Underwater and water body bottom geological exploration and ore sample collection system

Abstract

The invention relates to the technical field of geological sampling, and discloses an underwater and water body bottom geological detection and ore sample acquisition system, which comprises a data monitoring module, a data transmission management module, a data research module and a sampling correction processing module, the data monitoring module is used for obtaining an underwater environment data set, an underwater sound wave data set and a natural environment data set, and the data transmission management module carries out data preprocessing on the underwater environment data set, the underwater sound wave data set and the natural environment data set. The data research module calculates an equipment position offset coefficient, an equipment stability coefficient and an equipment operation coefficient according to the plurality of data sets, and sends the calculated equipment position offset coefficient, equipment stability coefficient and equipment operation coefficient to the sampling correction processing module for correction processing; the positioning precision and the sampling stability are effectively improved, the ecological balance is guaranteed, and the sample quality is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of geological sampling, and particularly to a system for underwater and water-bottom geological exploration and ore sample collection. Background Art

[0002] With the continuous growth of the global population and the rapid development of the economy, the demand for various resources is constantly rising. After long-term exploitation, land mineral resources are gradually decreasing, and the reserves of many important minerals tend to be exhausted. For example, for some common metal minerals such as iron, copper, aluminum, etc., their land recoverable reserves are limited and it is difficult to meet the growing industrial demand. Therefore, people turn their attention to the vast underwater and water-bottom areas, hoping to find new mineral resources from them. At the same time, energy is the basis for the development of modern society, and traditional energy sources such as oil and natural gas play an important role in the energy structure. However, the exploration and development of land oil and gas resources are becoming increasingly difficult, and the remaining reserves are limited. In contrast, underwater, especially deep-sea areas, contain rich oil and gas resources. It is estimated that the deep-sea oil and gas resources have huge reserves and are expected to become an important supplementary source of future energy supply.

[0003] The underwater and water-bottom environments are complex, with large topographic undulations and variable rock properties, which bring many challenges to geological exploration. As the water depth increases, environmental factors such as underwater pressure, temperature, and salinity change violently, bringing huge challenges to the stability of sampling equipment, affecting the sampling effect and increasing the positioning accuracy of sampling equipment. At the same time, during the sampling process, the operation and operation of the equipment may cause certain accidental injuries to underwater animals, affecting the health of the ecosystem and the quality of samples. Summary of the Invention

[0004] (1) Technical Problems to be Solved

[0005] In view of the deficiencies of the prior art, the present invention provides a system for underwater and water-bottom geological exploration and ore sample collection, which has the advantages of improving the quality of the entire data set, effectively avoiding large offsets during the use of the equipment, resulting in inaccurate sampling position positioning, and avoiding the problem of poor equipment stability during the use of the equipment, causing sampling failure. At the same time, it effectively protects the ecological balance and improves the sample quality.

[0006] (2) Technical Solutions

[0007] To achieve the above object, the present invention provides the following technical solution: A system for underwater and water-bottom geological exploration and ore sample collection, including a data monitoring module, a data transmission management module, a data research module, and a sampling correction and processing module. The data monitoring module, the data transmission management module, the data research module, and the sampling correction and processing module are connected through a network;

[0008] The data monitoring module includes an underwater environment monitoring unit, an acoustic wave monitoring unit, and a natural environment monitoring unit. The underwater environment monitoring unit is used to obtain an underwater environment data set. The acoustic wave monitoring unit is used to obtain an underwater acoustic wave data set. The natural environment monitoring unit is used to obtain a natural environment data set. The data monitoring module sends the obtained underwater environment data set, underwater acoustic wave data set, and natural environment data set to the data transmission management module;

[0009] The data transmission management module preprocesses the underwater environment data set, underwater acoustic wave data set, and natural environment data set. The data preprocessing includes filling the data points that deviate from the normal range and the data points with missing data in the data set with historical means. The data transmission management module numbers and saves the preprocessed underwater environment data set, underwater acoustic wave data set, and natural environment data set, and sends them to the data research module;

