Earthquake acquisition observation system obstacle avoidance method and system, storage medium and equipment

Abstract

The invention provides an earthquake acquisition observation system obstacle avoidance method and system, a storage medium and equipment, and belongs to the field of geophysical exploration. The method comprises the following steps: step 1, designing a regular observation system according to a work area range and an exploration target; 2, carrying out excitation and receiving obstacle position investigation, and delineating an obstacle avoidance range of an excitation point and a receiving point; step 3, carrying out receiving point obstacle avoidance design to obtain a corresponding receiving point position; and step 4, excitation point obstacle avoidance design is carried out, and corresponding excitation point positions are obtained. Based on the compressed sensing theory, compressed sensing reconstruction of subsequent data is facilitated; and the maximum gap between irregular excitation points / receiving points can be controlled.

Description

Technical Field

[0001] The present invention belongs to the field of geophysical exploration, and in particular relates to an obstacle avoidance method, system, storage medium and equipment for a seismic acquisition and observation system. Background Art

[0002] With the deepening of oil and gas exploration and development at home and abroad, seismic exploration has shifted to areas with increasingly complex surface conditions and increasingly difficult construction. During seismic exploration and construction, due to the various obstacles caused by the natural environment (complex terrain, rivers, lakes, etc.) and the human environment (large towns, factories, transportation and protected areas, etc.), the observation system obstacle avoidance is an unavoidable problem during the acquisition design and construction process. In addition, the improvement of seismic exploration goals has placed higher and higher requirements on the quality of seismic data acquisition. The traditional simple observation system obstacle avoidance method of adding more channels around obstacles can no longer meet the actual acquisition task requirements; therefore, the development of more effective and scientific observation system obstacle avoidance technology is an important link in seismic acquisition design and construction.

[0003] Compressed sensing is a new signal sampling theory. The compressed sensing framework has penetrated into all aspects of seismic exploration and played an important role in more and more exploration fields. Sparse representation and random sampling of seismic data are important application directions of compressed sensing. In compressed sensing, the sampling rate no longer depends on the bandwidth of the signal, but is related to the sparsity of the signal, thus breaking the shackles of traditional theory. Under the condition of far less than the Nyquist sampling rate, random irregular sampling is used to perfectly reconstruct the signal through the reconstruction algorithm, achieving high-density acquisition effect with less acquisition workload. Therefore, applying the idea of ​​compressed sensing to obstacle avoidance in observation systems is a feasible technical idea. Summary of the invention

[0004] The purpose of the present invention is to solve the problems existing in the above-mentioned prior art and to provide an obstacle avoidance method, system, storage medium and equipment for a seismic acquisition and observation system, which can more effectively avoid obstacles by effectively controlling the maximum gap size between the excitation point and the receiving point and optimizing the maximum cross-correlation value of the column vector of the perception matrix, thereby facilitating the subsequent high-precision reconstruction of compressed sensing of seismic data.

[0005] One of the purposes of the present invention is to provide an obstacle avoidance method for a seismic acquisition and observation system.

[0006] A second object of the present invention is to provide an obstacle avoidance system for a seismic acquisition and observation system.

[0007] A third object of the present invention is to provide a computer-readable storage medium.

[0008] A fourth object of the present invention is to provide a computer device.

[0009] The present invention is achieved through the following technical solutions:

[0010] A first aspect of the present invention provides an obstacle avoidance method for a seismic acquisition and observation system, which specifically comprises the following steps:

[0011] Step 1: Design a regular observation system based on the scope of the work area and the exploration objectives;

[0012] Step 2: Conduct a survey of the locations of excitation and receiving obstacles and define the obstacle avoidance ranges of the excitation and receiving points;

[0013] Step 3: Obstacle avoidance design of the receiving point to obtain the corresponding receiving point position;

[0014] Step 4: obstacle avoidance design of the excitation point to obtain the corresponding excitation point position.

