Submarine landslide motion path monitoring device and working method

Abstract

The invention provides a submarine landslide motion path monitoring device and a working method, the submarine landslide motion path monitoring device comprises a sink coupling frame, a motion tracking ball, a communication cable and an emergency subsurface buoy, the sink coupling frame is connected with the motion tracking ball through a first fusing releaser; a first battery pack, a three-axis acceleration sensor, a three-axis gyroscope, a three-axis magnetometer and a first-level data storage module are arranged in the motion tracking ball, a deep sea hydrophone is installed on one side of the upper portion of the motion tracking ball, and the motion tracking ball is connected with an emergency subsurface buoy through a communication cable and a second fusing releaser. The emergency subsurface buoy is internally provided with a second battery pack and a secondary data storage module, the bottom is provided with a height alarm, and the top is provided with a satellite positioner. According to the technical scheme, the submarine landslide motion path monitoring device directly monitors and interprets submarine landslide and is matched with a corresponding working method, safe recovery of monitoring data is completed after the landslide occurs, and direct acquisition of key parameters such as speed and displacement in a submarine landslide sediment instability motion process is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of submarine landslide monitoring, and in particular to a submarine landslide movement path monitoring device and a working method. Background Art

[0002] As a marine geological disaster, submarine landslides have many hazards and often have serious consequences. (1) Submarine landslides may directly cut or damage submarine optical cables, resulting in communication interruption. (2) The huge waves and debris flows generated by submarine landslides may impact port and terminal facilities, causing damage to terminal facilities and suspension of operations. (3) Submarine landslides may damage submarine oil and gas pipelines, cables and other pipelines, resulting in resource leakage, energy interruption, etc. (4) Large submarine landslides can trigger tsunamis, causing more extensive damage. The huge waves of tsunamis can impact cities and infrastructure in coastal areas, causing casualties and property losses. (5) Submarine landslides may destroy the submarine ecosystem, affect the habitat and food chain of marine organisms, and lead to a reduction in biodiversity. The damage to facilities, resource leakage and ecological damage caused by submarine landslides will bring huge economic losses. Repairing and rebuilding damaged facilities, restoring ecosystems and compensating for related losses all require huge financial investments. Therefore, conducting submarine landslide monitoring is of great significance in ensuring the safety of marine engineering construction and resource exploitation, maintaining the economic and social security development of coastal areas, improving disaster warning and response capabilities, and promoting scientific research and technological innovation.

[0003] An existing Chinese patent (publication number: CN114811273 A) discloses a submarine landslide monitoring system, belonging to the field of submarine monitoring technology. The system comprises a monitoring device, a processor, and a computer terminal, which are connected in sequence. A protective cover is provided on the outside of the monitoring device, with a base fixed to the lower end surface of the cover. The monitoring device consists of several monitoring subunits connected in series. These subunits include a long tube, a flexible connecting tube, a MEMS sensor, and a shock-absorbing plate. These monitor submarine landslides and transmit signals to the processor. The processor then transmits the processed signals to the computer terminal. This system enables multi-point monitoring of submarine landslides. A Chinese patent (publication number: CN118707072 A) discloses a submarine landslide monitoring device and method, belonging to the field of submarine monitoring technology. The device comprises a monitoring robot, a controller, and a computer terminal, which are connected in sequence. The monitoring robot includes a load carrier, a detection assembly, and a propulsion system. The detection assembly includes an equipment compartment, a sonar, a pressure sensor, a magnetometer, a positioning chip, a soil particle sensing device, and a soil pressure cell. The propulsion system controls the monitoring robot's movement in the water. The controller is connected to the positioning chip via an optoelectronic composite cable communication, receives remote control commands, and uploads underwater video information and sensor data. The computer terminal receives the processed signal and performs data processing and analysis. Existing submarine landslide monitoring equipment is mainly used to monitor the local characteristics of the landslide body (such as pressure, speed, etc.), and there is no functional module designed specifically for real-time tracking of the movement trajectory of the landslide body. The coverage of the image collector is limited, and the measurement distance of the ultrasonic sensor is short, making it difficult to capture the movement trajectory of the landslide body. In addition, the relevant patent does not mention emergency protection measures in the event of sudden risks (such as rapid sliding of the landslide body or strong impact), such as the self-protection function or data backup mechanism of the device, which may cause the device to fail to work normally in extreme cases or even lose important data. Summary of the Invention

