fixed behind the advancing shovel head; the high-voltage coil is fixed on the insulating support plate; the metal plate is arranged parallel to the high-voltage coil, and a gap is left between the metal plate and the high-voltage coil; the insulating inner shell is coated on the outside of the high-voltage coil and the metal plate; the flexible protective film covers the metal plate The outer side of the seismic source control module is used to contact the seabed sediments; the control chip built into the seismic source control module is provided with a seismic source control unit for controlling the operation of the longitudinal wave emission array and the transverse wave emission array; when the first solid switch is closed, the electric energy in the energy storage capacitor group is input into the longitudinal wave emission array, plasma is generated around the needle-shaped electrode, causing the surrounding seawater to instantly vaporize and generate bubbles, and the expansion, compression and crushing process of the bubbles generate sound waves, which radiate outward through the sound-transparent pressure-resistant shell to generate longitudinal seismic waves; when the second solid switch is closed, the electric energy in the energy storage capacitor group is input into the high-voltage coil of the transverse wave emission array, and electromagnetic induction force is generated between the high-voltage coil and the metal plate, forcing the metal plate to drive the flexible protective film to bombard the surrounding sediments, generating transverse seismic waves in the sediments.

[0007] On the basis of the above technical solution, the seafloor crawling multi-wave source system of the present invention can also be improved as follows:

[0008] Among them, it also includes an insertion mechanism, which includes: a hydraulic cylinder, a guide rod and a fixed frame; the hydraulic cylinder is fixed at the bottom of the seabed crawling platform, and its piston rod is connected to the shear wave emitting array; the guide rod is fixed at the bottom of the seabed crawling platform, arranged parallel to the hydraulic cylinder, and its lower end is slidably connected to the shear wave emitting array; the fixed frame is installed at the bottom of the seabed crawling platform, and is used to fix the hydraulic cylinder and the guide rod; the source control unit is also used to control the extension and retraction of the hydraulic cylinder to adjust the insertion depth of the shear wave emitting array and improve the coupling between the shear wave emitting array and the seabed sediments.

[0009] Furthermore, the longitudinal wave transmitting array also includes an auxiliary cabin, which is communicated with the main cabin formed by the sound-transparent and pressure-resistant shell; the auxiliary cabin is filled with normal pressure air and is located higher than the main cabin; an air vent is provided on the top of the auxiliary cabin, and a one-way valve is installed on the air vent to allow air to enter the auxiliary cabin from the outside but prevent salt water from flowing out of the auxiliary cabin; the function of the auxiliary cabin is to provide additional space for the expansion of plasma bubbles in the main cabin, thereby improving the efficiency of seismic wave excitation.

[0010] Furthermore, the shear wave transmitting array includes: a first high-voltage coil, a first metal plate, a second high-voltage coil and a second metal plate; the first high-voltage coil and the second high-voltage coil are arranged in parallel on an insulating support plate and are electrically insulated from each other; the first metal plate is located outside the first high-voltage coil, and the second metal plate is located outside the second high-voltage coil; the seismic source control module also includes a third solid switch and a fourth solid switch; when the third solid switch is closed, the electric energy in the energy storage capacitor group is input into the first high-voltage coil to generate a seismic shear wave of polarity A; when the fourth solid switch is closed, the electric energy in the energy storage capacitor group is input into the second high-voltage coil to generate a seismic shear wave of polarity B; wherein, the seismic shear wave of polarity A is opposite in polarity to the seismic shear wave of polarity B.

[0011] Furthermore, the seabed crawling platform also includes: an attitude sensor, a depth gauge and an altimeter; the attitude sensor is used to measure the inclination angle and direction of the seabed crawling platform; the depth gauge is used to measure the water immersion depth of the seabed crawling platform; the altimeter is used to measure the height of the seabed crawling platform from the seabed; the sensors are all electrically connected to the integrated control module for real-time monitoring of the working status of the seabed crawling platform.

[0012] Furthermore, it also includes a composite cable connecting device, which includes: a cable connector, an optical fiber connector and a mechanical connector; the cable connector is used to connect to an external power supply cable to power the seabed crawling multi-wave source system; the optical fiber connector is used to connect to an external optical fiber communication cable to achieve data transmission; the mechanical connector is used to firmly connect the composite cable to the seabed crawling platform; the integrated control module includes a wired communication unit for exchanging data with external equipment via the composite cable.

[0013] Furthermore, it also includes an underwater positioning system, which includes: an ultra-short baseline beacon, an acoustic transducer and a signal processing unit; the ultra-short baseline beacon is installed on the top of the seabed crawling platform for transmitting acoustic signals; the acoustic transducer is installed at the bottom of the seabed crawling platform for receiving reflected acoustic signals; the signal processing unit is electrically connected to the acoustic transducer for processing the received acoustic signal and calculating the precise position of the seabed crawling platform; the integrated control module also includes a positioning data processing unit for receiving and processing positioning data from the signal processing unit.

[0014] Furthermore, it also includes an autonomous navigation system, which includes: an inertial measurement unit, an electronic compass and a path planning module; the inertial measurement unit is used to measure the acceleration and angular velocity of the seabed crawling platform; the electronic compass is used to measure the heading of the seabed crawling platform; the path planning module generates navigation instructions according to a preset exploration path and real-time position information; the integrated control module also includes a motion control unit, which is used to receive navigation instructions from the path planning module and control the movement of the seabed crawling platform.

[0015] Furthermore, it also includes a wireless communication system, which includes: an underwater acoustic modem, an antenna and a wireless communication control unit; the underwater acoustic modem is used to convert digital signals into acoustic signals, and convert received acoustic signals into digital signals; the antenna is installed on the top of the seabed crawling platform, and is used to transmit and receive acoustic signals; the wireless communication control unit is electrically connected to the underwater acoustic modem, and is used to control the wireless communication process; the integrated control module also includes a wireless data processing unit, which is used to process data sent and received through the wireless communication system.

[0016] Furthermore, it also includes a crawler track for being sleeved on the crawler wheel.