[0010] The data research module calculates the device position offset coefficient and device stability coefficient based on the underwater environment data set and natural environment data set, and calculates the device operation coefficient based on the underwater acoustic wave data set. The data research module sends the calculated device position offset coefficient, device stability coefficient, and device operation coefficient to the sampling correction processing module;

[0011] The sampling correction processing module includes a correction unit and a processing unit. The sampling correction processing module sends a position correction signal and a stability correction signal to the correction unit according to the received device position offset coefficient and device stability coefficient to correct the sampling device. The sampling correction processing module sends a pause signal to the processing unit according to the received device operation coefficient to pause the device.

[0012] Preferably, the underwater environment data set includes a water body data set and a bottom environment data set. The water body data set is obtained by connecting a pressure sensor, an acoustic Doppler current profiler, a temperature sensor, a conductivity sensor, an optical dissolved oxygen sensor, a glass electrode pH sensor, and an optical turbidity meter to the underwater environment monitoring unit. The bottom environment data set is obtained by connecting a single-beam echosounder, a sidescan sonar, a pore water pressure sensor, a static cone penetrometer, an inclinometer, a laser scanner, an acoustic detector, and a static cone penetrometer to the underwater environment monitoring unit.

[0013] Preferably, the underwater environment data set includes underwater pressure data, underwater flow velocity data, underwater temperature data, salinity, dissolved oxygen, pH value, and water quality turbidity. The numbering expression of the underwater environment data set is: [Yl, Ls, Sw, Yd, Ry, Zd], where Yl, Ls, Sw, Yd, Ry, and Zd correspond to underwater pressure data, underwater flow velocity data, underwater temperature data, salinity, dissolved oxygen, pH value, and water quality turbidity in sequence;

[0014] The underwater environment dataset includes depth, substrate type, sediment viscosity, sediment hardness, surface slope, roughness, sediment gas content, and sediment compaction. The numbering expression of the underwater environment dataset is: [Sd, Dl, Cn, Cy, Pd, Cc, Cq, Cy], where Sd, Dl, Cn, Cy, Pd, Cc, Cq, and Cy correspond to depth, substrate type, sediment viscosity, sediment hardness, surface slope, roughness, sediment gas content, and sediment compaction, respectively.

[0015] Preferably, the underwater acoustic wave dataset is obtained by connecting an acoustic wave detector to an acoustic wave monitoring unit, and the numbering expression of the underwater acoustic wave dataset is: [Sb1, Sb2, Sb3, . . . , Sb n ], where Sb1 represents the first acoustic wave data acquired, Sb n Represents the nth sound wave data obtained.

[0016] Preferably, the natural environment data set is obtained by connecting a tide gauge station, a wave buoy, a sonar device, a microscale flow profiler, and a meteorological observation instrument through a natural environment monitoring unit. The natural environment data set includes tides, waves, internal waves, turbulence, and precipitation intensity. The numbering expression of the environmental data set is: [Cx, Bl, Nb, Tl, Js], where Cx, Bl, Nb, Tl, and Js represent tides, waves, internal waves, turbulence, and precipitation intensity, respectively.

[0017] Preferably, the calculation formula of the device position offset coefficient is:

[0018]

[0019] In the calculation formula, WZpy represents the device position offset coefficient, YXpy represents the allowable offset data borne by the device, SHY l+Ls+Sw+yd+Ry+Zd Represents the impact of underwater environmental data on the device location, BZSHY l+Ls+Sw+Yd+Ry+Zd Represents the impact of the underwater environment data on the device position, and SHpy represents the offset index caused by the underwater environment data on the position;

[0020] HW Cx+Bl+Nb+Tl+Js Represents the impact of the natural environment on the location of the equipment, BZHW Cx+Bl+Nb+Tl+Js It represents the impact of the allowed natural environment data on the device location, and HJpy represents the offset index caused by the allowed natural environment data on the location.