[0015] A further improvement of the present invention is:

[0016] In step 1, a regular observation system is designed according to the scope of the work area and the exploration target. The specific operations include:

[0017] Firstly, a three-dimensional velocity model of the work area is constructed according to the scope of the work area and the exploration target. Then, regular excitation points and receiving points that meet the exploration target are designed based on the constructed three-dimensional velocity model of the work area.

[0018] A further improvement of the present invention is:

[0019] The model-based three-dimensional observation system parameter demonstration or seismic wave energy illumination analysis method is used to design regular excitation point and receiving point locations that meet the exploration objectives.

[0020] A further improvement of the present invention is:

[0021] In step 2, a survey of the locations of the excitation and reception obstacles is conducted to define the obstacle avoidance ranges of the excitation points and the reception points. The specific operations include:

[0022] Conduct a survey of the locations of excitation and receiving obstacles, identify and mark the locations of obstacles; combine the site survey and satellite image data, manually or automatically circle the locations of obstacles, and ultimately circle out areas that are not suitable for the deployment of receiving points and areas that cannot be excited by the source.

[0023] A further improvement of the present invention is:

[0024] The receiving point obstacle avoidance design in step 3 obtains the corresponding receiving point position, and the specific operations include:

[0025] Step 3-1, initialization parameters: determine the layout range of irregular receiving points, the maximum number of iterations, and the regular receiving points outside the obstacles and the layout range of irregular receiving points in step 1;

[0026] Step 3-2: for any receiving line that crosses an obstacle, first determine the number of receiving points Mr that need to be irregularly arranged and the area where they can be arranged;

[0027] The number of irregularly arranged receiving points Mr is calculated by formula (1):

[0028] Mr=(2*LR max+LR b ) / Rx (1)

[0029] Among them, LR b is the influence range of the obstacle on the receiving line, Rx is the receiving point distance of the regular observation system, where the receiving point distance can be obtained in the regular observation system in step 1;

[0030] Secondly, in the irregular receiving point layout area, Mr1 receiving points are randomly arranged along the receiving line, where Mr1 <Mr;

[0031] Step 3-3, calculate the maximum distance between two adjacent random receiving points (not crossing obstacles) in step 3-2, select two receiving points with the maximum distance, and place a new receiving point at the midpoint of the two receiving points; repeat the operation to complete the selection of all (Mr-Mr1) receiving points, so that the number of irregular receiving points on the receiving line reaches Mr;

[0032] Step 3-4, repeating steps 3-2 and 3-3, so that the irregular receiving points of all receiving lines across obstacles are determined;

[0033] Step 3-5, calculate the μ value of the sampling scheme for all receiving points selected in steps 3-1 to 3-4:

[0034]

[0035] Among them, a i is the column vector of the perception matrix, the perception matrix is the sampling scheme, φ H is the sparse inverse transform operator, i, j are integers; a i is the i-th column vector of the perception matrix, a j is the j-th column vector of the perception matrix;

[0036] Step 3-6, repeat steps 3-2 to 3-5 to reach the maximum number of iterations, and select the sampling scheme that minimizes the μ value as the final receiving point location scheme.

[0037] A further improvement of the present invention is:

[0038] In the step 4, the obstacle avoidance design of the excitation point is to obtain the corresponding excitation point position, and the specific operations include:

[0039] Step 4-1, initialization parameters: determine the layout range of irregular excitation points, the maximum number of iterations, and the regular excitation points outside the obstacles and the layout range of irregular excitation points in step 1;

[0040] Step 4-2: For any excitation line that crosses an obstacle, first determine the number of excitation points Ns that need to be irregularly arranged and the area where they can be arranged.