[0017] Compared with the prior art, the beneficial effect of the seabed crawling multi-wave source system provided by the present invention is: by setting a seabed crawling platform to crawl forward on the seabed, the longitudinal wave excitation unit and the transverse wave excitation unit contained on the platform are utilized. The transverse wave excitation unit is brought into direct contact with the seabed surface, which can effectively excite the transverse wave, and can be used for transverse wave seismic exploration. Moreover, since the excitation is on the seabed, the diffusion and attenuation of seismic waves caused by the thick seawater layer are avoided, and the seismic detection depth and stratigraphic resolution can be effectively improved; since the transverse wave has a slow speed and a short wavelength, the wave group characteristics are richer in the near-surface shallow layer, and it has a higher longitudinal resolution and lateral resolution, which can better characterize the shallow sedimentary structure characteristics, and the use of multi-wave source excitation, joint acquisition, and processing of shear waves and longitudinal waves can improve the sedimentary layer structure characterization capability and the sedimentary layer property prediction accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0019] Figure 1 This is a schematic diagram of the structure of the submarine crawling platform;

[0020] Figure 2 It is a schematic diagram of the integrated control module and the source control module;

[0021] Figure 3 This is a schematic diagram of the position of the shear wave transmitting array;

[0022] Figure 4 This is a schematic diagram of the shear wave transmitting array structure;

[0023] Figure 5 This is a schematic diagram of the longitudinal wave transmitting array structure;

[0024] Figure 6 This is a schematic diagram of the track wheel structure of the submarine crawling platform;

[0025] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0026] 10. Submarine crawling platform; 11. Track wheels; 12. Sealed cabin; 13. Central processing unit; 14. Memory; 15. Communication interface; 16. Power management unit; 17. Control chipset; 18. Boost power supply; 19. Energy storage capacitor group; 20. First solid switch; 21. Second solid switch; 22. Clock chip; 23. Sound-transparent pressure-resistant shell; 24. Cylindrical electrode; 25. Needle electrode; 26. Shovel head; 27. Insulating support plate; 28. High-voltage coil; 29. ​​Metal sheet; 30. Insulating inner shell; 31. Flexible protective film; 32. Hydraulic cylinder; 33. Guide rod; 34. Fixed frame; 35. Auxiliary cabin. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the embodiments of the present invention more clear, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0028] like Figure 1-5As shown in the figure, it is an embodiment of a seabed crawling multi-wave source system provided by the present invention. In this embodiment, it includes: a seabed crawling platform 10, an integrated control module, a source control module, a transverse wave transmitting array and a longitudinal wave transmitting array; the seabed crawling platform 10 is flat, and a plurality of crawler wheels 11 are provided at the bottom for crawling on the seabed; a sealed cabin 12 is provided at the upper part of the platform for accommodating various control devices; the integrated control module is arranged in the sealed cabin 12, and includes a central processing unit 13, a memory 14, a communication interface 15 and a power management unit 16; the central processing unit 13 is electrically connected to the memory 14 for storing and executing control programs; the communication interface 15 is used for data communication with external devices. exchange; the power management unit 16 is used to manage the power supply of the system; the source control module is arranged in the sealed cabin 12, and is electrically connected to the integrated control module, including a control chip group 17, a boost power supply 18, an energy storage capacitor group 19, a first solid switch 20 and a second solid switch 21; the control chip group 17 has a built-in clock chip 22 for recording the exact time of seismic wave excitation; the boost power supply 18 is used to boost the low-voltage power supply to a high-voltage power supply; the energy storage capacitor group 19 is used to store electrical energy; the first solid switch 20 and the second solid switch 21 are respectively used to control the transmission of electrical energy to the longitudinal wave emission array and the transverse wave emission array; the longitudinal wave emission array is fixedly installed at the front end of the seabed crawling platform 10, including a sound-transparent and pressure-resistant outer The sound-transmitting pressure-resistant shell 23 is cylindrical, made of acoustically transparent material, and filled with salt water; the cylindrical electrodes 24 and the needle electrodes 25 are evenly distributed in the sound-transmitting pressure-resistant shell 23 and immersed in salt water; all the cylindrical electrodes 24 are electrically connected to form the same potential, and all the needle electrodes 25 are electrically connected to form the same potential, and the polarities of the cylindrical electrodes 24 and the needle electrodes 25 are opposite; the cylindrical electrodes 24 and the needle electrodes 25 are respectively connected to two oppositely polarized terminals of the energy storage capacitor group 19; the shear wave transmitting array is fixedly installed at the bottom of the seabed crawling platform 10, including a shovel head 26, an insulating support plate 27, and at least one high-voltage line The shovel head 26 is wedge-shaped and is used to shovel the main body of the shear wave transmitting array into the seabed sediment layer; the insulating support plate 27 is fixed behind the shovel head 26; the high-voltage coil 28 is fixed on the insulating support plate 27; the metal plate 29 is arranged parallel to the high-voltage coil 28, and a gap is left between the metal plate 29 and the high-voltage coil 28; the insulating inner shell 30 is covered on the outside of the high-voltage coil 28 and the metal plate 29; the flexible protective film 31 covers the outside of the metal plate 29 and is used to contact the seabed sediment; the control chip built into the seismic source control module is provided with a seismic source control unit for controlling the operation of the longitudinal wave transmitting array and the shear wave transmitting array;When the first solid switch 20 is closed, the electric energy in the energy storage capacitor group 19 is input into the longitudinal wave emission array, plasma is generated around the needle electrode 25, causing the surrounding seawater to instantly vaporize and generate bubbles. The expansion, compression and crushing process of the bubbles generates sound waves, which radiate outward through the sound-transparent pressure-resistant shell to generate longitudinal seismic waves; when the second solid switch 21 is closed, the electric energy in the energy storage capacitor group 19 is input into the high-voltage coil 28 of the transverse wave emission array, and electromagnetic induction force is generated between the high-voltage coil 28 and the metal plate 29, forcing the metal plate 29 to drive the flexible protective film 31 to bombard the surrounding sediments, generating transverse seismic waves in the sediments. ;

[0029] Among them, in the above technical scheme, it also includes a lowering mechanism, which includes: a hydraulic cylinder 32, a guide rod 33 and a fixed frame 34; the hydraulic cylinder 32 is fixed at the bottom of the seabed crawling platform, and its piston rod is connected to the shear wave emitting array; the guide rod 33 is fixed at the bottom of the seabed crawling platform, and is arranged parallel to the hydraulic cylinder 32, and its lower end is slidably connected to the shear wave emitting array; the fixed frame 34 is installed at the bottom of the seabed crawling platform, and is used to fix the hydraulic cylinder 32 and the guide rod 33; the source control unit is also used to control the extension and retraction of the hydraulic cylinder 32 to adjust the lowering depth of the shear wave emitting array and improve the coupling between the shear wave emitting array and the seabed sediments.

