A device and working method for monitoring the movement path of an underwater landslide

Abstract

This invention provides a device and method for monitoring the movement path of a submarine landslide, comprising a coupling frame, a motion tracking ball, a communication cable, and an emergency mooring buoy. The coupling frame is connected to the motion tracking ball via a first fuse release device. The motion tracking ball is internally equipped with a first battery pack, a three-axis accelerometer, a three-axis gyroscope, a three-axis magnetometer, and a primary data storage module. A deep-sea hydrophone is installed on one side of the upper part. The motion tracking ball is connected to the emergency mooring buoy via a communication cable and a second fuse release device. The emergency mooring buoy is internally equipped with a second battery pack and a secondary data storage module, and has an altitude alarm at the bottom and a satellite locator at the top. Through the technical solution of this invention, the submarine landslide movement path monitoring device directly monitors and interprets submarine landslides, and with the corresponding operating method, safely retrieves monitoring data after a landslide occurs, achieving direct acquisition of key parameters such as velocity and displacement during the unstable movement of sediments in a submarine landslide.

Description

Technical Field

[0001] This invention relates to the field of submarine landslide monitoring technology, and more specifically, to a device and method for monitoring the movement path of submarine landslides. Background Technology

[0002] Submarine landslides, as a type of marine geological hazard, pose multifaceted harms and often have serious consequences. (1) Submarine landslides may directly break or damage submarine optical cables, leading to communication outages. (2) Giant waves and debris flows generated by submarine landslides may impact port and dock facilities, causing damage and shutdown of dock facilities. (3) Submarine landslides may damage submarine oil and gas pipelines, cables, and other pipelines, leading to resource leaks and energy outages. (4) Large submarine landslides can trigger tsunamis, causing widespread damage. The giant waves of tsunamis can impact coastal cities and infrastructure, causing casualties and property losses. (5) Submarine landslides may damage the submarine ecosystem, affecting the habitat and food chain of marine life, leading to a reduction in biodiversity. Damage to facilities, resource leaks, and ecological damage caused by submarine landslides will result in 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 for ensuring the safety of marine engineering construction and resource extraction, maintaining the economic and social security development of coastal areas, improving disaster early warning and response capabilities, and promoting scientific research and technological innovation.

[0003] A Chinese patent (publication number: CN114811273 A) discloses a monitoring system for submarine landslides, belonging to the field of submarine monitoring technology. The system includes a monitoring device, a processor, and a computer terminal, connected in sequence. A protective cover is installed on the outside of the monitoring device, with a base fixedly mounted on the lower end of the cover. The monitoring device consists of several monitoring sub-units connected in series. Each sub-unit includes a long tube, a flexible connecting tube, a MEMS sensor, and a shock absorber, used to monitor submarine landslide conditions and transmit signals to the processor. The processor then transmits the processed signals to the computer terminal. This system can achieve multi-point monitoring of submarine landslides. Another Chinese patent (publication number: CN118707072 A) discloses a submarine landslide monitoring device and method, also belonging to the field of submarine monitoring technology. The device includes a monitoring robot, a controller, and a computer terminal, connected in sequence. The monitoring robot includes a carrying support, detection components, and a propulsion unit. The detection components include an equipment compartment, sonar, pressure sensor, magnetometer, positioning chip, soil particle sensor, and soil pressure cell. The propulsion unit controls the movement direction of the monitoring robot in the water. The controller communicates with the positioning chip via an optoelectronic composite cable, receives remote control commands, and uploads underwater video information and sensor data. The computer terminal receives the processed signals and performs data processing and analysis. Existing submarine landslide monitoring equipment is mainly used to monitor local characteristics of the landslide body (such as pressure and velocity), and does not have a dedicated module for real-time tracking of the landslide's trajectory. The coverage of image acquisition devices is limited, and the measurement distance of ultrasonic sensors is short, making it difficult to capture the landslide's movement trajectory. Furthermore, the relevant patents do not mention emergency protection measures in the event of sudden risks (such as rapid landslides or strong impacts), such as self-protection functions or data backup mechanisms. This could lead to the device malfunctioning or even losing important data in extreme situations. Summary of the Invention

[0004] To overcome the shortcomings of existing technologies, this invention provides a device and method for monitoring the movement path of submarine landslides. Due to the complexity of the seabed environment, submarine landslides are often sporadic. Current methods primarily rely on post-event fixed-point investigations and recordings, followed by qualitative analysis, which is labor-intensive, costly, and lacks real-time and long-term monitoring capabilities. Furthermore, the rapid speed and destructive nature of submarine landslides lead to high risks associated with the recovery of monitoring equipment. The purpose of this patent is to develop a device for monitoring the movement path of submarine landslides to directly monitor and interpret them, along with a corresponding working method to safely recover monitoring data after a landslide occurs, enabling the direct acquisition of key parameters such as velocity and displacement during the unstable movement of sediments in a submarine landslide.

