Automatic planning method and device for walking route of land vibroseis

Abstract

The invention discloses an automatic planning method and device for a walking route of a land vibroseis, and belongs to the field of physical exploration. According to the method, a TSP thought is introduced, and a seismic source vehicle driving route which is short in path, few in obstacle crossing and few in driving limitation and conforms to the operation habits of a driver is finally obtained through the steps of constructing a map, setting related parameters and weight proportions of the related parameters, solving a land vibroseis walking route through a TNH combinatorial algorithm and the like. By combining the advantages of the two-approximation algorithm, the Heuristic algorithm and the NSGA II algorithm, the TNH combinatorial algorithm is provided to solve the walking route of the land vibroseis, automatic planning of the walking route of the vibroseis is achieved, the operation efficiency can be improved, the accuracy of the operation result is improved, the calculated route better meets the requirement of field construction, and the method is suitable for popularization and application. And further development of exploration operation towards intelligence is promoted. The method is applied to planning the walking route of the vibroseis vehicle in the field of physical exploration.

Description

Technical Field

[0001] The invention belongs to the field of physical exploration, and relates to a method for planning a vibrator travel route, and specifically to an automatic planning method and device for a vibrator travel route on land in an exploration block. Background Art

[0002] In the oil exploration industry, in order to conduct geological exploration, it is necessary to carry out source work, and the source vehicle needs to follow a certain route to reach each source point during work. However, there must not be any obstacles blocking the route, and the rationality of the route must be ensured to reduce unnecessary driving roads. In traditional source route planning, the source points are connected into routes one by one by manual means, which is not only inefficient, but also a large amount of connection work will inevitably produce human errors.

[0003] The TSP problem (Traveling Salesman Problem) is a classic combinatorial optimization problem, which is widely used in many fields, such as optimization of cargo distribution routes in logistics transportation, urban planning and tourism route planning, and process sequence optimization in production scheduling. However, the traditional TSP problem solving methods have the following disadvantages: (1) High time and computing resource consumption: Traditional TSP algorithms usually use exhaustive search or dynamic programming to find the optimal solution. These methods require a lot of time and computing resources when dealing with large-scale problems because the complexity of the problem will increase exponentially; (2) High labor cost: Traditional methods usually rely on manual intervention, manual route planning or complex adjustments, which will lead to high labor costs, especially when dealing with complex problems; (3) Difficulty in handling constraints: If the TSP problem has additional constraints, such as limiting the time of vehicle travel, avoiding obstacles, etc., traditional methods cannot easily integrate these constraints and require additional complex processing. Therefore, although the traditional TSP problem solving algorithm can obtain a relatively good route plan, in actual applications, these algorithms consume a lot of time and computing resources, which makes actual operation difficult. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a method for automatically planning the route of a land controllable seismic source in an exploration block based on the TSP idea, so as to solve the problems of large time and computing resource consumption, high labor cost and difficulty in handling constraints in practical applications of traditional TSP problem algorithms, and to improve the efficiency and accuracy of route planning of the seismic source vehicle.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is:

[0006] A method for automatically planning a route for a land vibrator, the method comprising the following steps performed in sequence:

[0007] S1. Map building

[0008] Based on basic geographic information data, the planning area is divided into two types of terrain: passable area and obstacle area, the number and location of earthquake source points are determined, and a map is constructed;

[0009] S2. Introduce the TSP problem idea and set relevant parameters and their weight ratios

[0010] Take each earthquake source point as a node and the obstacle area as an edge, set parameters including the shortest path between two nodes, turning angle and obstacle avoidance, and determine the weight ratio of each parameter;

[0011] S3.TNH combined algorithm to solve the route of land vibroseis source

[0012] Based on the set relevant parameters and weight ratios, the route of the land vibroseis source is obtained through the comprehensive application of the two-approximation algorithm, NSGA-II algorithm and Heuristic algorithm.