[0030] Among them, the submarine crawling platform can also be used as Figure 6 Settings shown;

[0031] Furthermore, in the above technical solution, the longitudinal wave transmitting array also includes an auxiliary cabin 35, which is communicated with the main cabin formed by the sound-transparent pressure-resistant shell 23; the auxiliary cabin 35 is filled with normal pressure air and is located higher than the main cabin; an air vent is provided on the top of the auxiliary cabin 35, and a one-way valve is installed on the air vent to allow air to enter the auxiliary cabin from the outside but prevent salt water from flowing out of the auxiliary cabin 35; the function of the auxiliary cabin 35 is to provide additional space for the expansion of plasma bubbles in the main cabin, thereby improving the efficiency of seismic wave excitation.

[0032] Furthermore, in the above technical solution, the shear wave transmitting array includes: a first high-voltage coil, a first metal plate, a second high-voltage coil and a second metal plate; the first high-voltage coil and the second high-voltage coil are arranged in parallel on an insulating support plate and are electrically insulated from each other; the first metal plate is located outside the first high-voltage coil, and the second metal plate is located outside the second high-voltage coil; the source control module also includes a third solid switch and a fourth solid switch; when the third solid switch is closed, the electric energy in the energy storage capacitor group is input into the first high-voltage coil to generate a seismic shear wave of polarity A; when the fourth solid switch is closed, the electric energy in the energy storage capacitor group is input into the second high-voltage coil to generate a seismic shear wave of polarity B; wherein, the seismic shear wave of polarity A is opposite in polarity to the seismic shear wave of polarity B.

[0033] Furthermore, in the above technical scheme, the seabed crawling platform also includes: an attitude sensor, a depth gauge and an altimeter; the attitude sensor is used to measure the inclination angle and direction of the seabed crawling platform; the depth gauge is used to measure the water entry depth of the seabed crawling platform; the altimeter is used to measure the height of the seabed crawling platform from the seabed; the sensors are all electrically connected to the integrated control module for real-time monitoring of the working status of the seabed crawling platform.

[0034] Furthermore, in the above technical solution, it also includes a composite cable connecting device, which includes: a cable connector, an optical fiber connector and a mechanical connector; the cable connector is used to connect to an external power supply cable to power the seabed crawling multi-wave seismic source system; the optical fiber connector is used to connect to an external optical fiber communication cable to realize data transmission; the mechanical connector is used to firmly connect the composite cable to the seabed crawling platform; the integrated control module includes a wired communication unit for exchanging data with external equipment through the composite cable.

[0035] Furthermore, in the above technical scheme, it also includes an underwater positioning system, which includes: an ultra-short baseline beacon, an acoustic transducer and a signal processing unit; the ultra-short baseline beacon is installed on the top of the seabed crawling platform for transmitting acoustic signals; the acoustic transducer is installed at the bottom of the seabed crawling platform for receiving reflected acoustic signals; the signal processing unit is electrically connected to the acoustic transducer for processing the received acoustic signal and calculating the precise position of the seabed crawling platform; the integrated control module also includes a positioning data processing unit for receiving and processing positioning data from the signal processing unit.

[0036] Furthermore, in the above technical solution, an autonomous navigation system is also included, which includes: an inertial measurement unit, an electronic compass and a path planning module; the inertial measurement unit is used to measure the acceleration and angular velocity of the seabed crawling platform; the electronic compass is used to measure the heading of the seabed crawling platform; the path planning module generates navigation instructions according to a preset exploration path and real-time position information; the integrated control module also includes a motion control unit, which is used to receive navigation instructions from the path planning module and control the movement of the seabed crawling platform.

[0037] Furthermore, in the above technical solution, a wireless communication system is also included, which includes: an underwater acoustic modem, an antenna and a wireless communication control unit; the underwater acoustic modem is used to convert digital signals into acoustic signals, and convert received acoustic signals into digital signals; the antenna is installed on the top of the seabed crawling platform, and is used to transmit and receive acoustic signals; the wireless communication control unit is electrically connected to the underwater acoustic modem, and is used to control the wireless communication process; the integrated control module also includes a wireless data processing unit, which is used to process data sent and received through the wireless communication system.

[0038] Furthermore, in the above technical solution, it also includes a crawler track for being mounted on the crawler wheel.

[0039] Furthermore, in the above technical solution, the submarine crawling platform is flat, about 3 meters long, about 2 meters wide, and about 0.5 meters high. There are 6 track wheels at the bottom of the platform, each track wheel is about 0.3 meters in diameter and about 0.2 meters wide. The track wheels are covered with tracks, which are made of wear-resistant and non-slip materials with a thickness of about 0.02 meters. The track wheels are connected to the bottom of the platform through bearings and can rotate freely. A sealed cabin is provided at the top of the platform, with a size of about 2.5 meters × 1.5 meters × 0.4 meters, which is made of high-strength pressure-resistant materials and can withstand high pressure in deep-sea environments. A shock-absorbing device is provided inside the sealed cabin to protect various control equipment.

[0040] Integrated control module:

[0041] The integrated control module is installed in the sealed cabin, and mainly includes a central processing unit, memory, communication interface and power management unit. The central processing unit adopts a high-performance embedded processor with a main frequency of 3GHz and a multi-core architecture. The memory includes a 128GB solid-state drive and 32GB RAM. The communication interface includes an Ethernet interface, a serial port and an optical fiber interface. The power management unit adopts an intelligent power management chip, which can achieve multi-channel output and precise voltage control.

[0042] The workflow of the integrated control module is as follows:

[0043] System initialization. After powering on, the CPU first executes the self-test program to verify the working status of each hardware module. Then, it loads the operating system and control program from the memory. Next, it initializes the communication interface to establish a connection with external devices. Finally, the power management unit performs voltage detection and regulation to ensure that each module is powered normally.