[0005] This invention is achieved through the following technical solution: a device for monitoring the movement path of a seabed landslide, comprising a coupling frame, a motion tracking ball, a communication cable, and an emergency buoy. The coupling frame is connected to the motion tracking ball via a first fuse release device. The motion tracking ball includes a spherical shell with counterweights installed on both sides of the outer shell. Inside the spherical shell are a first battery pack, a three-axis accelerometer, a three-axis gyroscope, a three-axis magnetometer, and a primary data storage module. A deep-sea hydrophone is installed on one side of the upper part of the motion tracking ball. A watertight connector is installed at the top of the spherical shell to connect the communication cable. The other end of the communication cable is connected to the emergency buoy via a second fuse release device. The emergency buoy is composed of two upper and lower buoy shells spliced ​​together and fixed together by anti-slip bolts. Inside the emergency buoy are a second battery pack and a secondary data storage module. A height alarm is installed at the bottom of the emergency buoy, and a satellite locator is installed at the top of the emergency buoy.

[0006] As a preferred embodiment, the interior of the sphere is divided into three layers: upper, middle, and lower. The three-axis accelerometer, three-axis gyroscope, and three-axis magnetometer are located in the upper layer, the primary data storage module is located in the middle layer, and the first battery pack is located in the lower layer.

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

[0008] As a preferred option, the height alarm is limited to 10 cm below the second fuse release.

[0009] A method for operating a submarine landslide movement path monitoring device specifically includes the following steps:

[0010] Step S1: Activate the submarine landslide movement path monitoring device and use an ROV to carry it to the seabed;

[0011] Step S2: Use the ROV robotic arm to insert the coupling frame into the seabed to secure the equipment. At this time, the emergency buoy uses buoyancy to taut the communication cable in the water, completing the equipment deployment.

[0012] Step S3: When a landslide occurs, the linear acceleration, angular velocity and magnetic field strength in three mutually perpendicular motion directions are measured by a triaxial accelerometer, a triaxial gyroscope and a triaxial magnetometer. By calculating the above data, the attitude and three-dimensional coordinates of the motion tracking ball at different times can be obtained.

[0013] Step S4: The primary data storage module collects and stores sensor data, and adds a timestamp to the collected data;

[0014] Step S5: The secondary data storage module receives and processes timestamped data from the primary data storage module;

[0015] Step S6: Monitoring the movement path of the submarine landslide, release the equipment according to the actual observation.

[0016] Step S7: The satellite locator automatically activates after the emergency buoy surfaces, transmitting the precise location of the emergency buoy to the survey vessel or the onshore monitoring center.

[0017] Step S8: After completing the task using the shipboard equipment of the survey vessel, accurately locate and recover the surfacing equipment.

[0018] As a preferred option, step S3 specifically includes the following steps:

[0019] Step S3.1: Establish a coordinate system bx´y´z´ based on the motion tracking ball, and set the initial position. P The coordinates of 0 are (0,0,0);

[0020] Step S3.2: When a landslide occurs, the motion tracking ball undergoes attitude shift and displacement. The linear acceleration in the x´y´z´ axes is measured using a three-axis accelerometer. a x , a y , a z The angular velocities along the x´y´z´ axes are measured using a three-axis gyroscope (12). ω x , ω y , ω z The magnetic field strength along the x´y´z´ axes was measured using a triaxial magnetometer (11). m x , m y , m z .

[0021] Step S3.3: Rotate the coordinate system bx´y´z´ relative to the geographic coordinate system n-xyz along the x-axis. 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 is obtained from the attitude angle 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 measuring the direction of the geomagnetic field using a triaxial magnetometer. φ mag And thus correct γ The drift error is given by formulas (4) to (5).

