A method and system for seabed surface geologic surveying

Abstract

This application relates to a method and system for seabed surface geological surveying, belonging to the field of marine surveying technology. The method includes: acquiring the desired survey area and equipment deployment point; acquiring the direction of ocean currents in real time after the equipment arrives at the deployment point, and determining the permissible movement direction range and effective movement direction based on the desired survey area and the deployment point; controlling the equipment to move along the effective movement direction to determine the equipment's movement trajectory, and updating the desired survey area based on the equipment's movement trajectory and the detection width; determining whether the permissible movement direction range is empty during equipment movement; acquiring the equipment termination point when the permissible movement direction range is empty, and defining a waiting survey area; controlling the equipment operation based on the equipment termination point, the waiting survey area, and the direction of ocean currents until the waiting survey area is empty. This application has the function of improving the overall operational efficiency of underwater robots conducting seabed surveys.

Description

Technical Field

[0001] This application relates to the field of marine surveying technology, and in particular to a method and system for seabed surface geological surveying. Background Technology

[0002] With the deepening development of marine resource development, submarine engineering construction (such as submarine cable / pipeline laying), and marine scientific research, increasingly higher requirements are being placed on the accurate acquisition of seabed surface geological information.

[0003] Currently, standard seabed geological surveys typically employ a phased operational model: First, a wide-area geophysical survey is conducted using multibeam echo sounders, side-scan sonar, and other equipment aboard the survey vessel to initially identify "regions of interest" (ROIs), such as abrupt topographic changes, suspected obstacles, or geological anomalies. Subsequently, remotely operated underwater vehicles (ROVs) or autonomous underwater vehicles (AUVs) equipped with high-resolution sensors and robotic arms are deployed to conduct close-range, detailed observations and sediment sampling within the designated RIOs to verify and acquire comprehensive geological data. Before the underwater robots begin their operations, staff determine their operational paths based on the specific conditions of the RIOs to achieve geological surveys of the seabed surface.

[0004] Among the aforementioned technologies, the preset path method, while considering the integrity and logic of the detection coverage, cannot adapt to the dynamic changes in the seabed environment in real time. For example, the direction of ocean currents may change, and when the robot moves according to the preset path, it may need to fight against the opposite current for a long time, which will cause the propulsion system to be under high load for a long time, affecting the life of components. Therefore, the effect of using underwater robots to survey the seabed is currently poor and there is still room for improvement. Summary of the Invention

[0005] To improve the overall operational efficiency of underwater robots in seabed surveying, this application provides a method and system for seabed surface geological surveying.

[0006] In a first aspect, this application provides a method for geological surveying of the seabed surface, employing the following technical solution: A method for seabed surface geological survey, comprising: Obtain the required survey area and equipment deployment points; After the equipment arrives at the equipment deployment point, the direction of the ocean currents on the seabed is obtained in real time, and the range of the permitted movement direction is determined according to the required survey area and the equipment deployment point. A simulated movement direction is randomly generated within the permitted movement direction range, and the action angle is determined based on the simulated movement direction and the direction of the ocean current. The simulated movement direction corresponding to the smallest action angle is defined as the effective movement direction. The control device moves along the effective movement direction to determine the device's movement trajectory, and updates the required survey area based on the device's movement trajectory and the preset detection width; During equipment movement, determine whether the permitted movement direction range is empty; If the permitted movement direction range is not empty, the control device continues to move along the valid movement direction; If the permitted movement direction range is empty, obtain the device break point and define the currently updated required survey area as the waiting survey area. Based on the equipment break point, the area to be surveyed, and the direction of ocean currents, control the equipment to move from the break point to the area to be surveyed and continue operations until the area to be surveyed is empty.

[0007] Optionally, when the equipment moves along the effective direction of movement, the seabed surface geological survey method may also include: The actual deviation angle is determined based on the effective direction of movement and the direction of the ocean current. Determine whether the actual deviation angle is greater than the preset reference change angle; If the actual deviation angle is not greater than the reference change angle, the control equipment will maintain the original effective movement direction. If the actual deviation angle is greater than the reference change angle, the effective direction of movement is re-determined based on the direction of the ocean current.