[0044] Data acquisition and processing. The central processor receives data from various sensors through the communication interface, including attitude information, depth information, height information, etc. The Kalman filter algorithm is used to filter the raw data to eliminate the influence of noise. Then, the data fusion algorithm is used to comprehensively analyze various information to obtain the accurate position and attitude of the seabed crawling platform.

[0045] Decision-making and control. Based on the processed data, the central processor executes the preset control algorithm. Fuzzy control theory is used to calculate the optimal control parameters according to the current state and target position. Then, the corresponding control instructions are generated and sent to each actuator through the communication interface.

[0046] Data storage and transmission. The central processor stores the processed data and control instructions in the solid-state hard disk, using an efficient data compression algorithm to reduce storage space usage. At the same time, real-time data is transmitted to the control center on the surface through an optical fiber interface, using a highly reliable communication protocol to ensure the accuracy of data transmission.

[0047] Abnormality handling. The central processor continuously monitors the system operation status. When an abnormality is detected, the preset emergency handling procedure is immediately triggered. According to the type of abnormality, corresponding handling measures are taken, such as emergency shutdown, fault isolation, etc. At the same time, alarm information is sent to the surface control center through the communication interface.

[0048] Source control module:

[0049] The source control module is installed in the sealed cabin and connected to the integrated control module through a high-speed data bus. The module mainly includes a control chipset, a boost power supply, an energy storage capacitor group, a first solid switch and a second solid switch. The control chipset uses a high-performance digital signal processor (DSP) with a main frequency of 1.5GHz and a built-in clock chip with an accuracy of 0.1 microseconds. The boost power supply uses switching power supply technology, with an input voltage of 24V and an adjustable output voltage range of 1kV~5kV. The total capacity of the energy storage capacitor group is 1000μF and a withstand voltage of 5kV. The first solid switch and the second solid switch both use insulated gate bipolar transistors (IGBTs) with a rated current of 1000A and a switching time of less than 1μs.

[0050] The workflow of the source control module is as follows:

[0051] Charging control: The control chipset first detects the voltage of the energy storage capacitor bank. If the voltage is lower than the preset threshold (such as 4kV), the boost power supply is started for charging. During the charging process, a constant current and constant voltage charging algorithm is used, and the charging current is limited to less than 10A. When the voltage of the capacitor bank reaches the set value (such as 4.5kV), charging stops.

[0052] Trigger timing control. The control chipset generates accurate trigger timing according to the preset transmission scheme. The phase-locked loop (PLL) technology is used to synchronize the trigger signal with the built-in clock to ensure trigger accuracy better than 1μs. According to different waveform requirements, single pulse, double pulse or multi-pulse sequence can be generated.

[0053] Switch control: According to the trigger timing, the control chipset accurately controls the opening and closing of the first solid switch and the second solid switch. The PWM modulation technology can achieve fine adjustment of the output energy. In order to prevent the switch from overheating, over-current protection and over-temperature protection functions are also implemented.

[0054] Data recording: The control chipset records the parameters of each transmission in real time, including the transmission time, voltage, current, etc. A high-speed analog-to-digital converter (ADC) is used to collect voltage and current waveforms, with a sampling rate of 10MHz. The recorded data is compressed and stored in the local memory, and sent to the integrated control module through the communication interface.

[0055] Self-diagnosis: The control chipset regularly performs self-diagnosis procedures to detect the working status of each component. The intelligent fault diagnosis algorithm can identify potential fault hazards. If an abnormality is found, it will be reported immediately to the integrated control module and handled according to the preset strategy.

[0056] Longitudinal wave emission array:

[0057] The longitudinal wave transmitting array is fixedly installed at the front end of the seabed crawling platform, and is mainly composed of a sound-transparent pressure-resistant shell, multiple cylindrical electrodes and multiple needle electrodes. The sound-transparent pressure-resistant shell is cylindrical, with a diameter of 0.5 meters and a height of 0.6 meters. It is made of acoustically transparent materials (such as polyurethane) and has a wall thickness of 0.02 meters. The interior is filled with a saline solution with a concentration of 3.5%. There are 8 cylindrical electrodes with a diameter of 0.02 meters and a height of 0.4 meters, which are evenly distributed on the inner wall of the sound-transparent pressure-resistant shell. There are 16 needle electrodes with a diameter of 0.005 meters, a length of 0.1 meters, and a tip radius of 0.0001 meters, which are evenly distributed between the cylindrical electrodes. All cylindrical electrodes are connected in parallel through copper wires, and all needle electrodes are also connected in parallel through copper wires. The cylindrical electrodes and needle electrodes are respectively connected to the positive and negative poles of the energy storage capacitor group.

[0058] The working principle of the longitudinal wave transmitting array is as follows:

[0059] Electric energy conversion: When the first solid switch is closed, the electric energy (about 10kJ) in the energy storage capacitor bank is input into the longitudinal wave emission array in a very short time (less than 10μs). A high voltage (about 4.5kV) acts between the needle electrode and the cylindrical electrode.

[0060] Plasma generation: Due to the extremely high electric field strength at the tip of the needle-shaped electrode (over 10^7V / m), ionization occurs in the surrounding salt water, generating plasma. Plasma exhibits extremely high temperature (about 10000K) and pressure (about 10^8Pa).

[0061] Bubble formation and expansion: The salt water around the plasma vaporizes instantly, forming tiny bubbles. The bubbles expand rapidly under high temperature and pressure, with an expansion speed of hundreds of meters per second. During the expansion process, the volume of the bubbles increases hundreds of times.

[0062] Bubble compression and breakage: When the bubble expands to its maximum volume, it begins to compress due to the surrounding water pressure. During the compression process, the pressure inside the bubble increases again. When the pressure reaches a critical value, the bubble breaks. The breakage process is extremely violent, generating a strong shock wave.

[0063] Sound wave generation and propagation: The expansion, compression and breakup of bubbles generate sound waves. The frequency range of sound waves is wide, from a few hertz to several thousand hertz. The energy of sound waves is mainly concentrated in the range of 10Hz~200Hz. Sound waves radiate to the surroundings through the sound-transparent pressure-resistant shell, forming spherical waves in the water.