[0022] (1)

[0023] (2)

[0024] (3)

[0025] (4)

[0026] (5)

[0027] k These are the filter coefficients (ranging from 0.95 to 0.99), used to adjust the weights of the triaxial gyroscope and triaxial magnetometer data.

[0028] Step S3.4: Measure the linear acceleration obtained from the triaxial accelerometer. a x , a y , a z Perform the Euler transformation, see formulas (6)~(7); after separating the gravitational components, integrate the acceleration to obtain the velocity. v See formula (8); then integrate the velocity to obtain the position of the motion tracking ball after displacement. P coordinate( x n , y n , z n See formula (9).

[0029] (6)

[0030] (7)

[0031] (8)

[0032] (9)

[0033] As a preferred option, step S6 includes two scenarios: regular recycling and emergency recycling. The regular recycling scenario specifically includes the following steps:

[0034] As a preferred option, step S6 includes two scenarios: regular recycling and emergency recycling. The regular recycling scenario specifically includes the following steps:

[0035] Step S6.1-a: After the landslide, no motion tracking ball was buried, and an external signal was released via the survey vessel;

[0036] Step S6.2-a: The deep-sea hydrophone controls the first fuse release to release the motion tracking ball;

[0037] Step S6.3-a: The motion tracking ball, communication cable, and emergency buoy are connected as a whole and float to the surface together;

[0038] Emergency recovery procedures include the following steps:

[0039] Step S6.1-b: After a landslide occurs, when the concentration at the height limit is detected to exceed the set threshold, and the movement speed of the motion tracking ball... v If the set threshold is exceeded, the motion tracking ball is determined to be buried;

[0040] Step S6.2-b: Release a signal via the height alarm;

[0041] Step S6.3-b: The secondary data storage module controls the second fuse release device to release the emergency buoy;

[0042] Step S6.4-b: Emergency buoy rises to the surface.

[0043] This invention, employing the above technical solutions, offers the following advantages compared to existing technologies: It has a lower cost than existing Chinese patent CN118707072 A, making it more economically feasible in practical applications. This patent relies on a coupling frame to achieve a close coupling with seabed sediments, enabling it to move synchronously with the landslide body during an underwater landslide, with its direction and speed matching the landslide. This patent can sense linear acceleration, angular velocity, and magnetic field strength in three directions. Data from different sources is used to calculate attitude angles to correct attitude angle drift errors. The linear acceleration in the three directions is integrated to obtain the offset of the node's three-dimensional coordinates, which is then periodically corrected. The displacement measured using these methods filters out most errors, enabling precise recording of its own motion state and thus accurate tracking of the high-speed, long-distance path of an underwater landslide. The emergency mooring device provides excellent resilience. After an underwater landslide, its robust and durable structural design and reliable data storage and transmission mechanism effectively ensure data retrieval, guaranteeing the safety of monitoring data in harsh underwater disaster environments. The applied fuse release technology is highly reliable and insensitive to factors such as electromagnetic interference, underwater noise, and biofouling. It will not be falsely triggered or fail due to external interference. Once the fuse release condition is met, the release action is irreversible and completed quickly, ensuring the accuracy and timeliness of the release action.

[0044] Additional aspects and advantages of the invention will become apparent in the following description or may be learned by practice of the invention. Attached Figure Description

[0045] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0046] Figure 1 This is a schematic diagram of the overall structure of the device of the present invention;

[0047] Figure 2 This is a schematic diagram of the cross-sectional structure of the motion tracking ball in the device of the present invention;

[0048] Figure 3 This is a schematic diagram of the cross-sectional structure of the emergency underwater mooring in the device of the present invention;

[0049] Figure 4 This is a schematic diagram illustrating the conventional recycling principle of the device of the present invention;

[0050] Figure 5 This is a schematic diagram illustrating the emergency recovery principle of the device of the present invention;

[0051] Figure 6 This is a flowchart of the process of the present invention;

[0052] in, Figures 1 to 3 The correspondence between the reference numerals and components in the attached drawings is as follows:

[0053] 1. 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 Implementation

[0054] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0055] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and therefore the scope of protection of the invention is not limited to the specific embodiments disclosed below.