[0008] Optional, also includes: Obtain sediment sampling points and preliminary sampling types; Within the required survey area, determine the proposed sampling type for each location point, and define the location points whose proposed sampling type is consistent with the preliminary sampling type as similar sampling points of the corresponding sediment sampling points; The distance between similar sampling points is determined by calculation based on similar sampling points and corresponding sediment sampling points, and similar sampling points with a distance between similar sampling points that is less than the preset replacement distance are defined as candidate sampling points; When the equipment is at the candidate sampling point, the intensity of the ocean current is obtained, and the resistance strength coefficient is determined by calculation and analysis based on the actual deviation angle and the intensity of the ocean current. Determine whether the resistance strength coefficient is greater than the preset advanced load coefficient; If the resistance strength coefficient is not greater than the high load coefficient, the control device continues to move; If the resistance strength coefficient is greater than the high load coefficient, the control equipment will perform sediment sampling at the corresponding alternative sampling point.

[0009] Optionally, an advanced load factor determination step may also be included, which includes: The candidate sampling points passed by the device are defined as the preceding sampling points, and the number of preceding samples is determined by counting the preceding sampling points. The number of candidate samples is determined by counting the candidate sampling points, and the remaining number of samples is determined by calculating the difference between the number of candidate samples and the number of previous samples. The advanced load factor corresponding to the remaining number of samples is determined based on a preset load matching relationship, wherein the remaining number of samples and the advanced load factor are positively correlated.

[0010] Optionally, after the alternative sampling points are determined, the seabed surface geological survey methods may also include: The location where the equipment performs sediment sampling is defined as the actual operation point, the corresponding sediment sampling point is defined as the standard operation point, and the sediment sampling point of the current preliminary sampling type is defined as the target operation point. The standard distance between the target work points and the standard work points is calculated and determined, and the actual distance between the current alternative sampling points and the actual work points is calculated and determined. The alternative deviation distance is determined by calculation based on the actual distance and the corresponding standard distance. The feasible selection coefficient is determined by calculating all the alternative deviation distances, and alternative sampling points with feasible selection coefficients less than the preset benchmark selection coefficient are eliminated.

[0011] Optionally, the steps for controlling the movement of equipment from the equipment break-off point to the waiting survey area to continue operations, based on the equipment break-off point, the waiting survey area, and the direction of ocean currents, include: The feasible direction range is determined based on the equipment disconnection point and the area to be surveyed. A virtual adjustment direction is randomly generated within the feasible direction range, and the equipment access point is determined on the area to be surveyed based on the virtual adjustment direction. The access movement distance is determined based on the equipment disconnection point and the equipment access point, and the access movement load is determined by calculation based on the access movement distance, the direction of the ocean current, the virtual adjustment direction, and the intensity of the ocean current. The virtual adjustment direction corresponding to the minimum access mobile load is defined as the access adjustment direction, and the control device moves along the access adjustment direction. During the movement, the device break point is updated according to the real-time position of the device to update the access adjustment direction in real time so that the device can move to the waiting survey area.

[0012] Optionally, after the access mobile load is determined, the seabed surface geological survey method may further include: Determine if there are at least two virtual adjustment directions with the same and minimum access mobile load; If there are no at least two virtual adjustment directions that are identical and have the smallest access mobile load, then the virtual adjustment direction corresponding to the smallest access mobile load is defined as the access adjustment direction. If there are at least two virtual adjustment directions with the same and smallest access mobile load, then the virtual adjustment direction corresponding to the smallest access mobile load is defined as the access alternative direction. Based on a preset adjustment distance, a candidate change point is determined in the access candidate direction, and the subsequent virtual load is determined at the candidate change point based on the virtual ocean current with a preset fixed virtual intensity in different directions. The candidate change point corresponding to the smallest subsequent virtual load under the same virtual ocean current is defined as the preferred point. The preferred point is counted under each candidate change point to determine the number of times the preferred point is selected. The access candidate direction corresponding to the candidate change point with the largest number of preferred points is defined as the access adjustment direction.