[0004] In order to make up for the shortcomings of the prior art, the present invention provides a submarine landslide movement path monitoring device and working method. Due to the complexity of the submarine environment, submarine landslides occur sporadically. Currently, post-event fixed-point investigations and records, qualitative analysis and understanding are mostly adopted, which are labor-intensive, costly, and lack real-time and long-term observation capabilities. In addition, the submarine landslide movement process is fast and highly destructive, resulting in a high risk of monitoring equipment recovery. The purpose of the invention of this patented technology is to develop a submarine landslide movement path monitoring device to directly monitor and interpret submarine landslides, and to match it with corresponding working methods to complete the safe recovery of monitoring data after the landslide occurs, and to achieve direct acquisition of key parameters such as speed and displacement during the unstable movement of submarine landslide sediments.

[0005] The present invention is achieved through the following technical solutions: a submarine landslide movement path monitoring device, including a sinking coupling frame, a motion tracking ball, a communication cable and an emergency buoy, the sinking coupling frame is connected to the motion tracking ball through a first fuse release, the motion tracking ball includes a spherical shell, counterweights are installed on both sides of the outside of the spherical shell, a first battery pack, a three-axis acceleration sensor, a three-axis gyroscope, a three-axis magnetometer and a primary data storage module are arranged inside the spherical shell, a deep-sea hydrophone is installed on one side of the upper part of the motion tracking ball, a watertight connector is installed on the top of the spherical shell to connect the communication cable, the other end of the communication cable is connected to the emergency buoy through a second fuse release, the emergency buoy is composed of two upper and lower buoy shells, which are connected and fixed by anti-slip bolts; a second battery pack and a secondary data storage module are arranged inside the emergency buoy, a height alarm is provided at the bottom of the emergency buoy, and a satellite locator is installed on the top of the emergency buoy.

[0006] As a preferred solution, the interior of the spherical shell is divided into three layers: upper, middle and lower. The three-axis acceleration sensor, three-axis gyroscope and three-axis magnetometer are located in the upper layer, the first-level data storage module is located in the middle layer, and the first battery pack is located in the lower layer.

[0007] As a preferred solution, the second battery pack and the secondary data storage module are installed in the lower half of the buoy shell of the emergency buoy.

[0008] As a preferred solution, the height alarm limit is 10 cm below the second fuse release.

[0009] A method for monitoring a submarine landslide movement path comprises the following steps: Step S1: Start the submarine landslide movement path monitoring device and use ROV to carry it to the seabed; Step S2: Use the ROV manipulator to insert the submerged coupling frame into the seabed to complete the equipment fixation. At this time, the emergency buoy uses buoyancy to straighten the communication cable and place it in the water, completing the equipment deployment. Step S3: When a landslide occurs, the linear acceleration, angular velocity, and magnetic field strength in three mutually perpendicular motion directions are measured using a three-axis accelerometer, a three-axis gyroscope, and a three-axis magnetometer. By calculating the above data, the posture and three-dimensional coordinates of the motion tracking ball at different times can be obtained; Step S4: The primary data storage module collects and stores sensor data and adds a timestamp to the collected data; Step S5: The secondary data storage module receives and processes the data with timestamps from the primary data storage module; Step S6: During the submarine landslide movement path monitoring phase, equipment release is executed according to the actual observation situation; Step S7: The satellite locator is automatically turned on after the emergency buoy surfaces, and the precise location of the emergency buoy is sent to the survey vessel or the monitoring center on shore via the satellite locator; Step S8: The survey vessel uses the onboard equipment to accurately locate and recover the surfacing equipment.