[0056] The following is combined Figures 1 to 5 The following is a detailed description of the submarine landslide movement path monitoring device and its working method according to embodiments of the present invention.

[0057] like Figure 1As shown, this invention proposes a device for monitoring the movement path of a submarine landslide, comprising a coupling frame 1, a motion tracking ball 2, a communication cable 3, and an emergency mooring buoy 4. The overall connection of the device is as follows: Figure 1 As shown. The coupling frame 1 is connected to the motion tracking ball 2 via the first fuse release device 5. The cross-sectional structure of the motion tracking ball 2 is as shown. Figure 2 As shown, the motion tracking ball 2 includes a spherical shell 7, which is made of a high-strength, low-density composite material. This material needs to withstand the pressure of deep seawater, be corrosion-resistant, and also have the ability to generate strong buoyancy. Counterweights 8 are installed on both sides of the outer shell 7 to balance the buoyancy. Inside the shell 7 are 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. A deep-sea hydrophone 13 is installed on the upper side of the motion tracking ball 2. The interior of the shell 7 is divided into three layers: the three-axis accelerometer 10, the three-axis gyroscope 12, and the 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 inside the motion tracking ball 2 are powered by the battery pack 6. The three sensors work together to measure linear acceleration, angular velocity, and magnetic field strength in three mutually perpendicular motion directions. 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 timestamps to the collected data. The deep-sea hydrophone 13 is used to receive external signals and control the release of the fuse release device 5. A watertight connector 14 is installed at the top of the spherical shell 7 to connect to the communication cable 3. The other end of the communication cable 3 is connected to the emergency buoy 4 via the second fuse release device 15. The cross-sectional structure of the emergency buoy 4 is as follows... Figure 3As shown, the emergency buoy 4 is composed of two upper and lower buoy shells 19 joined together and fixed by anti-slip bolts 18. The emergency buoy 4 is internally equipped with a second battery pack 16 and a secondary data storage module 17, which are installed on the lower half of the buoy shell 19. A height alarm is installed at the bottom of the emergency buoy 4, and a satellite locator 20 is installed at the top. The secondary data storage module 17 receives and processes data from the primary data storage module 9. The secondary data storage module 17 needs to be able to identify and process timestamped data to ensure data synchronization and consistency. The height alarm limits the height to 10 cm below the second fuse release device 15. When the detected height concentration exceeds the set threshold, and the movement speed of the motion tracking ball 2 exceeds the set threshold, the secondary data storage module 17 controls the fuse release device 15 to release the emergency buoy 4, completing the emergency release. Satellite locator 20 automatically activates after emergency mooring 4 surfaces, transmitting the precise location of emergency mooring 4 to the survey vessel or onshore monitoring center via a satellite communication link. The survey vessel can then use its onboard equipment to precisely locate and retrieve the motion tracking ball 2, communication cable 3, and emergency mooring 4 after monitoring operations are completed. Figure 4 As shown, or after an underwater landslide event, the emergency buoy 4 can be precisely located and retrieved, such as Figure 5 As shown.

[0058] A method for operating a submarine landslide movement path monitoring device specifically includes the following steps:

[0059] Step S1: Activate the submarine landslide movement path monitoring device and use an ROV to carry it to the seabed;

[0060] Step S2: Use the ROV robotic arm to insert the coupling frame 1 into the seabed to secure the equipment. At this time, the emergency buoy 4 uses buoyancy to taut the communication cable 3 and place it in the water to complete the equipment deployment.

[0061] 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 triaxial accelerometer 10, a triaxial gyroscope 12, and a triaxial magnetometer 11. The attitude and three-dimensional coordinates of the motion tracking ball 2 at different times can be obtained by calculating these data. Specifically, the following steps are included:

[0062] Step S3.1: Establish a coordinate system bx´y´z´ based on the motion tracking ball 2, and set the initial position. P The coordinates of 0 are (0,0,0);

[0063] Step S3.2: When a landslide occurs, the motion tracking ball 2 undergoes attitude shift and displacement, and the linear acceleration in the x´y´z´ axes is measured by the triaxial accelerometer 10. ax , a y , a z ; Angular velocities along the x´y´z´ axes are measured using a three-axis gyroscope 12. ω x , ω y , ω z The magnetic field strength along the x´y´z´ axes was measured using a triaxial magnetometer (11). m x , m y , m z .