[0013] Secondly, this application provides a seabed surface geological survey system, which adopts the following technical solution: A seabed surface geological survey system, comprising: The acquisition module is used to acquire the required survey area and equipment deployment points. The processing module, connected to the acquisition and judgment modules, is used for information storage and processing; The judgment module, connected to the acquisition and processing modules, is used for judging information. The acquisition module obtains the direction of the ocean current in real time after the equipment arrives at the equipment deployment point, and the processing module determines the permissible movement direction range based on the required survey area and the equipment deployment point. The processing module randomly generates a simulated movement direction within the permitted movement direction range, determines the action angle based on the simulated movement direction and the direction of the ocean current, and defines the simulated movement direction corresponding to the smallest action angle as the valid movement direction. The processing module controls the device to move along the effective movement direction to determine the device's movement trajectory, and updates the required survey area based on the device's movement trajectory and the preset detection width; The judgment module determines whether the permitted movement direction range is empty during the device movement process; If the judgment module determines that the range of permitted movement directions is not empty, the processing module controls the device to continue moving along the valid movement direction; If the judgment module determines that the permitted movement direction range is empty, the acquisition module acquires the device break point, and the processing module defines the currently updated and determined required survey area as the waiting survey area. The processing module controls the equipment to move from the equipment break-off point to the waiting survey area based on the equipment break-off point, the waiting survey area, and the direction of the ocean current, so that the equipment can continue to work until the waiting survey area is empty.

[0014] In summary, this application includes at least one of the following beneficial technical effects: In the process of using underwater robots to survey the seabed geology, the underwater robot's path is planned in real time by combining the seabed current conditions. This ensures that the underwater robot can carry out the survey while reducing the long-term high load, thereby improving the overall operation effect of the underwater robot when conducting seabed surveys. During underwater robot operations, sediment sampling can be performed when high-intensity ocean currents are required, thereby minimizing the overall load on the underwater robot during the survey process. Attached Figure Description

[0015] Figure 1 This is a flowchart of seabed surface geological survey methods.

[0016] Figure 2 This is a flowchart of the modules for seabed surface geological survey methods. Detailed Implementation

[0017] To make the purpose, technical solution, and advantages of this application clearer, the following is combined with Figures 1-2 The present application will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the application.

[0018] The embodiments of this application will now be described in further detail with reference to the accompanying drawings.

[0019] This application discloses a method for seabed surface geological survey, referring to... Figure 1 The methodological process for seabed surface geological survey includes the following steps: Step S100: Obtain the required survey area and equipment deployment points.

[0020] The area requiring surveying is the area where underwater robots are needed for surveying operations, and the equipment deployment point is the location where the underwater robot is deployed to the seabed.

[0021] Step S101: After the equipment arrives at the equipment deployment point, the direction of the ocean current on the seabed is obtained in real time, and the range of the permitted movement direction is determined according to the required survey area and the equipment deployment point.

[0022] The direction of ocean currents refers to the direction of the water flow on the seabed detected by the underwater robot, which can be obtained by installing corresponding sensors on the underwater robot. The permissible movement direction range is the movement direction that allows the underwater robot to move without leaving the required survey area. That is, the direction of the position point in the required survey area relative to the equipment deployment point. The range formed by the two extreme directions is the permissible movement direction range. In other words, if the equipment moves along the direction within the permissible movement direction range, it can definitely move into the required survey area.

[0023] Step S102: Randomly generate a simulated movement direction within the permitted movement direction range, determine the action angle based on the simulated movement direction and the direction of the ocean current, and define the simulated movement direction corresponding to the smallest action angle as the valid movement direction.

[0024] By randomly determining the simulated movement direction, various movement scenarios are simulated and analyzed. The movement angle is the angle that the underwater robot needs to resist the ocean current when moving along the simulated movement direction. The smallest movement angle indicates that the underwater robot requires the lowest load from the corresponding water current when moving along the corresponding simulated movement direction, which is the most energy-efficient operation. Therefore, it is defined as the effective movement direction to distinguish different simulated movement directions and facilitate subsequent analysis.

[0025] Step S103: Control the device to move along the effective movement direction to determine the device movement trajectory, and update the required survey area according to the device movement trajectory and the preset detection width.

[0026] The equipment movement trajectory is the trajectory formed by the equipment moving from the equipment deployment point. The detection width is the width area that the equipment can detect at a single location point. By determining the equipment movement trajectory, the area that has been surveyed in the required survey area can be identified, thereby continuously excluding this part from the original required survey area to ensure that the equipment only moves within the area that needs to be surveyed.

[0027] Step S104: Determine whether the permitted movement direction range is empty during the equipment movement process.

[0028] The purpose of the assessment is to determine whether the underwater robot has moved out of the updated required survey area.

[0029] Step S1041: If the permitted movement direction range is not empty, the control device continues to move along the valid movement direction.

[0030] When the permitted range of movement directions is not empty, it means that the underwater robot can continue to operate, so normal movement and surveying can be carried out.