[0041] The number of irregularly arranged excitation points Ns is calculated by formula (2):

[0042] Ns=(2*LS max+LS b ) / Sx (2)

[0043] Among them, LS b is the influence range of the obstacle on the excitation line, Sx is the shot point distance of the regular observation system, where the shot point distance can be obtained in the regular observation system in step 1;

[0044] Secondly, in the area where the irregular excitation points can be arranged, Ns1 excitation points are randomly arranged along the excitation line, where Ns1 <Ns;

[0045] Step 4-3, calculate the maximum distance between two adjacent random excitation points (not crossing obstacles) in step 4-2, select the midpoint of the two excitation points with the maximum distance to arrange a new excitation point; repeat the operation to complete the selection of all (Ns-Ns1) excitation points, so that the number of irregular excitation points on the excitation line reaches Ns;

[0046] Step 4-4, repeating steps 4-2 and 4-3, so that the irregular excitation points of all excitation lines crossing the obstacle are determined;

[0047] Step 4-5, calculating the μ value of the sampling scheme of all excitation points determined in steps 4-1 to 4-4;

[0048]

[0049] Among them, a i is the column vector of the perception matrix, the perception matrix is the sampling scheme, φ H is the sparse inverse transform operator, i, j are integers; a i is the i-th column vector of the perception matrix, a j is the j-th column vector of the perception matrix;

[0050] Step 4-6, repeat steps 4-2 to 4-5 to reach the maximum number of iterations, and select the sampling scheme that minimizes the μ value as the final excitation point position scheme.

[0051] A further improvement of the present invention is:

[0052] The obstacle avoidance method further comprises:

[0053] Step 5: Output the final obstacle avoidance plan of the observation system. The specific operations include:

[0054] The receiving point and excitation point position solutions obtained in step 3 and step 4 are output as the final obstacle avoidance post-observation system solution.

[0055] A second aspect of the present invention provides an obstacle avoidance system for a seismic acquisition and observation system, comprising:

[0056] The observation system design unit is used to design a regular observation system according to the scope of the work area and the exploration objectives;

[0057] The obstacle avoidance range delineation unit is used to conduct a survey of the locations of excitation and reception obstacles and to delineate the obstacle avoidance ranges of the excitation and reception points;

[0058] A receiving point position acquisition unit is used for receiving point obstacle avoidance design to obtain the corresponding receiving point position;

[0059] The excitation point position acquisition unit is used for excitation point obstacle avoidance design and obtains the corresponding excitation point position.

[0060] According to a third aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores at least one computer-executable program, and when the at least one program is executed by the computer, the computer executes the steps in the obstacle avoidance method of the seismic acquisition and observation system as described above.

[0061] A fourth aspect of the present invention provides a computer device including a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the obstacle avoidance method for the seismic acquisition and observation system as described above.

[0062] Compared with the prior art, the present invention has the following beneficial effects:

[0063] The obstacle avoidance method of the observation system of the present invention is based on the theory of compressed sensing, which is more conducive to the compressed sensing reconstruction of subsequent data;

[0064] The obstacle avoidance design method of the observation system of the present invention can control the maximum gap between irregular excitation points / receiving points. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] Figure 1 The present invention provides a flow chart of an obstacle avoidance method for a seismic acquisition and observation system;

[0066] Figure 2are the regular receiving points and obstacle locations;

[0067] Figure 3 It is the receiving point position after the obstacle avoidance method of the present invention is designed. DETAILED DESCRIPTION

[0068] The present invention is further described in detail below in conjunction with the accompanying drawings:

[0069] [Example 1]

[0070] The present invention provides an obstacle avoidance method for a seismic acquisition and observation system. Figure 1 As shown, the specific steps include:

[0071] Step 1: Design a regular observation system based on the scope of the work area and the exploration objectives;

[0072] Specific operations include:

[0073] Firstly, a three-dimensional velocity model of the work area is constructed according to the scope of the work area and the exploration target. Then, regular excitation points and receiving points that meet the exploration target are designed based on the constructed three-dimensional velocity model of the work area.

[0074] The design method adopts a model-based three-dimensional observation system parameter demonstration or a seismic wave energy illumination analysis method.