[0010] As a preferred solution, step S3 specifically includes the following steps: Step S3.1: Establish the coordinate system bx´y´z´ based on the motion tracking ball and set the initial position P The coordinate of 0 is (0,0,0); Step S3.2: When a submarine landslide occurs, the motion tracking ball undergoes attitude deviation and displacement, and the linear acceleration in the x´y´z´ axis direction is measured by the three-axis accelerometer. a x , a y , a z ; Measure the angular velocity in the x´y´z´ direction by a three-axis gyroscope (12) ω x , ω y , ω z ; The magnetic field strength in the x´y´z´ direction is measured by a three-axis magnetometer (11) m x , m y , m z .

[0011] Step S3.3: Rotate the coordinate system bx´y´z´ along the x-axis relative to the geographic coordinate system n-xyz α Angle, rotation along the y-axis β Angle, rotation along the z axis γ Angle; the three-axis gyroscope updates the angular velocity in real time, and the roll angle in the attitude angle is obtained by integration α , pitch angle β and heading angle γ , see formula (1), using linear acceleration correction α and β The drift error is shown in formulas (2) to (3). The heading angle based on the absolute direction information of the geomagnetic field is calculated by the geomagnetic field direction measured by the three-axis magnetometer. φ mag , and then correct γ Drift error, see formula (4)~(5) (1) (2) (3) (4) (5) k is the filter coefficient (value ranges from 0.95 to 0.99), which is used to adjust the weight of the three-axis gyroscope and three-axis magnetometer data Step S3.4: Linear acceleration measured by the three-axis accelerometer a x , a y , a z Perform Euler transformation, see formula (6)~(7); after separating the gravity component, integrate the acceleration to obtain the velocity v , see formula (8); then integrate the velocity to get the position of the motion tracking ball after displacement P coordinate( x n , y n , z n ), see formula (9).

[0012] (6) (7) (8) (9) As a preferred solution, step S6 includes two situations: regular recycling and emergency recycling. The regular recycling situation specifically includes the following steps: Step S6.1-a: After the landslide occurs and no motion tracking ball is buried, an external signal is released through the survey vessel; Step S6.2-a: The deep-sea hydrophone controls the first fuse release to release the motion tracking ball; Step S6.3-a: The motion tracking ball, the communication cable, and the emergency buoy are connected and floated together; Emergency recycling specifically includes the following steps: Step S6.1-b: After the landslide occurs, when the monitored upper limit concentration exceeds the set threshold and the speed of the motion tracking ball v If the set threshold is exceeded, the motion tracking ball is determined to be buried; Step S6.2-b: releasing a signal via the altitude alarm; Step S6.3-b: The secondary data storage module controls the second fuse releaser to release the emergency potential flag; Step S6.4-b: The emergency buoy surfaces.

[0013] Due to the above technical solution, the present invention has the following advantages compared to the existing technology: Compared with the existing Chinese patent CN118707072 A, the cost is lower and more economically feasible in practical applications. This patent relies on a submerged coupling frame to achieve a tight coupling with the seabed sediment. When a submarine landslide occurs, the submerged coupling frame can maintain synchronous movement with the landslide body, and its movement direction and speed are consistent with the landslide body. This patent can sense linear acceleration, angular velocity, and magnetic field strength in three directions. Data from different sources are resolved to obtain attitude angles, which are used to correct attitude angle drift errors. The linear accelerations in the three directions are integrated to obtain the offset of the node's three-dimensional coordinates and periodically corrected. The displacement measured based on this method filters out most errors, enabling accurate recording of the device's own motion state, thereby achieving high-speed, long-distance, and precise tracking of the submarine landslide path. The emergency buoy configuration provides the equipment with excellent risk resistance. After a submarine landslide occurs, its durable structural design and reliable data storage and transmission mechanism can effectively ensure data recovery, ensuring the security of monitoring data in harsh submarine disaster environments. The applied fuse release technology is highly reliable and insensitive to factors such as electromagnetic interference, underwater noise and biological attachment. It will not cause false triggering or functional failure due to external interference. Once the fuse conditions are met, the release action is irreversible and completed quickly, ensuring the accuracy and timeliness of the release action.