[0064] Step S3.3: Rotate the coordinate system bx´y´z´ relative to the geographic coordinate system n-xyz along the x-axis. α Angle, rotation along the y-axis β Angle, rotation along the z-axis γ Angle; the angular velocity is updated in real time by a three-axis gyroscope 12, 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 given by formulas (2) to (3); the heading angle based on the absolute direction information of the geomagnetic field is calculated by measuring the geomagnetic field direction using the triaxial magnetometer 11. φ mag And thus correct γ The drift error is given by formulas (4) to (5).

[0065] (1)

[0066] (2)

[0067] (3)

[0068] (4)

[0069] (5)

[0070] k These are the filter coefficients (ranging from 0.95 to 0.99), used to adjust the weights of the data from the triaxial gyroscope 12 and the triaxial magnetometer 11.

[0071] Step S3.4: Measure the linear acceleration obtained by the triaxial accelerometer 10. a x ,a y , a z Perform the Euler transformation, see formulas (6)~(7); after separating the gravitational components, integrate the acceleration to obtain the velocity. v See Formula 8; then integrate the velocity to obtain the position of the motion tracking ball (2) after displacement. P coordinate( x n , y n , z n See formula (9).

[0072] (6)

[0073] (7)

[0074] (8)

[0075] (9)

[0076] Step S4: The primary data storage module 9 collects and stores sensor data, and adds a timestamp to the collected data;

[0077] Step S5: The secondary data storage module 17 receives and processes timestamped data from the primary data storage module 9 to ensure data synchronization and consistency;

[0078] Step S6: During the monitoring phase of the submarine landslide movement path, the equipment is released based on the actual observation situation; this includes two scenarios: routine recovery and emergency recovery. The routine recovery scenario specifically includes the following steps:

[0079] Step S6.1-a: After the landslide, the tracking ball 2 was not buried, and an external signal was released via the survey vessel;

[0080] Step S6.2-a: Deep-sea hydrophone 13 controls fuse release 5 to release motion tracking ball 2;

[0081] Step S6.3-a: The motion tracking ball 2, communication cable 3, and emergency buoy 4 are connected as a whole and rise together, as shown. Figure 4 As shown;

[0082] Emergency recovery procedures include the following steps:

[0083] Step S6.1-b: After the landslide occurs, when the concentration at the height limit is detected to exceed the set threshold, and the movement speed of the motion tracking ball (2) is... v If the set threshold is exceeded, it is determined that the motion tracking ball 2 has been buried;

[0084] Step S6.2-b: Release a signal via the height alarm;

[0085] Step S6.3-b: The secondary data storage module 17 controls the fuse release device 15 to release the emergency buoy 4;

[0086] Step S6.4-b: Emergency buoy 4 rises to the surface, as follows. Figure 5 As shown.

[0087] Step S7: The satellite locator 20 is automatically activated after the emergency buoy 4 surfaces, and the precise location of the emergency buoy 4 is sent to the survey vessel or the onshore monitoring center via the satellite locator 20.

[0088] Step S8: After completing the task using the shipboard equipment of the survey vessel, accurately locate and recover the surfacing equipment.

[0089] In the description of this invention, the term "a plurality of" refers to two or more. Unless otherwise explicitly defined, the terms "upper," "lower," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. The terms "connection," "installation," "fixing," etc., should be interpreted broadly. For example, "connection" can be 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 meaning of the above terms in this invention can be understood according to the specific circumstances.

[0090] In the description of this specification, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above 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 one or more embodiments or examples.