[0013] Among them, the basic implementation method of the two-approximation algorithm is to first find a minimum spanning tree, then perform Euler traversal on the tree, and finally remove the duplicate edges to get the solution of TSP; the Heuristic algorithm is a greedy heuristic algorithm based on TSP. The basic idea of ​​the algorithm is to continuously exchange two nodes in the path until the path length can no longer be optimized, but it cannot guarantee the global optimal solution because it may fall into the local optimal solution and cannot jump out; the NSGA-II algorithm is a multi-objective optimization algorithm. The basic idea is to generate a new population through operations such as crossover and mutation of genetic algorithms, and use methods such as non-dominated sorting and crowding distance for multi-objective optimization;

[0014] The above three algorithms have their own advantages and disadvantages. Therefore, the present invention proposes a TNH combined algorithm for solving the problem by combining the advantages of the two approximation algorithm, the Heuristic algorithm and the NSGA_Ⅱ algorithm. This algorithm greatly solves the disadvantages of the above three solving methods, speeds up the calculation efficiency, improves the accuracy of the calculation results, and makes the calculated route more suitable for use.

[0015] As a first limitation of the invented method for automatically planning the route of a land controllable seismic source, in step S1, the obstacle area can be simplified into linear elements or surface elements, and only the seismic source points to be reached and the prohibited lines and prohibited surfaces are left on the map.

[0016] As a further limitation of the first limitation of the method for automatically planning the route of a land controllable seismic source of the invention, in step S1, the geometric nodes of the obstacle area can be thinned out to simplify the calculation, thereby ensuring that subsequent topological operations such as minimum path and intersection are as fast as possible.

[0017] As a second limitation of the invented method for automatically planning the travel route of a land controllable vibrator, in step S2, the obtained Euclidean distance is used as the shortest path between two nodes.

[0018] As a further limitation of the second limitation of the method for automatically planning the route of a land vibroseis source according to the invention, the obtaining of the Euclidean distance includes the following two cases:

[0019] In the first case, when the line connecting two nodes p1 (x1, y1, z1) and p2 (x2, y2, z2) does not intersect the obstacle area, the Euclidean distance is calculated according to formula 1:

[0020]

[0021] In the second case, when the line connecting two nodes p1 (x1, y1, z1) and p2 (x2, y2, z2) intersects with the obstacle area, the Euclidean distance is calculated according to Formula 2:

[0022]

[0023] The second situation is defined this way to solve the problem that if there are too many obstacles and there is no way out, the route will choose a way to forcibly cross the obstacles.

[0024] As the third limitation of the invented method for automatically planning the route of a land controllable seismic source, in step S2, in the traditional TSP idea, the actual operation will only search for the next point near a point. We define a search radius, such as 50m, and only search for data within the radius. The search stops when a point is found. In order to ensure that the minimum path can be selected preferentially, the present invention defines a minimum search number, such as 5, in the above case; after defining the minimum search number, when a certain point is used as the initial point and the data is searched with a specified radius: when the number of end points that meet the requirements within the search radius exceeds 5, at least 5 points are provided to the algorithm program for selection, and the most suitable point is selected; and when the number of end points that meet the requirements within the search radius is less than 5, all points that meet the requirements are provided to the algorithm program for selection, instead of determining it after finding a point, but finding multiple points for comparison and selecting the most suitable point.

[0025] As a fourth limitation of the method for automatically planning a route for a land vibroseis source according to the present invention, step S3 includes the following steps:

[0026] S31. Based on the set relevant parameters and weight ratios, an initialized land vibroseis walking path is obtained through a two-approximation algorithm, and it is used as the first-generation individual;

[0027] S32. Based on the NSGA-II algorithm, the first-generation individuals are used as part of the parent generation for crossover in the genetic process to generate new paths;

[0028] S33. Locally optimize the new path generated in the first-generation individuals through the Heuristic algorithm to obtain the optimized land controllable vibrator path, and the optimized land controllable vibrator path is the land controllable vibrator travel route planned by the automatic planning method.

[0029] When combining the TSP method with the two-approximation algorithm, the Heuristic algorithm and the NSGA_Ⅱ algorithm, many difficulties are often encountered. The present invention solves them by the following methods:

[0030] Difficulty 1. Algorithm integration and coordination: Integrating different algorithms into a unified solution requires ensuring that they can work together effectively without interfering or conflicting with each other;

[0031] Solution of the present invention: In order to coordinate the effective integration of the two approximation algorithms, Heuristic and NSGA_Ⅱ algorithms, the present invention defines a clear interface and data exchange mechanism to ensure that different algorithms can effectively share information and results; in addition, the parameters of the algorithms are adjusted and optimized to ensure that there will be no conflict when different algorithms work together. For example, the crossover operation of NSGA_Ⅱ and the local optimization of Heuristic need to cooperate with each other to avoid damaging the quality of the solution.