[0014] Additional aspects and advantages of the invention will become apparent from the description which follows, or may be learned by practice of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments with reference to the accompanying drawings, in which: Figure 1 Schematic diagram of the overall structure of the device of the present invention; Figure 2 Schematic diagram of the cross-sectional structure of the motion tracking ball in the device of the present invention; Figure 3 Schematic diagram of the cross-sectional structure of the emergency buoy in the device of the present invention; Figure 4 This is a schematic diagram of the conventional recovery principle of the device of the present invention; Figure 5 This is a schematic diagram of the emergency recovery principle of the device of the present invention; Figure 6 It is a workflow diagram of the present invention; in, Figures 1 to 3 The corresponding relationship between the reference numerals and components is as follows: 1. Sinking coupling frame, 2. Motion tracking ball, 3. Communication cable, 4. Emergency buoy, 5. First fuse release, 6. First battery pack, 7. Sphere shell, 8. Counterweight, 9. Primary data storage module, 10. Three-axis accelerometer, 11. Three-axis magnetometer, 12. Three-axis gyroscope, 13. Deep sea hydrophone, 14. Watertight connector, 15. Second fuse release, 16. Second battery pack, 17. Secondary data storage module, 18. Anti-slip bolt, 19. Float shell, 20. Satellite locator. DETAILED DESCRIPTION

[0016] In order to more clearly understand the above-mentioned objects, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that, in the absence of conflict, the embodiments of the present application and the features therein can be combined with each other.

[0017] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present invention is not limited to the specific embodiments disclosed below.

[0018] The following combination Figures 1 to 5 The submarine landslide movement path monitoring device and working method according to the embodiment of the present invention are described in detail.

[0019] like Figure 1 As shown, the present invention proposes a submarine landslide movement path monitoring device, including a sinking coupling frame 1, a motion tracking ball 2, a communication cable 3 and an emergency buoy 4, and the device is connected as a whole as shown in FIG. Figure 1 The coupling frame 1 is connected to the motion tracking ball 2 via the first fuse release 5. The cross-sectional structure of the motion tracking ball 2 is shown in FIG. Figure 2As shown, the motion tracking ball 2 includes a spherical shell 7 made of a high-strength, low-density composite material. This material must be able to withstand deep-sea water pressure and resist corrosion while also generating strong buoyancy. Counterweights 8 are installed on both sides of the outer shell 7 to balance the buoyancy. Inside the shell 7, a first battery pack 6, a three-axis accelerometer 10, a three-axis gyroscope 12, a three-axis magnetometer 11, and a primary data storage module 9 are located. A deep-sea hydrophone 13 is installed on one side of the upper portion of the motion tracking ball 2. The interior of the spherical shell 7 is divided into three layers: the upper, middle, and lower layers. The three-axis accelerometer 10, three-axis gyroscope 12, and three-axis magnetometer 11 are located in the upper layer, the primary data storage module 9 is located in the middle layer, and the first battery pack 6 is located in the lower layer. All electrical components within the motion tracking ball 2 are powered by the battery pack 6. These three sensors work together to measure linear acceleration, angular velocity, and magnetic field strength in three mutually perpendicular directions of motion. By calculating these data, the three-dimensional coordinates of the motion tracking ball 2 at different times can be obtained. The primary data storage module 9 can collect and store sensor data and add a timestamp to the collected data. The deep sea hydrophone 13 is used to receive external signals and control the release of the fuse release 5. The top of the spherical shell 7 is equipped with a watertight connector 14 to connect to the communication cable 3. The other end of the communication cable 3 is connected to the emergency buoy 4 through the second fuse release 15. The cross-sectional structure of the emergency buoy 4 is as follows: Figure 3 As shown, the emergency buoy 4 is composed of two upper and lower float shells 19, connected and fixed by anti-slip bolts 18. A second battery pack 16 and a secondary data storage module 17 are installed inside the emergency buoy 4, and the second battery pack 16 and the secondary data storage module 17 are installed in the lower half of the float shell 19. The emergency buoy 4 is equipped with an altitude alarm 14 at the bottom and a satellite locator 20 at the top. The secondary data storage module 17 is used to receive and process data from the primary data storage module 9. The secondary data storage module 17 needs to be able to recognize and process data with timestamps to ensure data synchronization and consistency. The altitude alarm 14 has a height limit of 10 cm below the second fuse release 15. When the monitored height limit concentration exceeds the set threshold and the movement speed of the motion tracking ball 2 exceeds the set threshold, the fuse release 15 is controlled by the secondary data storage module 17 to release the emergency buoy 4, completing the emergency release. The satellite locator 20 automatically turns on after the emergency buoy 4 surfaces, and transmits the precise location of the emergency buoy 4 to the survey vessel or the monitoring center on shore via the satellite communication link with the satellite locator 20. The survey vessel can use the onboard equipment to accurately locate and recover the motion tracking ball 2, communication cable 3 and the emergency buoy 4 after the monitoring operation is completed. Figure 4 As shown, or after a submarine landslide event occurs, the emergency buoy 4 is accurately located and recovered, such as Figure 5 shown.