[0075] Among them, the three-dimensional observation system parameter demonstration and the seismic wave energy illumination analysis method are both conventional existing technologies in the geophysical industry and will not be elaborated here.

[0076] Step 2: Conduct a survey of the locations of excitation and receiving obstacles and define the obstacle avoidance ranges of the excitation and receiving points;

[0077] Specific operations include:

[0078] Conduct a survey of the locations of excitation and receiving obstacles, identify and mark the locations of obstacles; combine the site survey and satellite image data to circle the locations of obstacles, and ultimately circle out areas that are not suitable for the deployment of receiving points and areas that cannot be excited by the source.

[0079] Step 3: Obstacle avoidance design of the receiving point to obtain the corresponding receiving point position;

[0080] Specific operations include:

[0081] Step 3-1, initialization parameters: determine the layout range of irregular receiving points (the range of the maximum distance LRmax from the obstacle boundary), the maximum number of iterations and the regular receiving points located outside the obstacles and the layout range of irregular receiving points in step 1;

[0082] Among them, the irregular receiving point layout range is the area where the distance from the obstacle boundary is less than LR max, LRmax is an artificially defined distance (such as 1000m), and the area where the distance from the obstacle boundary is less than LR max is defined as the irregular receiving point area; the regular receiving point range is the area outside the obstacle area and the irregular receiving point layout area, that is to say, there are three cases:

[0083] (1) Obstacles (receiving points cannot be deployed);

[0084] (2) Irregular receiving point area (where the receiving points are irregularly arranged);

[0085] (3) Regular receiving point area (the receiving points inside are arranged at equal intervals).

[0086] The maximum number of iterations is a number given artificially (eg, 50 times).

[0087] Step 3-2: for any receiving line that crosses an obstacle, first determine the number of receiving points Mr that need to be irregularly arranged and the area where they can be arranged;

[0088] The number of irregularly arranged receiving points Mr is calculated by formula (1):

[0089] Mr=(2*LR max+LR b ) / Rx (1)

[0090] Among them, LR b is the influence range of the obstacle on the receiving line, Rx is the receiving point distance of the regular observation system, where the receiving point distance can be obtained in the regular observation system in step 1;

[0091] Secondly, in the irregular receiving point layout area, Mr1 receiving points are randomly arranged along the receiving line (Mr1 <Mr)。

[0092] Step 3-3, calculate the maximum distance between two adjacent random receiving points (not crossing obstacles) in step 3-2, select two receiving points with the maximum distance, and place a new receiving point at the midpoint of the two receiving points; repeat the operation to complete the selection of all (Mr-Mr1) receiving points, so that the number of irregular receiving points on the receiving line reaches Mr;

[0093] That is to say, if the number of receiving points Mr=5 to be deployed is calculated by formula (1) in step 3-2, Mr1=2 receiving points are first randomly deployed in step 3-2, and then the method of step 3-3 is used to complete the selection of the remaining (5-2) receiving points, so that the number of irregular receiving points on the final receiving line reaches 5.

[0094] Step 3-4, repeating steps 3-2 and 3-3, so that the irregular receiving points of all receiving lines across obstacles are determined;

[0095] Step 3-5, calculate the μ value of the sampling scheme for all receiving points selected in steps 3-1 to 3-4:

[0096]

[0097] Among them, a i is the column vector of the perception matrix, the perception matrix is the sampling scheme, φ H is a sparse inverse transform operator. The sparse transform can be any of the common sparse transforms such as Fourier transform, wavelet transform, cosine transform and curvelet transform. i, j are integers. a i is the i-th column vector of the perception matrix, a j is the j-th column vector of the perception matrix.

[0098] Step 3-6, repeat steps 3-2 to 3-5 to reach the maximum number of iterations, and select the sampling scheme that minimizes the μ value as the final receiving point location scheme.