[0031] Step S1042: If the permitted movement direction range is empty, obtain the device break point and define the currently updated required survey area as the waiting survey area.

[0032] When the permitted movement direction range is empty, it means that the underwater robot has left the updated required survey area. At this time, it is necessary to control the underwater robot to return to the required survey area to carry out survey work on the unsurveyed area. The equipment break point is the current position of the equipment. The waiting survey area is defined to mark and distinguish the areas that still need to be surveyed, which is convenient for subsequent analysis.

[0033] Step S105: Based on the equipment break-off point, the waiting survey area, and the direction of the ocean current, control the equipment to move from the equipment break-off point to the waiting survey area to continue operation until the waiting survey area is empty.

[0034] At this point, the equipment can be controlled to move to the waiting survey area to continue the work until the waiting survey area is empty, so as to complete the work of all areas that need to be surveyed. The method of moving the equipment from the equipment break point to the waiting survey area can be the shortest distance movement, or it can be moved through the method of steps S600-S602.

[0035] When the equipment moves along the effective direction of movement, the seabed surface geological survey method also includes: Step S200: Determine the actual deviation angle based on the effective direction of movement and the direction of the ocean current.

[0036] The actual deviation angle is the angle between the effective direction of movement and the direction of the ocean current.

[0037] Step S201: Determine whether the actual deviation angle is greater than the preset reference change angle.

[0038] The reference angle is the maximum actual deviation angle allowed when the underwater robot can move relatively easily, as set by the staff. The purpose of the judgment is to determine whether the movement direction of the underwater robot needs to be adjusted.

[0039] Step S2011: If the actual deviation angle is not greater than the reference change angle, the control device maintains the original effective movement direction.

[0040] When the actual deviation angle is not greater than the reference change angle, it means that there is no need to adjust the movement direction of the underwater robot at present. Therefore, the control equipment can move along the effective movement direction.

[0041] Step S2012: If the actual deviation angle is greater than the reference change angle, the effective movement direction is re-determined based on the direction of the ocean current.

[0042] When the actual deviation angle is greater than the reference change angle, it indicates that the underwater robot is currently facing a relatively severe ocean current. Therefore, the effective direction of movement should be redefined to allow the underwater robot to operate.

[0043] Seafloor surface geological survey methods also include: Step S300: Obtain sediment sampling points and preliminary sampling type.

[0044] Sediment sampling points are locations set by staff before the underwater robot is deployed to collect sediment samples. The preliminary sampling type refers to the type of sediment to be collected at each sampling point. The sediment type at each location can be obtained through preliminary surveys before the underwater robot is deployed.

[0045] Step S301: Determine the proposed sampling type for each location point within the required survey area, and define the location points whose proposed sampling type is consistent with the preliminary sampling type as the corresponding sediment sampling points of the same type.

[0046] The proposed sampling type refers to the type of sediment present at each location point. By defining sampling points of the same type, locations where the same sediment can be collected can be identified and distinguished, which facilitates subsequent analysis.

[0047] Step S302: Calculate the spacing between similar sampling points and corresponding sediment sampling points to determine the spacing between similar sampling points, and define similar sampling points with a spacing smaller than the preset replacement spacing as candidate sampling points.

[0048] The same-type interval distance is the straight-line distance between a sediment sampling point and its corresponding same-type sampling point. The replacement interval distance is the maximum same-type interval distance allowed when the distance between two locations is considered to be close enough to reflect the same geological conditions, as set by the staff. Alternate sampling points are defined to identify and distinguish locations that can replace the set sediment sampling points, which facilitates subsequent analysis.

[0049] Step S303: When the device is at the candidate sampling point, obtain the intensity of the ocean current on the seabed, and calculate and analyze it based on the actual deviation angle and the intensity of the ocean current on the seabed to determine the resistance strength coefficient.

[0050] The intensity of ocean currents, or the flow intensity of water on the seabed, can be obtained through corresponding sensors; the resistance strength coefficient is the load intensity value that the underwater robot needs to withstand to move, and the formula for calculating the resistance strength coefficient is as follows: ,in To counteract the strength coefficient, The intensity of ocean currents, This is the actual deviation angle. These are fixed parameters that are pre-defined to unify the dimensions of both.

[0051] Step S304: Determine whether the resistance strength coefficient is greater than the preset advanced load coefficient.