[0021] Preferably, the calculation formula of the equipment stability coefficient is:

[0022]

[0023] In the calculation formula, SBwd represents the equipment stability coefficient, YXwd represents the allowable stability data borne by the equipment, and SD Sd+Dl+Cn+Cy+Pd+Cc+Cq+Cy represents the impact of the underwater environment on the equipment stability, and BZSD Sd+Dl+Cn+Cy+Pd+Cc+Cq+Cy represents the allowable impact of the underwater environment on the equipment stability, and SDwd represents the impact index of the allowable underwater environment data on the equipment stability;

[0024] HD Cx+Bl+Nb+Tl+Js represents the impact of the natural environment on the equipment stability, and BZHD Cx+Bl+Nb+Tl+Js represents the allowable impact of the natural environment on the equipment stability, and HJwd represents the stability index of the allowable natural environment data on the stability.

[0025] Preferably, when the equipment position offset coefficient is greater than the equipment position offset threshold, it represents that the current underwater environment will affect the positioning accuracy of the equipment, and a position correction signal is sent to the correction unit to correct the position of the equipment;

[0026] When the equipment stability coefficient is greater than the equipment stability threshold, it represents that the current underwater environment will affect the stability after the equipment is fixed, and a stability correction signal is sent to the correction unit to correct the stability of the equipment.

[0027] Preferably, the calculation formula of the equipment operation coefficient is:

[0028]

[0029] In the calculation formula, YXxs represents the equipment operation coefficient, represents the nearest acoustic distance data in the underwater acoustic dataset obtained at time t, represents the nearest acoustic distance data in the underwater acoustic dataset obtained at time t-1, v represents the time interval between two measurements, and AQjl represents the safety distance between the equipment and the object.

[0030] Preferably, when the equipment operation coefficient YXxs < 0, it represents that a living body is approaching the equipment, and a pause signal is sent to the processing unit. After receiving the pause signal, the processing unit pauses the operation of the equipment and simultaneously starts the expulsion system to expel the living object.

[0031] Compared with the prior art, the present invention provides an underwater and water-bottom geological exploration and ore sample collection system, which has the following beneficial effects:

[0032] 1. During the data monitoring process of the present invention, data points in the dataset that deviate from the normal range and data points with missing data are filled with historical means, solving the problem that some data points may deviate from the normal range due to factors such as sensor failures and sudden interferences, avoiding deviations in subsequent research results. By filling with historical means, outliers can be replaced with data that is more in line with the actual situation, reducing calculation errors caused by outliers, thereby improving the quality of the entire dataset.

[0033] 2. The present invention evaluates the deviation of the position by combining multiple underwater environmental factors and natural factors, can effectively understand the influence of underwater environmental factors and natural factors on the position, and thus correct the position according to the calculation results, effectively avoiding large deviations during the use of the device, which may lead to inaccurate positioning of the sampling position. By combining multiple underwater bottom environmental factors and natural factors to evaluate the stability of the device, it can effectively understand the influence of underwater bottom environmental factors and natural factors on the stability of the device, and thus correct the stability according to the calculation results, effectively avoiding the problem of poor device stability and sampling failure during the use of the device.