[0020] A method for monitoring a submarine landslide movement path comprises the following steps: Step S1: Start the submarine landslide movement path monitoring device and use ROV to carry it to the seabed; Step S2: Use the ROV manipulator to insert the coupling frame 1 into the seabed to complete the equipment fixation. At this time, the emergency buoy 4 uses the buoyancy to straighten the communication cable 3 and place it in the water, completing the equipment deployment; Step S3: When a landslide occurs, the linear acceleration, angular velocity, and magnetic field strength in three mutually perpendicular motion directions are measured by the three-axis acceleration sensor 10, the three-axis gyroscope 12, and the three-axis magnetometer 11. By calculating the above data, the posture and three-dimensional coordinates of the motion tracking ball 2 at different times can be obtained. The specific steps include: Step S3.1: Establish the coordinate system bx´y´z´ based on the motion tracking ball 2, and set the initial position P The coordinate of 0 is (0,0,0); Step S3.2: When a submarine landslide occurs, the motion tracking ball 2 undergoes attitude deviation and displacement, and the linear acceleration in the x´y´z´ axis direction is measured by the three-axis acceleration sensor 10. a x , a y , a z ; The angular velocity in the x´y´z´ direction is measured by the three-axis gyroscope 12 ω x , ω y , ω z ; The magnetic field strength in the x´y´z´ direction is measured by a three-axis magnetometer (11) m x , m y , m z .

[0021] Step S3.3: Rotate the coordinate system bx´y´z´ along the x-axis relative to the geographic coordinate system n-xyz α Angle, rotation along the y-axis β Angle, rotation along the z axis γ Angle; the three-axis gyroscope 12 updates the angular velocity in real time, and the integral obtains the roll angle in the attitude angle α , pitch angle β and heading angle γ , see formula (1), using linear acceleration correction α and β The drift error is shown in formulas (2) to (3). The heading angle based on the absolute direction information of the geomagnetic field is calculated by the geomagnetic field direction measured by the three-axis magnetometer 11. φ mag , and then correct γ Drift error, see formula (4)~(5) (1) (2) (3) (4) (5) k is the filter coefficient (the value is 0.95~0.99), which is used to adjust the weight of the three-axis gyroscope 12 and the three-axis magnetometer 11 data Step S3.4: The linear acceleration measured by the triaxial acceleration sensor 10 a x , a y , a z Perform Euler transformation, see formula (6)~(7); after separating the gravity component, integrate the acceleration to obtain the velocity v , see formula 8; then integrate the velocity to get the position of the tracking ball (2) after displacement P coordinate( x n , y n , z n ), see formula (9).