[0091] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for operating a submarine landslide movement path monitoring device, comprising a coupling frame (1), a motion tracking ball (2), a communication cable (3), and an emergency mooring (4), characterized in that, The coupling frame (1) is connected to the motion tracking ball (2) via the first fuse release (5). The motion tracking ball (2) includes a spherical shell (7). Counterweights (8) are installed on both sides of the outer shell (7). The spherical shell (7) contains 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). A deep-sea hydrophone (13) is installed on one side of the upper part of the motion tracking ball (2). The top of the spherical shell (7) is equipped with... The communication cable (3) is connected to a watertight connector (14). The other end of the communication cable (3) is connected to the emergency buoy (4) via a second fuse release device (15). The emergency buoy (4) is composed of two upper and lower buoy shells (19) spliced ​​together and connected and fixed by anti-slip bolts (18). The emergency buoy (4) is equipped with a second battery pack (16) and a secondary data storage module (17). The bottom of the emergency buoy (4) is equipped with a height alarm and the top of the emergency buoy (4) is equipped with a satellite locator (20). Specifically, the following steps are included: Step S1: Activate the submarine landslide movement path monitoring device and use an ROV to carry it to the seabed; Step S2: Use the ROV manipulator to insert the anchor frame (1) into the seabed to complete the equipment fixation. At this time, the emergency buoy (4) uses buoyancy to straighten the communication cable (3) and place it in the water to complete the equipment deployment. Step S3: When a landslide occurs, the linear acceleration, angular velocity and magnetic field strength of three mutually perpendicular motion directions are measured by a triaxial accelerometer (10), a triaxial gyroscope (12) and a triaxial magnetometer (11). The attitude 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 timestamped data from the primary data storage module (9); Step S6: Monitoring the movement path of the submarine landslide, release the equipment according to the actual observation. Step S7: The satellite locator (20) automatically activates after the emergency buoy (4) surfaces and sends the precise location of the emergency buoy (4) to the survey vessel or the onshore monitoring center via the satellite locator (20). Step S8: After completing the task using the shipboard equipment of the survey vessel, accurately locate and recover the surfacing equipment.

2. The working method of the submarine landslide movement path monitoring device according to claim 1, characterized in that... The spherical shell (7) is divided into three layers: upper, middle and lower. 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.

3. The working method of the 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. The working method of the submarine landslide movement path monitoring device according to claim 1, characterized in that... The height alarm is limited to 10 cm below the second fuse release device (15).

5. The working method of the submarine landslide movement path monitoring device according to claim 1, characterized in that... Step S3 specifically includes the following steps: Step S3.1: Establish a coordinate system bx´y´z´ based on the motion tracking ball (2), and set the initial position. P The coordinates of 0 are (0, 0, 0); Step S3.2: When a landslide occurs, the motion tracking ball (2) undergoes attitude shift and displacement, and the linear acceleration in the x´y´z´ axis directions is measured by the triaxial accelerometer (10). a x , a y , a z The angular velocities along the x´y´z´ axes are measured using a three-axis gyroscope (12). ω x , ω y , ω z The magnetic field strength along the x´y´z´ axes was measured using a triaxial magnetometer (11). m x , m y , m z ; Step S3.3: Rotate the coordinate system bx´y´z´ relative to the geographic coordinate system n-xyz along the x-axis. 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 given by formulas (2) to (3); the heading angle based on the absolute direction information of the geomagnetic field is calculated by measuring the direction of the geomagnetic field using a triaxial magnetometer (11). φ mag And thus correct γ The drift error is given by formulas (4) to (5). （1） (2) (3) (4) (5) k The filter coefficient, with a value of 0.95~0.99, is used to adjust the weight of the data from the triaxial gyroscope (12) and the triaxial magnetometer (11). Step S3.4: The linear acceleration measured by the triaxial accelerometer (10) a x , a y , a z Perform the Euler transformation, see formulas (6)~(7); after separating the gravitational components, integrate the acceleration to obtain the velocity. v See formula (8); then integrate the velocity to obtain the position of the motion tracking ball (2) after displacement. P coordinate( x n , y n , z n See formula (9). (6) (7) (8) (9)。 6. The working method of the submarine landslide movement path monitoring device according to claim 1, characterized in that... Step S6 includes two scenarios: routine recycling and emergency recycling. The routine recycling scenario specifically includes the following steps: Step S6.1-a: After the landslide, no motion tracking ball (2) was buried, and an external signal was released through the survey vessel; Step S6.2-a: The deep-sea hydrophone (13) controls the first fuse release device (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 recovery procedures include the following steps: Step S6.1-b: After the landslide occurs, when the concentration at the height limit is detected to exceed the set threshold, and the movement speed of the motion tracking ball (2) is... v If the set threshold is exceeded, it is determined that the motion tracking ball (2) has been buried; Step S6.2-b: Release a signal via the height alarm; Step S6.3-b: The secondary data storage module (17) controls the second fuse release device (15) to release the emergency buoy (4); Step S6.4-b: Emergency buoy (4) rises to the surface.

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