KR102519630B1 - Method and apparatus for determination a working point on the seabed - Google Patents

Abstract

A method and apparatus for selecting a sea floor work location are disclosed. A method for selecting a seafloor work location according to an embodiment of the present disclosure includes obtaining subsea topographic information and seafloor stratum information through an apparatus for selecting a seafloor work location; In the step of quantifying the environmental variables, and when the selection of the seabed work location is requested through the seafloor work location selection device, the optimal location for the seafloor work is reflected by the quantified seafloor environmental variables according to the detailed settings of the seafloor work. It may include selecting and outputting the selected seafloor work location.

Description

Method and device for selecting a working position on the seabed {METHOD AND APPARATUS FOR DETERMINATION A WORKING POINT ON THE SEABED}

The present disclosure provides a seabed operation that automatically selects a location for a seabed operation such as coring for collecting a bottom material sample by measuring the structure and strength of the seabed topography and strata. It relates to a location selection method and device.

In general, the accumulation of soil from land flowing into the sea is called marine sediment. Subsea drilling is the work of collecting sediments on the seabed, and equipment capable of such work is called a drilling machine. Currently, offshore drilling technology is used for various environmental studies in addition to resource exploration. Subsea drilling machines are also very diverse, ranging from simple hand-crafted equipment to state-of-the-art equipment. Drilling machines mainly used in marine geological research may include box, multiple, gravity, piston, and drill drilling machines, and researchers can choose according to the research purpose and convenience of use. You can select and use a drilling machine.

Box or multi-column drilling drills can pick up short sediments within a meter of the seafloor, while gravity and piston drilling drills can get sediments from a few meters to tens of meters. Extremely complex and sophisticated drill rigs can extract thousands of meters of seafloor sediment.

Box or multi-column drilling drills are mainly used for subsea geochemical and biological studies, and are also used to calibrate surface samples in gravity and piston drilling machines. Gravity and piston drills used in marine sedimentology, geochemistry, paleocean and geophysics are among the basic equipment of ocean research vessels. Drill drilling requires the use of a drill rig or a research vessel equipped with a structure capable of using drilling equipment, and its use is also quite expensive. Gravity or piston drills are mainly used to obtain seabed sediments easily from an economic point of view or to obtain samples covering a wide area of the sea.

In addition, in the drilling operation, as in the prior art 1, by using an auxiliary support ship and a remotely controlled submersible to form a borehole while minimizing the vertical movement of the drill string, drill pipe assembly and separation for vertical movement of the drill string A subsea drilling method or the like that can shorten the overall drilling operation time by reducing the operation time may be used.

On the other hand, in order to select a drilling position for collecting sea bottom quality samples using the drilling devices as described above, conventionally, based on data from observation equipment measuring the structure of the sea bottom topography and strata and the sound signal reflection strength, etc. The user analyzed the data of the observation equipment one by one and selected the location to collect the bottom quality sample.

However, in the case of determining the location for sampling the bottom quality of the seabed based on the experience and intuition of the user based on the data of the observation equipment that measures the seabed topography, strata structure, and sound signal reflection intensity, drilling work is not required. There is a problem that the criteria vary according to the user who selects the location for the location, and there is a problem that human errors such as selecting an inappropriate location frequently occur.

The foregoing background art is technical information that the inventor possessed for derivation of the present invention or acquired during the derivation process of the present invention, and cannot necessarily be said to be known art disclosed to the general public prior to filing the present invention.

Prior Art 1: Korean Patent Registration No. 10-2019268 (registered on September 2, 2019)

One problem of an embodiment of the present disclosure is that when selecting a location for collecting a seabed bottom quality sample, the user quantitatively measures the gradient of the seabed topography, the sound signal reflection intensity of the seabed stratum, and the degree of change in the stratum structure of the seabed, which are seafloor environmental variables. It is intended to consistently and automatically select the location for sampling the bottom quality of the seabed by setting it to .

An object of an embodiment of the present disclosure is to select and provide an optimal location suitable for a user's purpose by allowing the optimal location determination criterion to be set differently according to the purpose of seafloor work and the type of low-quality sample to be collected.

An object of an embodiment of the present disclosure is to improve user satisfaction by enabling a more detailed and accurate extraction of a seafloor work location through a map generated based on various seafloor environmental variables.

The purpose of the embodiments of the present disclosure is not limited to the above-mentioned tasks, and other objects and advantages of the present invention not mentioned above can be understood by the following description and will be more clearly understood by the embodiments of the present invention. will be. It will also be seen that the objects and advantages of the present invention may be realized by means of the instrumentalities and combinations indicated in the claims.