[0032] Difficulty 2. Computing resources and performance: Combining multiple algorithms may increase the demand for computing resources, especially when dealing with large-scale problems, which may lead to performance degradation;

[0033] The solution of the present invention is to reduce the demand for computing resources through reasonable resource management and algorithm parameter adjustment. The present invention controls the computing cost by limiting the number of iterations or population size of NSGA_II. In addition, parallel computing is used to improve performance, and the computing tasks of different algorithms are assigned to multiple processors or threads to accelerate the calculation.

[0034] Difficulty 3. Problem specificity: Different problems may require different algorithm combinations and parameter settings. A combination may be effective for one problem but may not be applicable to another.

[0035] The solution of the present invention is to analyze and experiment with specific problems to determine the best algorithm combination and parameter settings. Adopt an adaptive method to select the appropriate algorithm and parameter configuration according to the nature and scale of the problem. For example, when there are more than 5 types of obstacles, check the obstacle passage level; when there are more than 3 types of roads, check the road priority level; when the obstacle coverage area accounts for more than 50%, the maximum search range parameter is recommended to be reduced to 80,000, and the calculation time limit parameter is recommended to be 6 minutes; when the proportion reaches more than 70%, the maximum search range parameter is recommended to be reduced to 50,000 and the calculation time limit parameter is recommended to be 10 minutes; other parameter settings can keep the original setting values ​​unchanged.

[0036] Difficulty 4. Convergence and optimization quality: Different algorithms may have different convergence speeds and optimization qualities. It is necessary to ensure that the overall algorithm can converge to a high-quality solution within a reasonable time.

[0037] The solution of the present invention is to balance the optimization performance of different algorithms through careful algorithm design and parameter adjustment. For example, in NSGA_Ⅱ, parameters such as crossover probability and mutation probability are adjusted to affect the convergence speed and diversity; in the Heuristic algorithm, the optimization quality is improved by introducing a more sophisticated local search strategy.

[0038] In summary, the present invention overcomes the difficulties encountered when combining the two approximation algorithms, Heuristic and NSGA_Ⅱ algorithms through careful problem analysis, algorithm tuning and reasonable resource management, and achieves more efficient problem solving. It has also achieved good results in the practical application of solving the travel routes of land controllable seismic sources, and improved the efficiency and accuracy of solving the travel routes of land controllable seismic sources.

[0039] The present invention also provides a device for applying the above-mentioned automatic planning method for the route of a land vibrator, the device comprises a map construction module, a module for setting relevant parameters and their weight proportions, a module for solving the route of a land vibrator using a TNH combination algorithm, and a central control module, wherein:

[0040] The map building module is used to divide the part of the planning area into two types of terrain, the passable area and the obstacle area, according to the basic geographic information data, determine the number and location of the source points, and build a map;

[0041] The module for setting relevant parameters and their weight ratios is used to take each earthquake source point as a node and the obstacle area as an edge, set parameters including the shortest path between two nodes, turning angle and obstacle avoidance, and determine the weight ratio of each parameter;

[0042] The TNH combined algorithm module for solving the path of the land vibroseis source is used to solve the path of the land vibroseis source by comprehensive application of the two-approximation algorithm, the NSGA-II algorithm and the Heuristic algorithm;

[0043] The central control module is equipped with a control software module for controlling the flow of signals and data processing in the map building module, the module for setting relevant parameters and their weight ratios, and the module for solving the land controllable vibrator walking route using the TNH combination algorithm.

[0044] The present invention also provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-mentioned method for automatically planning the travel route of the land controllable vibrator when executing the computer program.

[0045] The present invention also provides a computer-readable storage medium, which stores a computer program for executing the method for automatically planning the travel route of the land controllable vibroseis source as claimed in the claim.