[0034] 3. The present invention can distinguish static obstacles and dynamic living bodies by calculating the change in acoustic wave distance in real time, reducing misjudgments. At the same time, when a living thing is detected approaching, it is driven away, effectively avoiding damage to aquatic organisms, avoiding pollution of samples caused by aquatic organisms, effectively protecting the ecological balance, and improving the sample quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a schematic diagram of the system of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0036] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0037] Please refer to Figure 1 , a system for underwater and bottom water geological exploration and ore sample collection, including a data monitoring module, a data transmission management module, a data research module, and a sampling correction processing module. The data monitoring module, the data transmission management module, the data research module, and the sampling correction processing module are connected through a network;

[0038] The data monitoring module includes an underwater environment monitoring unit, an acoustic wave monitoring unit, and a natural environment monitoring unit. The underwater environment monitoring unit is used to obtain an underwater environment dataset;

[0039] The underwater environment dataset includes a water body dataset and a bottom environment dataset. The water body dataset is obtained by connecting a pressure sensor, an acoustic Doppler current profiler, a temperature sensor, a conductivity sensor, an optical dissolved oxygen sensor, a glass electrode pH sensor, and an optical turbidity meter through an underwater environment monitoring unit. The bottom environment dataset is obtained by connecting a single-beam echosounder, a sidescan sonar, a pore water pressure sensor, a static cone penetrometer, an inclinometer, a laser scanner, an acoustic detector, and a static cone penetrometer through an underwater environment monitoring unit;

[0040] The underwater environment dataset includes underwater pressure data, underwater flow velocity data, underwater temperature data, salinity, dissolved oxygen, pH value, and water quality turbidity. The numbering expression of the underwater environment dataset is: [Yl, LS, Sw, Yd, Ry, Zd], where Yl, Ls, Sw, Yd, Ry, Zd correspond to underwater pressure data, underwater flow velocity data, underwater temperature data, salinity, dissolved oxygen, and pH value, water quality turbidity in sequence;

[0041] The bottom environment dataset includes depth, sediment type, sediment viscosity, sediment hardness, surface slope, roughness, sediment gas content, and sediment compaction degree. The numbering expression of the bottom environment dataset is: [Sd, Dl, Cn, Cy, Pd, Cc, Cq, Cy], where Sd, Dl, Cn, Cy, Pd, Cc, Cq, Cy correspond to depth, sediment type, sediment viscosity, sediment hardness, surface slope, roughness, sediment gas content, and sediment compaction degree in sequence;

[0042] The acoustic wave monitoring unit is used to obtain an underwater acoustic wave dataset;

[0043] The underwater acoustic wave dataset is obtained by connecting an acoustic wave detector through an acoustic wave monitoring unit. The numbering expression of the underwater acoustic wave dataset is: [Sb1, Sb2, Sb3, ···, Sb n , where Sb1 represents the first acoustic wave data obtained, and Sb n represents the nth acoustic wave data obtained;

[0044] The natural environment monitoring unit is used to obtain a natural environment dataset;

[0045] The natural environment dataset is obtained by connecting a tide gauge, a wave buoy, a sonar device, a microscale current profiler, and a meteorological observer through a natural environment monitoring unit. The natural environment dataset includes tides, waves, internal waves, turbulence, and precipitation intensity. The numbering expression of the environmental dataset is: [Cx, Bl, Nb, Tl, Js], where Cx, Bl, Nb, Tl, Js represent tides, waves, internal waves, turbulence, and precipitation intensity respectively;

[0046] The data monitoring module sends the obtained underwater environment dataset, underwater acoustic wave dataset, and natural environment dataset to the data transmission management module;

[0047] The data transmission management module preprocesses the underwater environment dataset, underwater acoustic wave dataset, and natural environment dataset. The data preprocessing includes filling the data points that deviate from the normal range and the data points with missing data in the dataset with historical means. The data transmission management module numbers and saves the preprocessed underwater environment dataset, underwater acoustic wave dataset, and natural environment dataset, and sends them to the data research module;

[0048] During the data monitoring process, due to factors such as sensor failures and sudden interferences, some data points may deviate from the normal range. If these outliers are not processed, they will seriously affect the accuracy of data analysis and cause deviations in subsequent research results. By filling with historical means, the outliers can be replaced with data that is more in line with the actual situation, reducing the calculation errors caused by outliers, thereby improving the quality of the entire dataset;