[0022] (6) (7) (8) (9) Step S4: the primary data storage module 9 collects and stores sensor data and adds a timestamp to the collected data; Step S5: The secondary data storage module 17 receives and processes the data with timestamps from the primary data storage module 9 to ensure data synchronization and consistency; Step S6: During the submarine landslide movement path monitoring phase, equipment release is performed based on actual observations. This includes both conventional recovery and emergency recovery. Conventional recovery specifically includes the following steps: Step S6.1-a: After the landslide occurs, if the motion tracking ball 2 is not buried, an external signal is released through the survey ship; Step S6.2-a: the deep sea hydrophone 13 controls the fuse release 5 to release the motion tracking ball 2; Step S6.3-a: The motion tracking ball 2, the communication cable 3 and the emergency buoy 4 are connected and floated together as a whole. Figure 4 As shown; Emergency recycling specifically includes the following steps: Step S6.1-b: After the landslide occurs, when the monitored upper limit concentration exceeds the set threshold, and the movement speed of the motion tracking ball (2) v If the threshold is exceeded, it is determined that the motion tracking ball 2 is buried; Step S6.2-b: releasing a signal via the altitude alarm 14; Step S6.3-b: the secondary data storage module 17 controls the fuse releaser 15 to release the emergency buoy 4; Step S6.4-b: The emergency buoy 4 floats up, as shown in FIG. Figure 5 shown.

[0023] Step S7: The satellite locator 20 is automatically turned on after the emergency buoy 4 surfaces, and the precise position of the emergency buoy 4 is sent to the survey vessel or the monitoring center on shore via the satellite locator 20; Step S8: The survey vessel uses the onboard equipment to accurately locate and recover the surfacing equipment.

[0024] In the description of the present invention, the term "plurality" refers to two or more than two. Unless otherwise expressly defined, the orientations or positional relationships indicated by the terms "upper" and "lower" are based on the orientations or positional relationships shown in the accompanying drawings. They are intended only to facilitate the description of the present invention and simplify the description. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they should not be understood as limitations on the present invention. The terms "connect," "install," and "fix" should be understood in a broad sense. For example, "connection" can mean a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection through an intermediate medium. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0025] Throughout this specification, terms such as "one embodiment," "some embodiments," and "specific embodiments" mean that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the present invention. In this specification, schematic representations of these terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0026] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A submarine landslide movement path monitoring device, comprising a sinking coupling frame (1), a motion tracking ball (2), a communication cable (3) and an emergency buoy (4), characterized in that: The coupling frame (1) is connected to the motion tracking ball (2) through a first fuse release (5). The motion tracking ball (2) includes a spherical shell (7). Counterweights (8) are installed on both sides of the exterior of the spherical shell (7). The interior of the spherical shell (7) is equipped with a first battery pack (6), a three-axis acceleration sensor (10), a three-axis gyroscope (12), a three-axis magnetometer (11) and a primary data storage module (9). A deep-sea hydrophone (13) is installed on one side of the upper portion of the motion tracking ball (2). The top of the spherical shell (7) is equipped with a The watertight connector (14) is connected to the communication cable (3), and the other end of the communication cable (3) is connected to the emergency buoy (4) through a second fuse release (15). The emergency buoy (4) is composed of two upper and lower floating ball shells (19) spliced ​​together, and the two pieces are connected and fixed by anti-slip bolts (18). The emergency buoy (4) is internally configured with a second battery pack (16) and a secondary data storage module (17). The bottom of the emergency buoy (4) is provided with a height alarm (14), and the top of the emergency buoy (4) is installed with a satellite locator (20).

2. A submarine landslide movement path monitoring device according to claim 1, characterized in that The interior of the spherical shell (7) is divided into three layers: upper, middle and lower. The three-axis acceleration sensor (10), the three-axis gyroscope (12) and the three-axis magnetometer (11) are located in the upper layer, the first-level data storage module (9) is located in the middle layer, and the first battery pack (6) is located in the lower layer.

3. A submarine landslide movement path monitoring device according to claim 1, characterized in that The second battery pack (16) and the secondary data storage module (17) are installed on the lower half of the buoy shell (19) of the emergency buoy (4).

4. A submarine landslide movement path monitoring device according to claim 1, characterized in that The height limit of the height alarm (14) is 10 cm below the second fuse release (15).