[0046] Due to the adoption of the above technical solution, the present invention has the following technical advances compared with the prior art:

[0047] ① In order to solve the problem that the time and computing resources consumed by the common TSP solution algorithm for automatic planning of the vibrator vehicle's route are very large, the present invention introduces the TSP idea to solve the above problems, that is, by combining the advantages of the two approximation algorithm, the Heuristic algorithm and the NSGA_Ⅱ algorithm, a TNH combined algorithm is proposed to solve the route of the land vibrator, which can realize the automatic planning of the route of the vibrator; the application of this method can not only speed up the calculation efficiency, but also improve the accuracy of the calculation results. In addition, the calculated route is more in line with the usage, which promotes the further development of exploration operations towards intelligence;

[0048] ② In the present invention, the path is first initialized by the two-approximate algorithm. The reason is that the two-approximate algorithm is a heuristic method that can quickly generate an initial solution. Compared with the traditional exhaustive search method, it greatly reduces the generation time of the initial solution; then the NSGA_Ⅱ algorithm is used to effectively utilize these initial solutions in the evolution process, and new routes are generated by crossover, and the constraints are incorporated into the objective function or constraint set of the problem, and solutions that meet the constraints are generated, while maintaining diversity through multiple strategies; finally, the Heuristic method is used for local optimization to ensure that more constraints are met; the advantage of the combination of these three algorithms is that the characteristics of different algorithms are fully utilized to solve the problem more efficiently, so as to overcome the disadvantages of large time and computing resource consumption, high labor cost, and difficulty in handling constraints in solving the traditional TSP problem, and it can also avoid the shortcomings of strong subjectivity and large errors caused by human intervention;

[0049] ③ The automatic planning method for the route of a land vibrator proposed in the present invention initializes a path as the first-generation route through a two-approximate algorithm, and then crosses the individuals provided by the two-approximate algorithm as part of the parent generation in the genetic process through NSGA-II to generate a new route, and finally performs local optimization through the Heuristic algorithm; in the process of planning the route of a land vibrator through the automatic planning method, different algorithms are integrated in the multi-algorithm fusion process to work together, ensuring that the overall algorithm can converge to a high-quality solution within a reasonable time, and finally obtain a route for the vibrator vehicle with a short path, few obstacles, and few driving restrictions on the vibrator vehicle, while conforming to the driver's operating habits and the needs of actual field production work;

[0050] ④ The device, electronic equipment and storage medium for executing the automatic planning method of the land controllable source travel route provided by the present invention have complete software and hardware supporting facilities, which is convenient for the promotion and use of the test method.

[0051] The present invention is applied to reasonably and efficiently plan the travel route of a controllable vibrator vehicle in the field of physical exploration, and is particularly suitable for exploration areas with a large number of seismic source points, a wide distribution range, and many obstacles. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0053] Figure 1 It is a flow chart of the method for automatically planning the route of the land vibroseis in Embodiment 1 of the present invention;

[0054] Figure 2 This is a screenshot of importing the designed earthquake source point data and obstacle data into the earthquake source route design software in Example 1 of the present invention;

[0055] Figure 3 This is an interface for setting relevant parameters in Example 1 of the present invention;

[0056] Figure 4 The result of the land vibroseis walking route designed by the planning method of the present invention in Example 1 of the present invention;

[0057] Figure 5 This is a structural block diagram of an apparatus for automatically planning a route for a land controllable seismic source in Example 2 of the present invention; in the figure: 1-central control module, 2-map building module, 3-module for setting relevant parameters and their weight ratios, 4-module for solving the route for a land controllable seismic source using a TNH combination algorithm. DETAILED DESCRIPTION

[0058] The present invention will be further described in detail below by means of specific embodiments in combination with the accompanying drawings. It should be understood that the described embodiments are preferred examples of the present invention and are only used to explain the present invention and do not limit the present invention.

[0059] Example 1: A method for automatically planning a route for a land vibrator

[0060] Since the exploration area is wide, it is divided into multiple exploration blocks according to the conventional operation of those skilled in the art. This embodiment takes a certain exploration block as an example to provide an automatic planning method for the route of a land vibroseis source. The flow chart is as follows: Figure 1 As shown, this embodiment is completed based on the software operation of the automatic planning of the vibrator walking route of our company. The planning method includes the following steps performed in sequence:

[0061] S1. Map building

[0062] The designed earthquake source data and construction map data are displayed through ArcGIS software, and the obstacle data in the construction area collected through image recognition technology, manual collection and big data are imported. The planned area is divided into two types of terrain: passable area and obstacle area. The obstacle area is simplified into linear elements or surface elements. In this way, only the arrival points, prohibited lines and prohibited surfaces that need to be reached are left on the map, and the map construction is completed;

[0063] Among them, the earthquake source data includes the number and location of earthquake source points;

[0064] You can also define a buffer zone according to actual needs to prevent edge problems in the obstacle area. Linear features become surface features after a buffer zone is established, and surface features remain surface features after a buffer zone.