[0052] The advanced load factor reflects the strength of resistance required for an underwater robot to withstand strong water currents. The purpose of this assessment is to determine whether the underwater robot needs to withstand strong water currents.

[0053] Step S3041: If the resistance strength coefficient is not greater than the high load coefficient, the control device continues to move.

[0054] When the resistance strength coefficient is not greater than the high load coefficient, it means that the underwater robot does not need to cope with a large water flow, so it can operate normally.

[0055] Step S3042: If the resistance strength coefficient is greater than the high load coefficient, the control equipment performs sediment sampling at the corresponding alternative sampling point.

[0056] When the resistance intensity coefficient is greater than the high load coefficient, it means that the underwater robot is currently resisting a strong water flow. Therefore, the control equipment performs sampling operations at this location to ensure that the underwater robot can operate under high resistance intensity, and can wait for changes in water flow while sampling sediments, thereby minimizing the overall load of the underwater robot during the survey process.

[0057] It also includes a step for determining the advanced load factor, which includes: Step S400: Define the candidate sampling points passed by the device as the preceding sampling points, and count them to determine the number of preceding samples.

[0058] Preceding sampling points are defined to identify locations where the device cannot sample. The number of preceding sampling points is the number of preceding sampling points determined for a single initial sampling type.

[0059] Step S401: Count the candidate sampling points to determine the number of candidate samples, and calculate the difference between the number of candidate samples and the number of previous samples to determine the remaining number of samples.

[0060] The number of candidate sampling points is the total number of candidate sampling points determined under a single preliminary sampling type. The remaining number of sampling points is the number of locations where the underwater robot can still complete the sediment sampling operation of the current preliminary sampling type, which is determined by subtracting the number of previous sampling points from the number of candidate sampling points.

[0061] Step S402: Determine the advanced load factor corresponding to the remaining number of samples based on the preset load matching relationship, wherein the remaining number of samples and the advanced load factor are positively correlated.

[0062] The larger the remaining number of samples, the more available location points there are. Therefore, it is best not to determine the sampling points in advance, so that sampling can only be carried out when high-intensity confrontation occurs later. The load matching relationship is determined by the staff in advance through multiple experiments, and it is necessary to ensure that the remaining number of samples and the advanced load coefficient are positively correlated.

[0063] After the candidate sampling points are determined, the methods for seabed surface geological survey also include: Step S500: Define the location point where the equipment performs sediment sampling as the actual operation point, define the corresponding sediment sampling point as the standard operation point, and define the sediment sampling point of the current preliminary sampling type as the target operation point.

[0064] Define actual work points, standard work points, and target work points to identify and distinguish different data, facilitating subsequent analysis.

[0065] Step S501: Calculate and determine the standard distance based on the target work point and the standard work point, and calculate and determine the actual distance based on the current alternative sampling points and the actual work points.

[0066] The standard distance is the straight-line distance between the target work point and the standard work point, while the actual distance is the straight-line distance between the current candidate sampling point and the actual work point.

[0067] Step S502: Calculate and determine the alternative deviation distance based on the actual distance and the corresponding standard distance.

[0068] The alternative deviation distance is the difference between the actual distance and the corresponding standard distance, and this difference is an absolute value.

[0069] Step S503: Calculate the feasible selection coefficient based on all the alternative deviation distances, and remove the alternative sampling points whose feasible selection coefficient is less than the preset benchmark selection coefficient.

[0070] The feasible selection coefficient is a value that reflects whether the interval between each sampling point meets the original requirements. The larger the value, the better it meets the requirements. It is determined by taking the average of all the alternative deviation distances and then taking the reciprocal. The benchmark selection coefficient is the minimum feasible selection coefficient that the staff set to ensure that the distribution of the sampling points roughly meets the requirements. At this time, alternative sampling points with feasible selection coefficients less than the benchmark selection coefficient are eliminated to improve the rationality of sampling point selection.

[0071] The steps for controlling the equipment to move from the equipment break-off point to the waiting survey area to continue operations, based on the equipment break-off point, the area to be surveyed, and the direction of ocean currents, include: Step S600: Determine the feasible direction range based on the equipment disconnection point and the area to be surveyed, and randomly generate a virtual adjustment direction within the feasible direction range, and determine the equipment access point on the area to be surveyed based on the virtual adjustment direction.

[0072] The feasible direction range is the range of movement directions that the underwater robot can move from the equipment break-off point to the waiting survey area when moving in a straight line; different movement directions can be simulated and analyzed by randomly generating a virtual adjustment direction; the equipment access point is the position point where the equipment break-off point enters the waiting survey area when moving along the virtual adjustment direction.