[0049] The data research module calculates the device position offset coefficient and device stability coefficient based on the underwater environment dataset and natural environment dataset, and calculates the device operation coefficient based on the underwater acoustic wave dataset. The data research module sends the calculated device position offset coefficient, device stability coefficient, and device operation coefficient to the sampling correction processing module;

[0050] The calculation formula for the device position offset coefficient is:

[0051]

[0052] In the calculation formula, WZpy represents the device position offset coefficient, YXpy represents the allowable offset data borne by the device, SH Yl+Ls+Sw+Yd+Ry+Zd represents the impact of underwater environment data on the device position, BZSH Yl+Ls+Sw+Yd+Ry+Zd represents the allowable impact of underwater environment data on the device position, and SHpy represents the offset index of the allowable underwater environment data on the position;

[0053] HW Cx+Bl+Nb+Tl+Js represents the impact of the natural environment on the device position, BZHW Cx+Bl+Nb+Tl+Js represents the allowable impact of natural environment data on the device position, and HJpy represents the offset index of the allowable natural environment data on the position;

[0054] By evaluating the position offset based on multiple underwater environmental factors and natural factors, we can effectively understand the impact of underwater environmental factors and natural factors on the position, and then correct the position according to the calculation results, effectively avoiding large offsets during the use of the equipment, which may lead to inaccurate sampling position positioning.

[0055] The calculation formula of the equipment stability coefficient is:

[0056]

[0057] In the calculation formula, SBwd represents the equipment stability coefficient, YXwd represents the allowable stability data borne by the equipment, SD Sd+Dl+Cn+Cy+Pd+Cd+Cq+Cy Represents the impact of the underwater environment on the stability of the equipment, BZSD Sd+Dl+Cn+Cy+Pd+Cc+Cq+Cy Represents the impact of the allowable underwater environment on the device stability, and SDwd represents the impact index of the allowable underwater environment data on the device stability;

[0058] HD Cx+Bl+Nb+Tl+Js Represents the impact of the natural environment on the stability of the equipment, BZHD Cx+Bl+Nb+Tl+Js Represents the impact of the allowable natural environment on the stability of the equipment, and HJwd represents the temperature index caused by the allowable natural environment data on stability;

[0059] By evaluating the stability of the equipment based on multiple underwater environmental factors and natural factors, we can effectively understand the impact of underwater environmental factors and natural factors on the stability of the equipment, and then correct the stability according to the calculation results, effectively avoiding the problem of poor equipment stability during use, which may cause sampling failure.

[0060] The calculation formula of equipment operation coefficient is:

[0061]

[0062] In the calculation formula, YXxs represents the equipment operation coefficient, Represents the nearest sound wave distance data in the underwater sound wave dataset obtained at time t, represents the nearest acoustic wave distance data in the underwater acoustic wave dataset obtained at time t-1, v represents the time interval between two measurements, and AQjl represents the safe distance between the device and the object;

[0063] The formula can distinguish between static obstacles and dynamic living things by calculating the change in sound wave distance in real time, reducing misjudgment. At the same time, it can drive away living things when they are detected approaching, effectively avoiding damage to aquatic organisms and preventing contamination of samples by aquatic organisms, effectively ensuring ecological balance and improving sample quality.

[0064] The sampling correction processing module includes a correction unit and a processing unit. The sampling correction processing module sends a position correction signal and a stability correction signal to the correction unit according to the received device position offset coefficient and device stability coefficient to correct the sampling device.

[0065] When the device position offset coefficient is greater than the device position offset threshold, it means that the current underwater environment will affect the positioning accuracy of the device. A position correction signal is sent to the correction unit to correct the position of the device.

[0066] When the device stability coefficient is greater than the device stability threshold, it means that the current underwater bottom environment will affect the stability of the fixed device. A stability correction signal is sent to the correction unit to correct the stability of the device.

[0067] The sampling correction processing module sends a pause signal to the processing unit according to the received device operation coefficient to pause the device.