[0065] In order to simplify the calculation, the geometric nodes of the obstacle elements in the obstacle area are thinned to ensure that the subsequent topological operations such as minimum path and intersection are as fast as possible;

[0066] in, Figure 2 This is a screenshot of the designed source point data and obstacle data being imported into the source route design software in a certain project, where dots represent shot points and lines represent obstacles.

[0067] S2. Introduce the TSP problem idea and set relevant parameters and their weight ratios

[0068] S21. Setting of related parameters

[0069] According to the construction requirements, the task scope of each group of source vehicles can be circled by drawing lines. Because the TSP problem idea is introduced, before the automatic planning of the source route, each source point needs to be taken as a node and the obstacle area as an edge. According to the specific construction situation, the parameters including the shortest path between two nodes, turning angle and obstacle avoidance are set;

[0070] The purpose of setting the turning angle parameter is to set the turning angle range of the route according to driving habits, so as to avoid the phenomenon that the source vehicle makes multiple U-turns or turns at large angles;

[0071] The Euclidean distance is taken as the shortest path between two nodes. The Euclidean distance can be obtained in the following two cases:

[0072] In the first case, when the line connecting two nodes p1 (x1, y1, z1) and p2 (x2, y2, z2) does not intersect the obstacle area, the Euclidean distance is calculated according to formula 1:

[0073]

[0074] In the second case, when the line connecting two nodes p1 (x1, y1, z1) and p2 (x2, y2, z2) intersects with the obstacle area, the Euclidean distance is calculated according to Formula 2:

[0075]

[0076] You can also classify the imported obstacle data and divide the obstacles into five levels, from one to five. The lower the level, the higher the priority of passing. At the same time, you can also set certain obstacles to be insurmountable.

[0077] In addition, you can also set parameters such as travel distance and path width; for example, the travel distance includes the maximum distance of a complete source route, the maximum or minimum distance of a single straight line; path width: set the minimum passable road width to avoid the road width being smaller than the width of the source vehicle, which makes it impossible to drive through normally;

[0078] Based on the traditional TSP idea, the present invention defines a minimum search quantity when searching for the next point near a point and searching within a specified radius, specifically:

[0079] In the traditional TSP thinking, the actual operation will only search for the next point near a point. We define a search radius, such as 50m, and only search for data within the radius. The search will stop after a point is found. In order to ensure that the minimum path can be selected preferentially, the present invention defines a minimum search number, such as 5, in the above case. In the traditional TSP thinking, the actual operation will only search for the next point near a point. We define a search radius, such as 50m, and only search for data within the radius. The search will stop after a point is found. In order to ensure that the minimum path can be selected preferentially, the present invention defines a minimum search number, such as 5, in the above case. After defining the minimum search number, when a certain point is used as the initial point and the data is searched with a specified radius: when the number of end points that meet the requirements within the search radius exceeds 5, at least 5 points are provided to the algorithm program for selection, and the most suitable point is selected; and when the number of end points that meet the requirements within the search radius is less than 5, all points that meet the requirements are provided to the algorithm program for selection, instead of determining it after finding a point, but finding multiple points for comparison and selecting the most suitable point.

[0080] The interface for setting related parameters is as follows: Figure 3 As shown in the figure, after importing the earthquake source point data and obstacle data, relevant parameters can be adjusted according to actual construction needs, such as obstacle level, road priority level, corner range restriction, U-turn prohibition, shortest path, etc.

[0081] S22. Setting the weight ratio of different parameters

[0082] According to the different needs of industry insiders in actual work for local policy requirements, terrain conditions and completion time, the weight ratio of parameters such as the shortest path between two nodes, turning angles and obstacle avoidance is determined;

[0083] S3.TNH combined algorithm to solve the route of land vibroseis source

[0084] Based on the above-mentioned map, relevant parameters and weight ratios, the route of the land vibroseis source is obtained through the comprehensive application of the two-approximation algorithm, NSGA-II algorithm and Heuristic algorithm, including:

[0085] S31. Based on the set relevant parameters and weight ratios, an initialized land vibroseis walking path is obtained through a two-approximation algorithm, and it is used as the first-generation individual;