[0073] Step S601: Determine the access movement distance based on the equipment disconnection point and the equipment access point, and calculate the access movement load based on the access movement distance, the direction of the ocean current, the virtual adjustment direction, and the intensity of the ocean current.

[0074] The access movement distance is the distance between the device's disconnection point and its access point, i.e., the distance the device needs to move along the virtual adjustment direction to enter the waiting survey area; the access movement load is the load that the underwater robot needs to withstand to move to the device access point under the current ocean current conditions. This load can be understood as energy loss, meaning that the larger the value, the greater the energy loss. The specific calculation formula is as follows: ,in To access mobile load, To access mobile distance, The underwater robot's preset fixed movement speed, This refers to the angle between the direction of the ocean current and the virtual adjustment direction.

[0075] Step S602: Define the virtual adjustment direction corresponding to the smallest access mobile load as the access adjustment direction, and control the device to move along the access adjustment direction. During the movement, update the device break-off point according to the device's real-time position to update the access adjustment direction in real time so that the device can move to the waiting survey area.

[0076] The minimum access mobile load means that the energy loss generated by the current underwater robot moving in this direction is low. Therefore, the control equipment can move, so that the position can be corrected after the underwater robot leaves the area to be surveyed.

[0077] After the access mobile load is determined, the seabed surface geological survey methods also include: Step S700: Determine whether there are at least two virtual adjustment directions with the same and smallest access mobile load.

[0078] The purpose of this judgment is to determine whether there are multiple virtual adjustment directions that meet the requirements, so as to determine the unique access adjustment direction.

[0079] Step S7001: If there are no at least two virtual adjustment directions with the same and smallest access mobile load, then the virtual adjustment direction corresponding to the smallest access mobile load is defined as the access adjustment direction.

[0080] When there are no at least two virtual adjustment directions with the same and smallest access mobile load, it means that there is only one virtual adjustment direction that meets the requirements, so it can be defined as the access adjustment direction.

[0081] Step S7002: If there are at least two virtual adjustment directions with the same and smallest access mobile load, then the virtual adjustment direction corresponding to the smallest access mobile load is defined as the access alternative direction.

[0082] When there are at least two virtual adjustment directions with the same and minimum access mobile load, it indicates that there are multiple virtual adjustment directions that meet the requirements. Therefore, these are defined as access alternative directions to distinguish different virtual adjustment directions and facilitate subsequent analysis.

[0083] Step S701: Determine the alternative change point according to the preset adjustment distance in the alternative access direction, and determine the subsequent virtual load at the alternative change point according to the virtual ocean current with preset fixed virtual intensity in different directions.

[0084] The adjustment distance is a fixed value set by the staff. The alternative change point is the position where the equipment will be after moving and adjusting the distance from the equipment break point along the alternative access direction. The virtual ocean current is an ocean current with a fixed virtual intensity and a variable direction set in advance by the staff. Based on this, the subsequent virtual load of the equipment at the alternative change point can be calculated. The method for determining this load is the same as that for the access moving load, and will not be elaborated here.

[0085] Step S702: Under the same direction of virtual ocean current, the candidate change point corresponding to the smallest subsequent virtual load is defined as the preferred point, and the preferred point is counted under each candidate change point to determine the number of times of preference, and the access candidate direction corresponding to the candidate change point corresponding to the largest number of preferences is defined as the access adjustment direction.

[0086] The minimum subsequent virtual load under the same virtual ocean current indicates the lowest equipment capacity loss at the corresponding alternative change point. Therefore, the equipment is better off at this alternative change point than at other alternative change points. At this point, a preferred point is defined to distinguish between different alternative change points. The number of preferred points is the number of times an alternative change point is determined as the preferred point. The maximum number of preferred points reflects that the equipment can operate well under more ocean current conditions at the corresponding alternative change point. Therefore, the corresponding access alternative direction can be defined as the access adjustment direction.