[0099] Step 4: obstacle avoidance design of the excitation point to obtain the corresponding excitation point position;

[0100] Specific operations include:

[0101] Step 4-1, initialization parameters: determine the layout range of irregular excitation points (the range of the maximum distance LSmax from the obstacle boundary), the maximum number of iterations and the regular excitation points outside the obstacles and the layout range of irregular excitation points in step 1;

[0102] Among them, the irregular excitation point layout range is the area where the distance from the obstacle boundary is less than LR max, LRmax is an artificially defined distance (such as 1000m), and the area where the distance from the obstacle boundary is less than LR max is defined as the irregular excitation point area; the regular excitation point range is the area outside the obstacle area and the irregular excitation point layout area, that is to say, there are three cases:

[0103] (1) Obstacles (excitation points cannot be set);

[0104] (2) Irregular excitation point area (where the excitation points are irregularly arranged);

[0105] (3) Regular excitation point area (the excitation points inside are arranged at equal intervals).

[0106] The maximum number of iterations is a number given artificially (eg, 50 times).

[0107] Step 4-2: For any excitation line that crosses an obstacle, first determine the number of excitation points Ns that need to be irregularly arranged and the area where they can be arranged.

[0108] The number of irregularly arranged excitation points Ns is calculated by formula (2):

[0109] Ns=(2*LS max+LS b ) / Sx (2)

[0110] Among them, LS b is the influence range of the obstacle on the excitation line, Sx is the shot point distance of the regular observation system, where the shot point distance can be obtained in the regular observation system in step 1;

[0111] Secondly, in the irregular excitation point layout area, Ns1 excitation points are randomly arranged along the excitation line (Ns1 <Ns)。

[0112] Step 4-3, calculate the maximum distance between two adjacent random excitation points (not crossing obstacles) in step 4-2, select the midpoint of the two excitation points with the maximum distance to arrange a new excitation point; repeat the operation to complete the selection of all (Ns-Ns1) excitation points, so that the number of irregular excitation points on the excitation line reaches Ns.

[0113] Step 4-4, repeating steps 4-2 and 4-3, so that the irregular excitation points of all excitation lines crossing the obstacle are determined.

[0114] Step 4-5, calculating the μ value of the sampling scheme of all excitation points determined in steps 4-1 to 4-4;

[0115]

[0116] Among them, a i is the column vector of the perception matrix, the perception matrix is the sampling scheme, φ H is a sparse inverse transform operator. The sparse transform can be any of the common sparse transforms such as Fourier transform, wavelet transform, cosine transform and curvelet transform. i, j are integers. a i is the i-th column vector of the perception matrix, a j is the j-th column vector of the perception matrix.

[0117] Step 4-6, repeat steps 4-2 to 4-5 to reach the maximum number of iterations, and select the sampling scheme that minimizes the μ value as the final excitation point position scheme.

[0118] Step 5: Output the final obstacle avoidance plan of the observation system;

[0119] Specific operations include:

[0120] The receiving point and excitation point position solutions obtained in step 3 and step 4 are output as the final obstacle avoidance post-observation system solution.

[0121] The obstacle avoidance method of the compressed sensing observation system of the present invention is verified by selecting a certain test area to verify the method. Here, only the obstacle avoidance effect of the receiving point is demonstrated. Figure 2 This is a diagram of regular receiving points and obstacle locations. The regular observation system has 20 receiving lines, each line has 1000 receiving points, and the blank area in the middle is the obstacle influence range; Figure 3 A receiving point location diagram designed for utilizing the obstacle avoidance method of the present invention.

[0122] [Example 2]

[0123] A second aspect of the present invention provides an obstacle avoidance system for a seismic acquisition and observation system, comprising:

[0124] The observation system design unit is used to design a regular observation system according to the scope of the work area and the exploration objectives;

[0125] The obstacle avoidance range delineation unit is used to conduct a survey of the locations of excitation and reception obstacles and to delineate the obstacle avoidance ranges of the excitation and reception points;

[0126] A receiving point position acquisition unit is used for receiving point obstacle avoidance design to obtain the corresponding receiving point position;

[0127] The excitation point position acquisition unit is used for excitation point obstacle avoidance design and obtains the corresponding excitation point position.