[0064] P-wave seismic wave formation: After the sound wave propagates to the seabed, part of the energy is transmitted into the seabed sediment layer, forming a P-wave seismic wave. Since the acoustic impedance of the seabed is different from that of the water body, reflection and refraction will occur. The transmission coefficient is different for different incident angles, which can be calculated according to Snell's law.

[0065] Shear wave transmitting array:

[0066] The shear wave transmitting array is fixedly installed at the bottom of the seabed crawling platform, and is mainly composed of a shovel head, an insulating support plate, a high-voltage coil, a metal sheet, an insulating inner shell and a flexible protective film. The shovel head is wedge-shaped, 0.5 meters long and 0.3 meters wide, and the thickness gradually increases from 0.01 meters at the front end to 0.05 meters at the rear end. The insulating support plate is 0.4 meters × 0.25 meters × 0.02 meters in size and is made of epoxy resin material. The high-voltage coil adopts a flat spiral shape, with an outer diameter of 0.3 meters, an inner diameter of 0.1 meters, a thickness of 0.01 meters, and 100 turns. The metal sheet is made of aluminum alloy, with a size of 0.35 meters × 0.2 meters × 0.005 meters. The insulating inner shell is made of polytetrafluoroethylene material, which completely covers the high-voltage coil and the metal sheet. The flexible protective film is made of high-strength rubber material with a thickness of 0.002 meters.

[0067] The working principle of the shear wave transmitting array is as follows:

[0068] Electromagnetic induction: When the second solid-state switch is closed, the electric energy (about 5kJ) in the energy storage capacitor bank is input into the high-voltage coil in a very short time (less than 5μs). A strong pulse current (peak value of about 5000A) is generated in the coil, which in turn generates a changing magnetic field. The magnetic field strength can reach 1T.

[0069] Eddy current generation: The changing magnetic field passes through the metal sheet, inducing eddy currents in the metal sheet. The size and direction of the eddy currents change with the change of the magnetic field. According to Lenz's law, the direction of the magnetic field generated by the eddy currents always hinders the change of the original magnetic field.

[0070] Lorentz force: Eddy currents are affected by the Lorentz force in a magnetic field. The direction of the Lorentz force is perpendicular to the magnetic field and current direction, and its magnitude is proportional to the magnetic field strength, current magnitude, and conductor length. The Lorentz force causes the metal sheet to vibrate.

[0071] Mechanical vibration transmission: The vibration of the metal plate is transmitted to the surrounding seabed sediments through the flexible protective film. Since the flexible protective film is in close contact with the sediment, the vibration energy can be effectively transmitted. The vibration frequency is mainly concentrated in the range of 5Hz~100Hz.

[0072] Shear wave seismic wave formation: In sediments, mechanical vibrations propagate in the form of shear waves, forming shear waves. The propagation speed of shear waves depends on the shear modulus and density of the sediment. Since shear waves cannot propagate in fluids, seismic waves generated in this way mainly propagate in solid media.

[0073] The seabed crawling platform also includes the following auxiliary systems:

[0074] Attitude sensor: Adopts micro-electromechanical system (MEMS) technology, integrating accelerometer and gyroscope. Measuring range: tilt angle ±45°, accuracy 0.1°; direction 0°~360°, accuracy 0.5°. Sampling frequency 100Hz.

[0075] Depth meter: Piezoresistive sensor, measuring range 0~6000 meters, accuracy ±0.1%FS. Sampling frequency 10Hz.

[0076] Altimeter: Adopts the principle of acoustic ranging, with a transmission frequency of 200kHz, a measurement range of 0.5~100 meters, and an accuracy of ±1cm. The sampling frequency is 1Hz.

[0077] These sensors are connected to the integrated control module via the RS485 bus to monitor the working status of the seabed crawling platform in real time.

[0078] The composite cable connection device comprises:

[0079] Cable connector: underwater plug-in design, rated voltage 1000V, rated current 100A, insulation resistance greater than 1000MΩ.

[0080] Fiber optic connector: Use underwater pluggable multi-core fiber optic connector with insertion loss less than 0.5dB and return loss greater than 45dB.

[0081] Mechanical connector: Made of stainless steel with a tensile strength greater than 50kN, fixed to the seabed crawling platform by bolts.

[0082] The wired communication unit in the integrated control module adopts photoelectric conversion technology to achieve high-speed data transmission with a maximum bandwidth of 1Gbps.

[0083] The underwater positioning system includes:

[0084] Ultra-short baseline beacon: transmission frequency 30kHz, sound source level 190dB re 1μPa@1m, working depth 6000 meters.

[0085] Acoustic transducer: Made of piezoelectric ceramic material, receiving sensitivity -190dB re 1V / μPa, frequency range 20kHz~40kHz.

[0086] Signal processing unit: uses digital signal processor (DSP) chip, main frequency 1GHz, floating point computing capability 10GFLOPS.

[0087] The signal processing unit uses a time-reversal mirror algorithm to process acoustic signals, which can effectively suppress multi-path interference. The positioning accuracy is better than 0.2% of the slant range in the horizontal direction and better than 0.5% of the water depth in the vertical direction.

[0088] The positioning data processing unit uses the extended Kalman filter algorithm and combines the data of the inertial measurement unit to achieve a smooth estimation of the position of the seabed crawling platform. The update frequency is 1Hz.

[0089] The autonomous navigation system includes:

[0090] Inertial measurement unit: fiber optic gyroscope and quartz flexible accelerometer are used. The gyroscope zero bias stability is better than 0.01° / h, and the accelerometer zero bias stability is better than 10μg.

[0091] Electronic compass: Adopts three-axis magnetometer with measurement range of ±80μT and resolution of 0.1μT.

[0092] Path planning module: A* algorithm is used for global path planning, and dynamic window method is used for local path planning.

[0093] The workflow of the path planning module is as follows:

[0094] Topographic data loading. Load pre-measured seabed topographic data from the memory to build a gridded terrain model. The grid resolution is 1 meter × 1 meter.

[0095] Global path planning. Based on the starting point and the end point, the A* algorithm is used to search for the optimal path on the gridded terrain model. Factors considered include path length, terrain slope, and obstacles.

[0096] Local path planning. Based on the global path, the dynamic window method is used to perform local path planning. The kinematic and dynamic constraints of the seabed crawling platform are considered to generate a smooth motion trajectory.