[0087] Reference Figure 2 Based on the same inventive concept, embodiments of the present invention provide a seabed surface geological survey system, comprising: The acquisition module is used to acquire the required survey area and equipment deployment points. The processing module, connected to the acquisition and judgment modules, is used for information storage and processing; The judgment module, connected to the acquisition and processing modules, is used for judging information. The acquisition module obtains the direction of the ocean current in real time after the equipment arrives at the equipment deployment point, and the processing module determines the permissible movement direction range based on the required survey area and the equipment deployment point. The processing module randomly generates a simulated movement direction within the permitted movement direction range, determines the action angle based on the simulated movement direction and the direction of the ocean current, and defines the simulated movement direction corresponding to the smallest action angle as the valid movement direction. The processing module controls the device to move along the effective movement direction to determine the device's movement trajectory, and updates the required survey area based on the device's movement trajectory and the preset detection width; The judgment module determines whether the permitted movement direction range is empty during the device movement process; If the judgment module determines that the range of permitted movement directions is not empty, the processing module controls the device to continue moving along the valid movement direction; If the judgment module determines that the permitted movement direction range is empty, the acquisition module acquires the device break point, and the processing module defines the currently updated and determined required survey area as the waiting survey area. The processing module controls the equipment to move from the equipment break-off point to the waiting survey area based on the equipment break-off point, the waiting survey area, and the direction of the ocean current, and continues to work until the waiting survey area is empty; The motion maintenance analysis module is used to determine the directional maintenance status of the underwater robot during its movement. The sampling operation analysis module is used to determine the sediment sampling location of the underwater robot; The advanced load factor determination module is used to determine the advanced load factor for each location point; The alternative sampling point elimination module is used to eliminate some alternative sampling points that do not meet the requirements. The decapitation point movement module is used to analyze the situation when the underwater robot is at the decapitation point of the equipment. The virtual adjustment direction filtering module is used to filter multiple virtual adjustment directions that meet the requirements.

[0088] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

Claims

1. A method of seabed surface geology surveying, characterised in that, include: Obtain the required survey area and equipment deployment points; After the equipment arrives at the equipment deployment point, the direction of the ocean currents on the seabed is obtained in real time, and the range of the permitted movement direction is determined according to the required survey area and the equipment deployment point. A simulated movement direction is randomly generated within the permitted movement direction range, and the action angle is determined based on the simulated movement direction and the direction of the ocean current. The simulated movement direction corresponding to the smallest action angle is defined as the effective movement direction. The control device moves along the effective movement direction to determine the device's movement trajectory, and updates the required survey area based on the device's movement trajectory and the preset detection width; During equipment movement, determine whether the permitted movement direction range is empty; If the permitted movement direction range is not empty, the control device continues to move along the valid movement direction; If the permitted movement direction range is empty, obtain the device break point and define the currently updated required survey area as the waiting survey area. Based on the equipment break point, the area to be surveyed, and the direction of ocean currents, control the equipment to move from the break point to the area to be surveyed and continue operations until the area to be surveyed is empty.

2. The seabed surface geologic surveying method of claim 1, wherein, When the equipment moves along the effective direction of movement, the seabed surface geological survey method also includes: The actual deviation angle is determined based on the effective direction of movement and the direction of the ocean current. Determine whether the actual deviation angle is greater than the preset reference change angle; If the actual deviation angle is not greater than the reference change angle, the control equipment will maintain the original effective movement direction. If the actual deviation angle is greater than the reference change angle, the effective direction of movement is re-determined based on the direction of the ocean current.

3. The seabed surface geologic surveying method of claim 2, wherein, Also includes: Obtain sediment sampling points and preliminary sampling types; Within the required survey area, determine the proposed sampling type for each location point, and define the location points whose proposed sampling type is consistent with the preliminary sampling type as similar sampling points of the corresponding sediment sampling points; The distance between similar sampling points is determined by calculation based on similar sampling points and corresponding sediment sampling points, and similar sampling points with a distance between similar sampling points that is less than the preset replacement distance are defined as candidate sampling points; When the equipment is at the candidate sampling point, the intensity of the ocean current is obtained, and the resistance strength coefficient is determined by calculation and analysis based on the actual deviation angle and the intensity of the ocean current. Determine whether the resistance strength coefficient is greater than the preset advanced load coefficient; If the resistance strength coefficient is not greater than the high load coefficient, the control device continues to move; If the resistance strength coefficient is greater than the high load coefficient, the control equipment will perform sediment sampling at the corresponding alternative sampling point.