[0128] [Example 3]

[0129] An embodiment of the present invention provides a computer-readable storage medium, which stores at least one computer-executable program. When the at least one program is executed by the computer, the computer executes the steps in the obstacle avoidance method of the seismic acquisition and observation system as described in Example 1.

[0130] [Example 4]

[0131] An embodiment of the present invention provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the obstacle avoidance method of the seismic acquisition and observation system as described in Example 1.

[0132] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the program can be stored in a non-volatile computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0133] The above technical solution is only one implementation mode of the present invention. For those skilled in the art, it is easy to make various types of improvements or modifications based on the principles disclosed in the present invention, and it is not limited to the technical solution described in the above specific embodiments of the present invention. Therefore, the above description is only preferred and does not have a restrictive meaning.

Claims

1. A method for avoiding obstacles in a seismic acquisition and observation system, characterized in that: The specific steps include: Step 1: Design a regular observation system based on the scope of the work area and the exploration objectives; Step 2: Conduct a survey of the locations of excitation and receiving obstacles and define the obstacle avoidance ranges of the excitation and receiving points; Step 3: Obstacle avoidance design of the receiving point to obtain the corresponding receiving point position; Step 4: obstacle avoidance design of the excitation point to obtain the corresponding excitation point position.

2. The obstacle avoidance method for a seismic acquisition and observation system according to claim 1, characterized in that: In step 1, a regular observation system is designed according to the scope of the work area and the exploration target. The specific operations include: Firstly, a three-dimensional velocity model of the work area is constructed according to the scope of the work area and the exploration target. Then, regular excitation points and receiving points that meet the exploration target are designed based on the constructed three-dimensional velocity model of the work area.

3. The obstacle avoidance method for a seismic acquisition and observation system according to claim 2, characterized in that: The model-based three-dimensional observation system parameter demonstration or seismic wave energy illumination analysis method is used to design regular excitation point and receiving point locations that meet the exploration objectives.

4. The obstacle avoidance method for a seismic acquisition and observation system according to claim 1, characterized in that: In step 2, a survey of the locations of the excitation and reception obstacles is conducted to define the obstacle avoidance ranges of the excitation points and the reception points. The specific operations include: Conduct a survey of the locations of excitation and receiving obstacles, identify and mark the locations of obstacles; combine the site survey and satellite image data to circle the locations of obstacles, and ultimately circle out areas that are not suitable for the deployment of receiving points and areas that cannot be excited by the source.

5. The obstacle avoidance method for a seismic acquisition and observation system according to claim 4, characterized in that: The receiving point obstacle avoidance design in step 3 obtains the corresponding receiving point position, and the specific operations include: Step 3-1, initialization parameters: determine the layout range of irregular receiving points, the maximum number of iterations, and the regular receiving points outside the obstacles and the layout range of irregular receiving points in step 1; Step 3-2: for any receiving line that crosses an obstacle, first determine the number of receiving points Mr that need to be irregularly arranged and the area where they can be arranged; The number of irregularly arranged receiving points Mr is calculated by formula (1): Mr=(2*LRmax+LR b ) / Rx (1) Among them, LR b is the influence range of the obstacle on the receiving line, Rx is the receiving point distance of the regular observation system, where the receiving point distance can be obtained in the regular observation system in step 1; Secondly, in the irregular receiving point layout area, Mr1 receiving points are randomly arranged along the receiving line, where Mr1 <Mr; Step 3-3, calculate the maximum distance between two adjacent random receiving points (not crossing obstacles) in step 3-2, select two receiving points with the maximum distance, and place a new receiving point at the midpoint of the two receiving points; repeat the operation to complete the selection of all (Mr-Mr1) receiving points, so that the number of irregular receiving points on the receiving line reaches Mr; Step 3-4, repeating steps 3-2 and 3-3, so that the irregular receiving points of all receiving lines across obstacles are determined; Step 3-5, calculate the μ value of the sampling scheme for all receiving points selected in steps 3-1 to 3-4: Among them, a i is the column vector of the perception matrix, the perception matrix is the sampling scheme, φ H is the sparse inverse transform operator, i, j are integers; a i is the i-th column vector of the perception matrix, a j is the j-th column vector of the perception matrix; Step 3-6, repeat steps 3-2 to 3-5 to reach the maximum number of iterations, and select the sampling scheme that minimizes the μ value as the final receiving point location scheme.