[0097] Obstacle avoidance control. Use sonar data to detect the surrounding environment in real time. If an unknown obstacle is found, the obstacle avoidance algorithm is triggered immediately. The artificial potential field method is used to generate the obstacle avoidance path.

[0098] Path execution and adjustment. Convert the planned path into speed and steering instructions and send them to the motion control unit for execution. At the same time, dynamically adjust the path planning parameters according to the actual execution situation.

[0099] The motion control unit uses a fuzzy PID control algorithm to accurately control the speed and direction of the track wheel according to the instructions of the path planning module and the feedback of the attitude sensor. The control cycle is 10ms.

[0100] The wireless communication system includes:

[0101] Underwater acoustic modem: operating frequency 10kHz~30kHz, using quadrature phase shift keying (QPSK) modulation, the data transmission rate can reach 5kbps.

[0102] Antenna: Adopts omnidirectional spherical transducer, with transmitting sound source level of 190dB re 1μPa@1m and receiving sensitivity of -180dBre 1V / μPa.

[0103] Wireless communication control unit: uses ARM Cortex-M4 processor, main frequency 180MHz, built-in 512KB SRAM.

[0104] The working process of the wireless communication system is as follows:

[0105] Channel estimation. Send a probe signal and estimate the characteristics of the current acoustic channel based on the strength and delay of the received signal. Use the least squares algorithm for channel estimation.

[0106] Adaptive modulation. Dynamically adjust the modulation mode and coding rate based on the channel estimation results. When the channel conditions are poor, use a more robust modulation mode (such as BPSK) and a lower coding rate.

[0107] Data packaging and transmission. Group the data to be sent, add frame headers, frame trailers and checksums. Use forward error correction coding (such as Reed-Solomon code) to improve transmission reliability.

[0108] Data reception and decoding. Receive acoustic signals, perform synchronous detection and demodulation. Use an equalizer to eliminate channel interference, then perform decoding and error correction.

[0109] Protocol processing. Implement a simplified TCP / IP protocol stack to support reliable data transmission and flow control. Use the Selective Retransmission (SR) mechanism to handle packet loss.

[0110] The wireless data processing unit uses a data compression algorithm (such as the LZW algorithm) to reduce the amount of transmitted data, and uses the AES-256 encryption algorithm to ensure data security.

[0111] The specific implementation of the lower insertion mechanism is as follows:

[0112] Hydraulic cylinder: Double-acting hydraulic cylinder with a cylinder diameter of 0.1m, a piston rod diameter of 0.05m, and a stroke of 0.5m. The maximum working pressure is 20MPa and the output force can reach 15kN.

[0113] Guide rod: Made of stainless steel, with a diameter of 0.03m and a length of 0.6m. The surface is hardened to improve wear resistance.

[0114] Fixed frame: Made of aluminum alloy, it is light and strong. It is fixedly connected to the bottom of the seabed crawling platform by bolts.

[0115] The working process of the insertion mechanism is as follows:

[0116] Initial position detection. Use a position sensor to detect the initial position of the hydraulic cylinder piston rod. Use a magnetostrictive displacement sensor with a resolution of 0.1mm.

[0117] Calculation of insertion depth. Calculate the optimal insertion depth based on the type and hardness of the seabed sediments. Using a fuzzy logic algorithm, the input parameters include sediment sound velocity, density, and shear strength.

[0118] Hydraulic control. The flow and direction of the hydraulic oil are controlled by a proportional valve to achieve precise control of the hydraulic cylinder. PID control algorithm is used with a control accuracy of ±1mm.

[0119] Monitoring of the insertion process. Real-time monitoring of pressure changes during the insertion process. If abnormal resistance is detected (such as encountering a hard object), the insertion is stopped immediately and an alarm is sounded.

[0120] Vibration suppression: During the insertion process, vibration may occur. Active vibration reduction technology is used to offset the vibration through anti-phase excitation to improve the insertion accuracy.

[0121] The source control unit controls the extension and retraction of the hydraulic cylinder. The specific implementation is as follows:

[0122] Receive instructions. The source control unit receives the insertion instruction from the integrated control module through the communication interface, and the instruction contains the target depth information.

[0123] Parameter setting: According to the target depth, set the working parameters of the hydraulic system, including the output pressure of the pump, the opening of the proportional valve, etc.

[0124] Motion control. Adopt closed-loop control strategy to accurately control the movement of hydraulic cylinder according to the feedback of position sensor. Use PID control algorithm to dynamically adjust control parameters.

[0125] Force feedback control. During the insertion process, the force sensor monitors the resistance change. When the resistance exceeds the preset threshold (such as 5kN), the insertion speed is automatically adjusted or the insertion is stopped.

[0126] Condition monitoring. Real-time monitoring of the working status of the hydraulic system, including oil temperature, oil pressure, flow, etc. If an abnormality is detected (such as excessive oil temperature, pressure fluctuations), protective measures are taken immediately.

[0127] Data logging. Record detailed data of each insertion operation, including depth, time, pressure, etc. These data are used for subsequent analysis and system optimization.

[0128] The specific implementation of the auxiliary cabin of the longitudinal wave transmitting array is as follows:

[0129] The auxiliary cabin has a diameter of 0.3 meters, a height of 0.2 meters, and a volume of about 14 liters. It is located 0.1 meters above the main cabin.

[0130] Connecting pipe: 0.05m in diameter, 0.15m in length, connecting the main cabin and the auxiliary cabin. Made of stainless steel.

[0131] Air vent: 0.01m in diameter, set at the top of the auxiliary cabin.

[0132] Check valve: Spring-loaded check valve with opening pressure of 0.1MPa and maximum flow rate of 100L / min.

[0133] The working principle of the auxiliary compartment is as follows:

[0134] Initial state: The auxiliary chamber is filled with normal pressure air (about 0.1MPa), and the main chamber is filled with salt water.

[0135] Longitudinal wave excitation. When the longitudinal wave emission array is triggered, high-pressure bubbles are generated in the main chamber. During the expansion of the bubbles, part of the salt water is squeezed into the auxiliary chamber.

[0136] Pressure balance. The air in the auxiliary chamber is compressed, acting as a buffer. This reduces the impact on the sound-transparent pressure-resistant shell and provides more space for the air bubbles to expand.