[0068] When the device operation coefficient YXxs < 0, it means that a living body is approaching the device. A pause signal is sent to the processing unit. After receiving the pause signal, the processing unit pauses the device operation and simultaneously starts the expulsion system to expel the living thing.

[0069] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An underwater and water-bottom geological exploration and ore sample collection system, characterized in that: It includes a data monitoring module, a data transmission management module, a data research module, and a sampling correction and processing module. The data monitoring module, the data transmission management module, the data research module, and the sampling correction and processing module are connected via a network; The data monitoring module includes an underwater environment monitoring unit, an acoustic wave monitoring unit, and a natural environment monitoring unit. The underwater environment monitoring unit is used to obtain an underwater environment data set. The acoustic wave monitoring unit is used to obtain an underwater acoustic wave data set. The natural environment monitoring unit is used to obtain a natural environment data set. The data monitoring module sends the obtained underwater environment data set, underwater acoustic wave data set, and natural environment data set to the data transmission management module; The data transmission management module preprocesses the underwater environment data set, underwater acoustic wave data set, and natural environment data set. The data preprocessing includes filling the data points deviating from the normal range and the data points with data missing in the data set with historical means. The data transmission management module numbers and saves the preprocessed underwater environment data set, underwater acoustic wave data set, and natural environment data set, and sends them to the data research module; The data research module calculates the device position offset coefficient and device stability coefficient based on the underwater environment data set and natural environment data set, and calculates the device operation coefficient based on the underwater acoustic wave data set. The data research module sends the calculated device position offset coefficient, device stability coefficient, and device operation coefficient to the sampling correction and processing module; The sampling correction and processing module includes a correction unit and a processing unit. The sampling correction and processing module sends a position correction signal and a stability correction signal to the correction unit according to the received device position offset coefficient and device stability coefficient to correct the sampling device. The sampling correction and processing module sends a pause signal to the processing unit according to the received device operation coefficient to pause the device.

2. The geological exploration and ore sample collection system for underwater and water bottom according to claim 1, wherein: The underwater environment data set includes a water body data set and a bottom environment data set. The water body data set is obtained by connecting a pressure sensor, an acoustic Doppler current profiler, a temperature sensor, a conductivity sensor, an optical dissolved oxygen sensor, a glass electrode pH sensor, and an optical turbidity meter through the underwater environment monitoring unit. The bottom environment data set is obtained by connecting a single-beam echosounder, a sidescan sonar, a pore water pressure sensor, a static cone penetrometer, an inclinometer, a laser scanner, an acoustic detector, and a static cone penetrometer through the underwater environment monitoring unit.

3. The underwater and water-bottom geological exploration and ore sample collection system according to claim 2, wherein: The underwater environment data set includes underwater pressure data, underwater flow velocity data, underwater temperature data, salinity, dissolved oxygen, pH value, and water quality turbidity. The numbering expression of the underwater environment data set is: [Yl, Ls, Sw, Yd, Ry, Zd], where Yl, Ls, Sw, Yd, Ry, Zd correspond to underwater pressure data, underwater flow velocity data, underwater temperature data, salinity, dissolved oxygen, pH value, and water quality turbidity in sequence; The underwater environment data set includes depth, bottom sediment type, sediment viscosity, sediment hardness, surface slope, roughness, sediment gas content, and sediment compaction. The numbering expression of the underwater environment data set is: [Sd, Dl, Cn, Cy, Pd, Cc, Cq, Cy], where Sd, Dl, Cn, Cy, Pd, Cc, Cq, and Cy correspond to depth, bottom sediment type, sediment viscosity, sediment hardness, surface slope, roughness, sediment gas content, and sediment compaction in sequence.