[0086] S32. Based on the NSGA-II algorithm, the first-generation individuals are used as part of the parent generation for crossover in the genetic process to generate new paths;

[0087] S33. Locally optimize the new path generated in the first generation of individuals by using a Heuristic algorithm to obtain an optimized path for the land vibrator, wherein the optimized path for the land vibrator is the land vibrator route planned by the automatic planning method;

[0088] Industry insiders can also conduct further inspections on the land controllable vibrator routes obtained above. For example, if a small part of the route needs to be modified due to special circumstances during future construction, industry insiders can also manually delete or add routes through the automatic planning software of the controllable vibrator routes mentioned above, so that the final route is more in line with actual needs.

[0089] Because the two approximate algorithms, NSGA-II algorithms and Heuristic algorithms have their own advantages and disadvantages when used alone to solve the walking route of the land controllable seismic source. For example, the Heuristic algorithm is a greedy heuristic algorithm based on TSP. The basic idea of ​​the algorithm is to continuously exchange two nodes in the path until the path length can no longer be optimized, but it cannot guarantee the global optimal solution because it may fall into the local optimal solution and cannot jump out; therefore, the present invention combines the advantages of the two approximate algorithms, the Heuristic algorithm and the NSGA_Ⅱ algorithm to propose a TNH combined algorithm for solution, which can greatly solve the disadvantages of the above-mentioned respective solution methods, speed up the calculation efficiency, improve the accuracy of the calculation results, and make the calculated route more in line with the actual usage.

[0090] The result of designing the land vibroseis route by the planning method of the present invention is as follows: Figure 4 As shown in the figure, after the relevant parameters are set, it only takes 4 seconds to plan the route of the land controllable vibrator.

[0091] Embodiment 2: A device for automatically planning a route for a land vibrator

[0092] This embodiment provides a device for automatically planning the route of a land vibrator. The structural block diagram of the device is as follows: Figure 5 As shown, the device includes a map building module 2, a module for setting relevant parameters and their weight proportions 3, a module for solving the land controllable vibrator walking route using a TNH combination algorithm 4, and a central control module 1, wherein:

[0093] The map building module 2 is used to divide the part of the planning area into two types of terrain, the passable area and the obstacle area, according to the basic geographic information data, determine the number and location of the source points, and build a map;

[0094] The module 3 for setting relevant parameters and their weight ratios is used to take each source point as a node and the obstacle area as an edge, set parameters including the shortest path between two nodes, turning angle and obstacle avoidance, and determine the weight ratio of each parameter;

[0095] The TNH combined algorithm module 4 for solving the route of the land vibroseis source is used to solve the route of the land vibroseis source by comprehensive application of the two approximation algorithm, the NSGA-II algorithm and the Heuristic algorithm;

[0096] The central control module 1 is equipped with a control software module for controlling the flow of signals and data processing in the map building module 2, the relevant parameter setting module and its weight ratio module 3, and the TNH combination algorithm solution module 4 for the travel route of the land controllable vibroseis source.

[0097] Embodiment 3 A computer device

[0098] This embodiment provides a computer device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, so as to implement the above-mentioned method for automatically planning the travel route of a land controllable vibroseis source.

[0099] The above-mentioned memory is used to store non-temporary computer-readable instructions. Specifically, the memory may include one or more computer program products, and the computer program product may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, a random access memory (RAM) and / or a cache memory (cache), etc. The non-volatile memory may include, for example, a read-only memory (ROM), a hard disk, a flash memory, etc.

[0100] The processor may be a central processing unit (CPU) or other processing units having data processing capability and / or instruction execution capability, and may control other components in the electronic device to perform desired functions. The processor is used to execute the computer-readable instructions stored in the memory.

[0101] Those skilled in the art should be able to understand that in order to solve the technical problem of how to obtain a good user experience, the present embodiment may also include well-known structures such as a communication bus and an interface, and these well-known structures should also be included in the protection scope of the present disclosure.

[0102] Embodiment 4 A computer readable storage medium

[0103] This embodiment provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the above-mentioned method for automatically planning the travel route of the land controllable vibroseis source is implemented.

[0104] The computer-readable storage medium stores non-transitory computer-readable instructions. When the non-transitory computer-readable instructions are executed by a processor, all or part of the steps of the above-mentioned methods of various embodiments are executed.