4. The seabed surface geologic surveying method of claim 3, wherein, It also includes a step for determining the advanced load factor, which includes: The candidate sampling points passed by the device are defined as the preceding sampling points, and the number of preceding samples is determined by counting the preceding sampling points. The number of candidate samples is determined by counting the candidate sampling points, and the remaining number of samples is determined by calculating the difference between the number of candidate samples and the number of previous samples. The advanced load factor corresponding to the remaining number of samples is determined based on a preset load matching relationship, wherein the remaining number of samples and the advanced load factor are positively correlated.

5. The seabed surface geologic surveying method of claim 3, wherein, After the candidate sampling points are determined, the methods for seabed surface geological survey also include: The location where the equipment performs sediment sampling is defined as the actual operation point, the corresponding sediment sampling point is defined as the standard operation point, and the sediment sampling point of the current preliminary sampling type is defined as the target operation point. The standard distance between the target work points and the standard work points is calculated and determined, and the actual distance between the current alternative sampling points and the actual work points is calculated and determined. The alternative deviation distance is determined by calculation based on the actual distance and the corresponding standard distance. The feasible selection coefficient is determined by calculating all the alternative deviation distances, and alternative sampling points with feasible selection coefficients less than the preset benchmark selection coefficient are eliminated.

6. The seabed surface geologic surveying method of claim 3, wherein, The steps for controlling the equipment to move from the equipment break-off point to the waiting survey area to continue operations, based on the equipment break-off point, the area to be surveyed, and the direction of ocean currents, include: The feasible direction range is determined based on the equipment disconnection point and the area to be surveyed. A virtual adjustment direction is randomly generated within the feasible direction range, and the equipment access point is determined on the area to be surveyed based on the virtual adjustment direction. The access movement distance is determined based on the equipment disconnection point and the equipment access point, and the access movement load is determined by calculation based on the access movement distance, the direction of the ocean current, the virtual adjustment direction, and the intensity of the ocean current. The virtual adjustment direction corresponding to the minimum access mobile load is defined as the access adjustment direction, and the control device moves along the access adjustment direction. During the movement, the device break point is updated according to the real-time position of the device to update the access adjustment direction in real time so that the device can move to the waiting survey area.

7. The seabed surface geologic surveying method of claim 6, wherein, After the access mobile load is determined, the seabed surface geological survey methods also include: Determine if there are at least two virtual adjustment directions with the same and minimum access mobile load; If there are no at least two virtual adjustment directions that are identical and have the smallest access mobile load, then the virtual adjustment direction corresponding to the smallest access mobile load is defined as the access adjustment direction. If there are at least two virtual adjustment directions with the same and smallest access mobile load, then the virtual adjustment direction corresponding to the smallest access mobile load is defined as the access alternative direction. Based on a preset adjustment distance, a candidate change point is determined in the access candidate direction, and the subsequent virtual load is determined at the candidate change point based on the virtual ocean current with a preset fixed virtual intensity in different directions. The candidate change point corresponding to the smallest subsequent virtual load under the same virtual ocean current is defined as the preferred point. The preferred point is counted under each candidate change point to determine the number of times the preferred point is selected. The access candidate direction corresponding to the candidate change point with the largest number of preferred points is defined as the access adjustment direction.

8. A seabed surface geological survey system, characterized in that, include: The acquisition module is used to acquire the required survey area and equipment deployment points. The processing module, connected to the acquisition and judgment modules, is used for information storage and processing; The judgment module, connected to the acquisition and processing modules, is used for judging information. The acquisition module obtains the direction of the ocean current in real time after the equipment arrives at the equipment deployment point, and the processing module determines the permissible range of movement direction based on the required survey area and the equipment deployment point. The processing module randomly generates a simulated movement direction within the permitted movement direction range, determines the action angle based on the simulated movement direction and the direction of the ocean current, and defines the simulated movement direction corresponding to the smallest action angle as the valid movement direction. The processing module controls the device to move along the effective movement direction to determine the device's movement trajectory, and updates the required survey area based on the device's movement trajectory and the preset detection width; The judgment module determines whether the permitted movement direction range is empty during the device movement process; If the judgment module determines that the range of permitted movement directions is not empty, the processing module controls the device to continue moving along the valid movement direction; If the judgment module determines that the permitted movement direction range is empty, the acquisition module acquires the device break point, and the processing module defines the currently updated and determined required survey area as the waiting survey area. The processing module controls the equipment to move from the equipment break-off point to the waiting survey area based on the equipment break-off point, the waiting survey area, and the direction of the ocean current, so that the equipment can continue to work until the waiting survey area is empty.

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