4. The underwater and water-bottom geological detection and ore sample collection system according to claim 3, wherein: The underwater acoustic wave data set is obtained by connecting an acoustic wave detector through an acoustic wave monitoring unit. The numbering expression of the underwater acoustic wave data set is: [Sb1, Sb2, Sb3, …, Sb n , where Sb1 represents the first acoustic wave data obtained, and Sb n represents the nth acoustic wave data obtained.

5. The geological exploration and ore sample collection system for underwater and water bottom according to claim 4, wherein: The natural environment data set is obtained by connecting a tide gauge, a wave buoy, a sonar device, a micro-scale flow velocity profiler, and a meteorological observer through a natural environment monitoring unit. The natural environment data set includes tides, waves, internal waves, turbulence, and precipitation intensity. The numbering expression of the environment data set is: [Cx, Bl, Nb, Tl, Js], and Cx, Bl, Nb, Tl, and Js represent tides, waves, internal waves, turbulence, and precipitation intensity respectively.

6. The underwater and water-bottom geological exploration and ore sample collection system according to claim 5, characterized in that: The calculation formula for the equipment position offset coefficient is: In the calculation formula, WZpy represents the device position offset coefficient, YXpy represents the allowable offset data borne by the device, and SH Yl+Ls+Sw+Yd+Ry+Zd represents the impact of underwater environment data on the device position, and BZSH Yl+Ls+Sw+Yd+Ry+Zd represents the allowable impact of underwater environment data on the device position, and SHpy represents the offset index of the allowable underwater environment data on the position; HW Cx+Bl+Nb+Tl+Js represents the impact of the natural environment on the device location, BZHW Cx+Bl+Nb+Tl+Js represents the impact of the permitted natural environment data on the device location, and HJpy represents the offset index of the permitted natural environment data on the location.

7. A geological exploration and ore sample collection system for underwater and water bottom, according to claim 6, characterized in that: The calculation formula for the equipment stability coefficient is: In the calculation formula, SBwd represents the equipment stability coefficient, YXwd represents the allowable stability data borne by the equipment, SD Sd+Dl+Cn+Cy+Pd+Cc+Cq+Cy represents the impact of the underwater environment on the equipment stability, BZSD Sd+Dl+Cn+Cy+Pd+Cc+Cq+Cy represents the allowable impact of the underwater environment on the equipment stability, and SDwd represents the impact index of the allowable underwater environment data on the equipment stability; HD Cx+Bl+Nb+Tl+Js represents the impact of the natural environment on the stability of the device, BZHD Cx+Bl+Nb+Tl+Js represents the allowable impact of the natural environment on the stability of the device, and HJwd represents the temperature stability index caused by the allowable natural environment data on the stability.

8. A geological exploration and ore sample collection system for underwater and water bottom, according to claim 7, characterized in that: When the equipment position offset coefficient is greater than the equipment position offset threshold, it means that the current underwater environment will affect the positioning accuracy of the equipment, and a position correction signal is sent to the correction unit to correct the position of the equipment. When the equipment stability coefficient is greater than the equipment stability threshold, it means that the current underwater environment will affect the stability of the equipment after fixation, and a stability correction signal is sent to the correction unit to correct the stability of the equipment.

9. The underwater and water-bottom geological exploration and ore sample collection system according to claim 8, characterized in that: The calculation formula for the equipment operation coefficient is: In the calculation formula, YXxs represents the equipment operation coefficient, represents the nearest acoustic wave distance data in the underwater acoustic wave dataset obtained at time t, represents the nearest acoustic wave distance data in the underwater acoustic wave dataset obtained at time t - 1, v represents the time interval between two measurements, and AQjl represents the safe distance between the equipment and the object.

10. The underwater and water-bottom geological detection and ore sample collection system according to claim 9, wherein: When the equipment operation coefficient YXxs < 0, it means that a living body is approaching the equipment, and a pause signal is sent to the processing unit. After receiving the pause signal, the processing unit pauses the operation of the equipment and simultaneously activates the expulsion system to expel the living thing.

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