[0105] The above-mentioned computer-readable storage media include, but are not limited to: optical storage media (e.g., CD-ROM and DVD), magneto-optical storage media (e.g., MO), magnetic storage media (e.g., magnetic tape or mobile hard disk), media with built-in rewritable non-volatile memory (e.g., memory card) and media with built-in ROM (e.g., ROM box).

[0106] The above description is only an optional embodiment of the present disclosure and is not intended to limit the present disclosure. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A method for automatically planning a route for a land vibrator, characterized in that: The planning method includes the following steps, which are performed in sequence: S1. Map building Based on basic geographic information data, the planning area is divided into two types of terrain: passable area and obstacle area, the number and location of earthquake source points are determined, and a map is constructed; S2. Introduce the TSP problem idea and set relevant parameters and their weight ratios Take each earthquake source point as a node and the obstacle area as an edge, set parameters including the shortest path between two nodes, turning angle and obstacle avoidance, and determine the weight ratio of each parameter; S3.TNH combined algorithm to solve the route of land vibroseis source Based on the set relevant parameters and weight ratios, the walking route of the land controllable vibrator is solved through the comprehensive application of the two-approximation algorithm, NSGA-II algorithm and Heuristic algorithm.

2. The method for automatically planning a route for a land vibroseis according to claim 1, characterized in that: In step S1, the obstacle area may be simplified into linear elements or surface elements.

3. The method for automatically planning a route for a land vibroseis source according to claim 2, characterized in that: In step S1, the geometric nodes of the obstacle area may be thinned to simplify the calculation.

4. The method for automatically planning a route for a land vibroseis according to claim 1, characterized in that: In step S2, the Euclidean distance is taken as the shortest path between two nodes.

5. The method for automatically planning a route for a land vibroseis source according to claim 4, characterized in that: The Euclidean distance can be obtained in the following two cases: In the first case, when the line connecting two nodes p1 (x1, y1, z1) and p2 (x2, y2, z2) does not intersect the obstacle area, the Euclidean distance is calculated according to formula 1: In the second case, when the line connecting two nodes p1 (x1, y1, z1) and p2 (x2, y2, z2) intersects with the obstacle area, the Euclidean distance is calculated according to Formula 2:

6. The method for automatically planning a route for a land vibroseis according to claim 1, characterized in that: In step S2, based on the traditional TSP idea, when searching for the next point near a point, a minimum search quantity is defined when searching within a specified radius.

7. The method for automatically planning a route for a land vibrator according to any one of claims 1 to 6, characterized in that: The step S3 comprises the following steps: S31. Based on the set relevant parameters and weight ratios, an initialized land vibroseis walking path is obtained through a two-approximation algorithm, and it is used as the first-generation individual; S32. Based on the NSGA-II algorithm, the first-generation individuals are used as part of the parent generation for crossover in the genetic process to generate new paths; S33. Locally optimize the new path generated in the first-generation individuals through the Heuristic algorithm to obtain the optimized land controllable vibrator path, and the optimized land controllable vibrator path is the land controllable vibrator travel route planned by the automatic planning method.

8. A device for automatically planning the route of a land vibrator, characterized in that: The device includes a map building module, a module for setting relevant parameters and their weight proportions, a module for solving the route of land controllable vibroseis sources using a TNH combination algorithm, and a central control module, wherein: The map building module is used to divide the part of the planning area into two types of terrain, the passable area and the obstacle area, according to the basic geographic information data, determine the number and location of the source points, and build a map; The module for setting relevant parameters and their weight ratios is used to take each earthquake source point as a node and the obstacle area as an edge, set parameters including the shortest path between two nodes, turning angle and obstacle avoidance, and determine the weight ratio of each parameter; The module for solving the route of the land vibroseis source by the TNH combined algorithm is used to solve the route of the land vibroseis source based on the set relevant parameters and weight ratios through the comprehensive application of the two approximation algorithm, the NSGA-II algorithm and the Heuristic algorithm; The central control module is equipped with a control software module for controlling the flow of signals and data processing in the map building module, the module for setting relevant parameters and their weight ratios, and the module for solving the land controllable vibrator walking route using the TNH combination algorithm.

9. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method for automatically planning the route of a land controllable vibrator according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program for executing the method for automatically planning a route for a land vibroseis source according to any one of claims 1 to 7.

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