[0137] The bubble shrinks. When the bubble begins to shrink, the compressed air in the auxiliary chamber pushes the salt water back into the main chamber, accelerating the shrinkage process of the bubble.

[0138] System reset. After the launch, a small amount of air is added through the one-way valve to restore the auxiliary chamber to its initial state.

[0139] Performance monitoring: The pressure changes in the auxiliary chamber are monitored by pressure sensors to evaluate the launch effect and system performance.

[0140] The improved implementation of the shear wave transmitting array includes two sets of high voltage coils and metal plates, as follows:

[0141] The first high-voltage coil: outer diameter 0.25 meters, inner diameter 0.1 meters, thickness 0.01 meters, number of turns 80 turns.

[0142] The second high-voltage coil: outer diameter 0.2 meters, inner diameter 0.05 meters, thickness 0.01 meters, number of turns 100 turns.

[0143] The first metal plate: size 0.3m × 0.15m × 0.005m, made of aluminum alloy.

[0144] The second metal plate: size 0.25 m × 0.1 m × 0.005 m, made of aluminum alloy.

[0145] The third solid-state switch and the fourth solid-state switch: the same as the first and second solid-state switches, with a rated current of 1000A and a switching time of less than 1μs.

[0146] The working principle of the improved shear wave transmitting array is as follows:

[0147] A polarity excitation: When the third solid switch is closed, the electric energy (about 3kJ) in the energy storage capacitor bank is input into the first high-voltage coil. The electromagnetic force generated causes the first metal plate to move upward, exciting the A polarity seismic shear wave.

[0148] B polarity excitation: When the fourth solid switch is closed, the electric energy (about 3kJ) in the energy storage capacitor bank is input into the second high-voltage coil. The generated electromagnetic force causes the second metal plate to move downward, exciting the B polarity seismic shear wave.

[0149] Alternating excitation: By controlling the switching timing of the third and fourth solid switches, the alternating excitation of A polarity and B polarity seismic shear waves can be achieved. The typical alternating frequency is 10Hz.

[0150] Amplitude modulation: By adjusting the amount of electrical energy input to the high-voltage coil, the vibration amplitude of the metal plate can be controlled, thereby adjusting the intensity of the seismic shear wave. This is achieved using pulse width modulation (PWM) technology.

[0151] Frequency modulation: By changing the trigger frequency of the solid-state switch, the frequency of the seismic shear wave can be adjusted. The frequency range can be adjusted from 5Hz to 50Hz.

[0152] Phase control: By precisely controlling the triggering moment of the third and fourth solid switches, the phase control of seismic shear waves can be achieved. The phase resolution is better than 1°.

[0153] This improved design can generate more complex seismic shear wave waveforms, which is beneficial to improving the resolution and signal-to-noise ratio of seismic exploration. By adjusting the amplitude, frequency and phase of A-polarity and B-polarity seismic shear waves, the waveform can be optimized to adapt to different geological conditions and exploration needs.

[0154] The seabed crawling multi-wave source system of the present invention realizes efficient and accurate seabed seismic exploration by integrating a variety of advanced technologies. The core advantage of the system is that it can generate longitudinal and transverse seismic waves at the same time, and the waveform parameters can be flexibly adjusted. The design of the seabed crawling platform ensures the stable operation of the system in a complex seabed environment, and the coordinated work of the integrated control module and the source control module ensures the accuracy and reliability of seismic wave excitation. Through the optimized design of the longitudinal wave transmitting array and the transverse wave transmitting array, the system can generate high-quality seismic signals, providing a powerful tool for the fine detection of seabed geological structures. In addition, the system also integrates advanced positioning, navigation and communication technologies, which greatly improves the autonomy and efficiency of seabed exploration. In short, the present invention provides an innovative technical solution for the fields of marine oil and gas resource exploration, seabed geological disaster assessment, etc.

Claims

1. A seafloor crawling multi-wave source system, characterized in that: include: Seabed crawling platform, integrated control module, source control module, transverse wave transmitting array and longitudinal wave transmitting array; the seabed crawling platform is flat, with multiple crawler wheels at the bottom for crawling on the seabed; a sealed cabin is provided at the upper part of the platform for accommodating various control devices; the integrated control module is arranged in the sealed cabin, including a central processing unit, a memory, a communication interface and a power management unit; the central processing unit is electrically connected to the memory for storing and executing control programs; the communication interface is used for exchanging data with external devices; the power management unit is used for managing the power supply of the system; the source control module is arranged in the sealed cabin, electrically connected to the integrated control module, including a control chipset , a boost power supply, an energy storage capacitor group, a first solid switch and a second solid switch; the control chipset is equipped with a clock chip for recording the exact time of seismic wave excitation; the boost power supply is used to boost the low voltage power supply to a high voltage power supply; the energy storage capacitor group is used to store electric energy; the first solid switch and the second solid switch are respectively used to control the transmission of electric energy to the longitudinal wave emission array and the transverse wave emission array; the longitudinal wave emission array is fixedly installed at the front end of the seabed crawling platform, including a sound-transparent pressure-resistant shell, a plurality of cylindrical electrodes and a plurality of needle-shaped electrodes; the sound-transparent pressure-resistant shell is cylindrical, made of acoustically transparent material, and is filled with salt water; the cylindrical electrodes and the needle-shaped electrodes are evenly distributed in the sound-transparent pressure-resistant shell and immersed in salt water; All cylindrical electrodes are electrically connected to form the same potential, all needle-shaped electrodes are electrically connected to form the same potential, and the polarities of the cylindrical electrodes and the needle-shaped electrodes are opposite; the cylindrical electrodes and the needle-shaped electrodes are respectively connected to two oppositely polarized terminals of the energy storage capacitor group; the shear wave transmitting array is fixedly installed at the bottom of the seabed crawling platform, including an advancing shovel head, an insulating support plate, at least one high-voltage coil, at least one metal plate, an insulating inner shell and at least one flexible protective film; the advancing shovel head is wedge-shaped, used to shovel the main body of the shear wave transmitting array into the seabed sediment layer; the insulating support plate is fixed behind the advancing shovel head; the high-voltage coil is fixed on the insulating support plate; the metal plate is arranged parallel to the high-voltage coil, and a gap is left between the metal plate and the high-voltage coil; the insulating inner shell is coated on the outside of the high-voltage coil and the metal plate; the flexible protective film The membrane covers the outside of the metal plate and is used to contact the seabed sediments; the control chip built into the seismic source control module is provided with a seismic source control unit, which is used to control the operation of the longitudinal wave emission array and the transverse wave emission array; when the first solid switch is closed, the electric energy in the energy storage capacitor group is input into the longitudinal wave emission array, plasma is generated around the needle-shaped electrode, and the surrounding seawater is caused to vaporize instantly to generate bubbles, and the expansion, compression and crushing process of the bubbles generates sound waves, which radiate outward through the sound-transparent pressure-resistant shell to generate longitudinal seismic waves; when the second solid switch is closed, the electric energy in the energy storage capacitor group is input into the high-voltage coil of the transverse wave emission array, and electromagnetic induction force is generated between the high-voltage coil and the metal plate, forcing the metal plate to drive the flexible protective membrane to bombard the surrounding sediments, generating transverse seismic waves in the sediments.