5. The method for operating a submarine landslide movement path monitoring device according to claim 1, characterized in that , specifically including the following steps: Step S1: Start the submarine landslide movement path monitoring device and use ROV to carry it to the seabed; Step S2: Use the ROV manipulator to insert the coupling frame (1) into the seabed to complete the equipment fixation. At this time, the emergency buoy (4) uses the buoyancy to straighten the communication cable (3) and place it in the water, completing the equipment deployment; Step S3: When a landslide occurs, the linear acceleration, angular velocity and magnetic field intensity of three mutually perpendicular motion directions are measured by a three-axis acceleration sensor (10), a three-axis gyroscope (12) and a three-axis magnetometer (11), and the posture and three-dimensional coordinates of the motion tracking ball (2) at different times can be obtained by calculating the above data; Step S4: the primary data storage module (9) collects and stores sensor data and adds a timestamp to the collected data; Step S5: The secondary data storage module (17) receives and processes the data with the time stamp from the primary data storage module (9); Step S6: During the submarine landslide movement path monitoring phase, equipment release is executed according to the actual observation situation; Step S7: The satellite locator (20) is automatically turned on after the emergency buoy (4) surfaces, and the precise position of the emergency buoy (4) is sent to the survey ship or the monitoring center on the shore through the satellite locator (20); Step S8: The survey vessel uses the onboard equipment to accurately locate and recover the surfacing equipment.

6. The working method of the submarine landslide movement path monitoring device according to claim 5 is characterized in that , the step S3 specifically includes the following steps: Step S3.1: Establish the coordinate system bx´y´z´ based on the motion tracking ball (2), and set the initial position P The coordinate of 0 is (0, 0, 0); Step S3.2: When a submarine landslide occurs, the motion tracking ball (2) undergoes attitude deviation and displacement, and the linear acceleration in the x´y´z´ axis direction is measured by the three-axis acceleration sensor (10). a x , a y , a z ; Measure the angular velocity in the x´y´z´ direction by a three-axis gyroscope (12) ω x , ω y , ω z ; The magnetic field strength in the x´y´z´ direction is measured by a three-axis magnetometer (11) m x , m y , m z ; Step S3.3: Rotate the coordinate system bx´y´z´ along the x-axis relative to the geographic coordinate system n-xyz α Angle, rotation along the y-axis β Angle, rotation along the z axis γ Angle; the three-axis gyroscope (12) updates the angular velocity in real time, and the roll angle in the attitude angle is obtained by integration α , pitch angle β and heading angle γ , see formula (1), using linear acceleration correction α and β The drift error is shown in formulas (2) to (3). The heading angle based on the absolute direction information of the geomagnetic field is calculated by the geomagnetic field direction measured by the three-axis magnetometer (11). φ mag , and then correct γ Drift error, see formula (4)~(5) (1) (2) (3) (4) (5) k is the filter coefficient (ranging from 0.95 to 0.99), which is used to adjust the weight of the three-axis gyroscope (12) and the three-axis magnetometer (11) data Step S3.4: Linear acceleration measured by the three-axis acceleration sensor (10) a x , a y , a z Perform Euler transformation, see formula (6)~(7); after separating the gravity component, integrate the acceleration to obtain the velocity v , see formula (8); then integrate the velocity to get the position of the tracking ball (2) after displacement P coordinate( x n , y n , z n ), see formula (9); (6) (7) (8) (9)。 7. The working method of the submarine landslide movement path monitoring device according to claim 5 is characterized in that The step S6 includes two situations: regular recycling and emergency recycling. The regular recycling situation specifically includes the following steps: Step S6.1-a: After the landslide occurs, if no motion tracking ball (2) is buried, an external signal is released through the survey ship; Step S6.2-a: the deep sea hydrophone (13) controls the first fuse release (5) to release the motion tracking ball (2); Step S6.3-a: The motion tracking ball (2), the communication cable (3) and the emergency buoy (4) are connected as a whole and float up together; Emergency recycling specifically includes the following steps: Step S6.1-b: After the landslide occurs, when the monitored upper limit concentration exceeds the set threshold, and the movement speed of the motion tracking ball (2) v If the set threshold is exceeded, it is determined that the motion tracking ball (2) is buried; Step S6.2-b: releasing a signal via the altitude alarm (14); Step S6.3-b: the secondary data storage module (17) controls the second fuse releaser (15) to release the emergency buoy (4); Step S6.4-b: The emergency buoy (4) floats up.

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