6. The obstacle avoidance method for a seismic acquisition and observation system according to claim 4, characterized in that: In the step 4, the obstacle avoidance design of the excitation point is to obtain the corresponding excitation point position, and the specific operations include: Step 4-1, initialization parameters: determine the layout range of irregular excitation points, the maximum number of iterations, and the regular excitation points outside the obstacles and the layout range of irregular excitation points in step 1; Step 4-2: For any excitation line that crosses an obstacle, first determine the number of excitation points Ns that need to be irregularly arranged and the area where they can be arranged. The number of irregularly arranged excitation points Ns is calculated by formula (2): Ns=(2*LSmax+LS b ) / Sx (2) Among them, LS b is the influence range of the obstacle on the excitation line, Sx is the shot point distance of the regular observation system, where the shot point distance can be obtained in the regular observation system in step 1; Secondly, in the area where the irregular excitation points can be arranged, Ns1 excitation points are randomly arranged along the excitation line, where Ns1 <Ns; Step 4-3, calculate the maximum distance between two adjacent random excitation points (not crossing obstacles) in step 4-2, select the midpoint of the two excitation points with the maximum distance to arrange a new excitation point; repeat the operation to complete the selection of all (Ns-Ns1) excitation points, so that the number of irregular excitation points on the excitation line reaches Ns; Step 4-4, repeating steps 4-2 and 4-3, so that the irregular excitation points of all excitation lines crossing the obstacle are determined; Step 4-5, calculating the μ value of the sampling scheme of all excitation points determined in steps 4-1 to 4-4; Among them, a i is the column vector of the perception matrix, the perception matrix is the sampling scheme, φ H is the sparse inverse transform operator, i, j are integers; a i is the i-th column vector of the perception matrix, a j is the j-th column vector of the perception matrix; Step 4-6, repeat steps 4-2 to 4-5 to reach the maximum number of iterations, and select the sampling scheme that minimizes the μ value as the final excitation point position scheme.

7. The obstacle avoidance method for a seismic acquisition and observation system according to claim 1, characterized in that: The obstacle avoidance method further comprises: Step 5: Output the final obstacle avoidance plan for the observation system. The specific operations include: The receiving point and excitation point position solutions obtained in step 3 and step 4 are output as the final obstacle avoidance post-observation system solution.

8. An obstacle avoidance system for a seismic acquisition and observation system, characterized in that: include: The observation system design unit is used to design a regular observation system according to the scope of the work area and the exploration objectives; The obstacle avoidance range delineation unit is used to conduct a survey of the locations of excitation and reception obstacles and to delineate the obstacle avoidance ranges of the excitation and reception points; A receiving point position acquisition unit is used for receiving point obstacle avoidance design to obtain the corresponding receiving point position; The excitation point position acquisition unit is used for excitation point obstacle avoidance design and obtains the corresponding excitation point position.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores at least one computer-executable program, and when the at least one program is executed by the computer, the computer executes the steps in the obstacle avoidance method of the seismic acquisition and observation system as described in any one of claims 1-7.

10. A computer device, characterized in that: It includes a memory and a processor, the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the obstacle avoidance method for a seismic acquisition and observation system as described in any one of claims 1-7.

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