2. The seafloor crawling multi-wave source system according to claim 1, characterized in that: It also includes an insertion mechanism, which includes: a hydraulic cylinder, a guide rod and a fixed frame; the hydraulic cylinder is fixed at the bottom of the seabed crawling platform, and its piston rod is connected to the shear wave emitting array; the guide rod is fixed at the bottom of the seabed crawling platform, arranged parallel to the hydraulic cylinder, and its lower end is slidably connected to the shear wave emitting array; the fixed frame is installed at the bottom of the seabed crawling platform, and is used to fix the hydraulic cylinder and the guide rod; the source control unit is also used to control the extension and retraction of the hydraulic cylinder to adjust the insertion depth of the shear wave emitting array and improve the coupling between the shear wave emitting array and the seabed sediments.

3. The seafloor crawling multi-wave source system according to claim 2, characterized in that: The longitudinal wave emission array also includes an auxiliary cabin, which is communicated with the main cabin formed by the sound-transparent and pressure-resistant shell; the auxiliary cabin is filled with normal pressure air and is located higher than the main cabin; an air vent is provided on the top of the auxiliary cabin, and a one-way valve is installed on the air vent to allow air to enter the auxiliary cabin from the outside but prevent salt water from flowing out of the auxiliary cabin; the function of the auxiliary cabin is to provide additional space for the expansion of plasma bubbles in the main cabin, thereby improving the efficiency of seismic wave excitation.

4. The seafloor crawling multi-wave source system according to claim 3, characterized in that: The shear wave transmitting array includes: a first high-voltage coil, a first metal plate, a second high-voltage coil and a second metal plate; the first high-voltage coil and the second high-voltage coil are arranged in parallel on an insulating support plate and are electrically insulated from each other; the first metal plate is located outside the first high-voltage coil, and the second metal plate is located outside the second high-voltage coil; the seismic source control module also includes a third solid switch and a fourth solid switch; when the third solid switch is closed, the electric energy in the energy storage capacitor group is input into the first high-voltage coil to generate a seismic shear wave of polarity A; when the fourth solid switch is closed, the electric energy in the energy storage capacitor group is input into the second high-voltage coil to generate a seismic shear wave of polarity B; wherein, the seismic shear wave of polarity A is opposite in polarity to the seismic shear wave of polarity B.

5. The seafloor crawling multi-wave source system according to claim 4, characterized in that: The seabed crawling platform also includes: a posture sensor, a depth gauge and an altimeter; the posture sensor is used to measure the inclination angle and direction of the seabed crawling platform; the depth gauge is used to measure the water immersion depth of the seabed crawling platform; the altimeter is used to measure the height of the seabed crawling platform from the seabed; the sensors are all electrically connected to the integrated control module for real-time monitoring of the working status of the seabed crawling platform.

6. The seafloor crawling multi-wave source system according to claim 5, characterized in that: It also includes a composite cable connecting device, which includes: a cable connector, an optical fiber connector and a mechanical connector; the cable connector is used to connect to an external power supply cable to power the seabed crawling multi-wave source system; the optical fiber connector is used to connect to an external optical fiber communication cable to achieve data transmission; the mechanical connector is used to firmly connect the composite cable to the seabed crawling platform; the integrated control module includes a wired communication unit for exchanging data with external equipment through the composite cable.

7. The seafloor crawling multi-wave source system according to claim 6, characterized in that: It also includes an underwater positioning system, which includes: an ultra-short baseline beacon, an acoustic transducer and a signal processing unit; the ultra-short baseline beacon is installed on the top of the seabed crawling platform for transmitting acoustic signals; the acoustic transducer is installed at the bottom of the seabed crawling platform for receiving reflected acoustic signals; the signal processing unit is electrically connected to the acoustic transducer for processing the received acoustic signal and calculating the precise position of the seabed crawling platform; the integrated control module also includes a positioning data processing unit for receiving and processing positioning data from the signal processing unit.

8. The seafloor crawling multi-wave source system according to claim 7, characterized in that: It also includes an autonomous navigation system, which includes: an inertial measurement unit, an electronic compass and a path planning module; the inertial measurement unit is used to measure the acceleration and angular velocity of the seabed crawling platform; the electronic compass is used to measure the heading of the seabed crawling platform; the path planning module generates navigation instructions according to a preset exploration path and real-time position information; the integrated control module also includes a motion control unit, which is used to receive navigation instructions from the path planning module and control the movement of the seabed crawling platform.

9. The seafloor crawling multi-wave source system according to claim 8, characterized in that: It also includes a wireless communication system, which includes: an underwater acoustic modem, an antenna and a wireless communication control unit; the underwater acoustic modem is used to convert digital signals into acoustic signals, and convert received acoustic signals into digital signals; the antenna is installed on the top of the seabed crawling platform, and is used to transmit and receive acoustic signals; the wireless communication control unit is electrically connected to the underwater acoustic modem, and is used to control the wireless communication process; the integrated control module also includes a wireless data processing unit, which is used to process data sent and received through the wireless communication system.

10. The seafloor crawling multi-wave source system according to claim 9, characterized in that: The utility model also comprises a crawler belt, which is used for being sleeved on the crawler wheel.

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