A method for selecting a seafloor work location according to an embodiment of the present disclosure includes the steps of automatically selecting a seafloor work location such as drilling for collecting a bottom quality sample by measuring the structure and strength of the seafloor topography and strata. can include

Specifically, a method for selecting a seafloor work location according to an embodiment of the present disclosure includes obtaining subsea topographic information and subsea stratum information through an apparatus for selecting a seafloor work location, and based on the subsea topographic information and subsea stratum information, In the step of quantifying seafloor environment variables, and when a seafloor work location is requested through the seafloor work site selection device, the optimal seafloor work location is reflected by reflecting the quantified seafloor environment variables according to the detailed seafloor work settings. It may include selecting a location of the and outputting the selected seafloor work location.

Through the seafloor work location selection method according to an embodiment of the present disclosure, when selecting a location for collecting a seafloor bottom quality sample, the user determines the inclination of the seafloor topography, the sound signal reflection intensity of the seafloor stratum, and the seafloor, which are seafloor environmental variables. By quantitatively setting the surface stratum structural change value and consistently and automatically selecting the location for sampling the bottom quality, the work accuracy and user satisfaction can be improved.

In addition to this, another method for implementing the present invention, another system, and a computer-readable recording medium storing a computer program for executing the method may be further provided.

Other aspects, features and advantages other than those described above will become apparent from the following drawings, claims and detailed description of the invention.

According to an embodiment of the present disclosure, based on the quantitative seafloor environmental parameter setting set by the user, the drilling position for collecting seafloor quality samples is automatically and consistently selected, thereby providing a seafloor topographical shape and a seafloor sound signal. It is possible to eliminate the inconvenience, complexity and human error that occur in the existing method of selecting the sampling (boring) location of the seabed bottom sample based on the user's intuition based on the observed data on the reflection intensity and the seafloor stratum structure. .

In addition, when selecting a location to collect a seabed bottom quality sample, the user quantitatively sets the values of the seabed environmental variables such as the gradient of the seabed topography, the sound signal reflection intensity of the seabed stratum, and the change in the stratum structure of the seafloor. By consistently and automatically selecting the location for sampling, work accuracy can be improved and user satisfaction can be improved.

In addition, it is possible to set the optimal position determination criterion differently according to the purpose of seabed work and the type of low-quality sample to be collected, and by selecting and providing the optimal location for the user's purpose, the user for the seabed work location selection device Satisfaction and reliability can be improved.

In addition, it is possible to improve user satisfaction and product performance by enabling more detailed and accurate extraction of seafloor working locations through maps generated based on various seafloor environmental variables.

The effects of the present invention are not limited to those mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description below.

1 is a schematic illustration of a sea floor work location selection system according to an embodiment of the present disclosure.
2 is a block diagram schematically illustrating an apparatus for selecting a location for working on a sea floor according to an embodiment of the present disclosure.
3 is a block diagram schematically illustrating a seafloor observation unit according to an embodiment of the present disclosure.
4 is an exemplary view illustrating seafloor topography information according to an embodiment of the present disclosure.
5 is a diagram for explaining a gradient extraction method according to an embodiment of the present disclosure.
6 is an exemplary diagram illustrating seafloor acoustic signal reflection intensity information according to an embodiment of the present disclosure.
7 is an exemplary diagram illustrating seafloor stratum structure information according to an embodiment of the present disclosure.
8 is a flowchart illustrating a method for selecting a sea floor work position according to an embodiment of the present disclosure.

Advantages and features of the present invention, and methods for achieving them will become clear with reference to the detailed description of embodiments in conjunction with the accompanying drawings.

However, it should be understood that the present invention is not limited to the embodiments presented below, but may be implemented in a variety of different forms, and includes all conversions, equivalents, and substitutes included in the spirit and scope of the present invention. . The embodiments presented below are provided to complete the disclosure of the present invention and to fully inform those skilled in the art of the scope of the invention to which the present invention belongs. In describing the present invention, if it is determined that a detailed description of related known technologies may obscure the gist of the present invention, the detailed description will be omitted.

Terms used in this application are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly dictates otherwise. In this application, the terms "include" or "have" are intended to designate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, but one or more other features It should be understood that the presence or addition of numbers, steps, operations, components, parts, or combinations thereof is not precluded. Terms such as first and second may be used to describe various components, but components should not be limited by the terms. These terms are only used for the purpose of distinguishing one component from another.

Hereinafter, embodiments according to the present invention will be described in detail with reference to the accompanying drawings. In the description with reference to the accompanying drawings, the same or corresponding components are assigned the same reference numerals, and overlapping descriptions thereof are omitted. I'm going to do it.

1 is a schematic illustration of a sea floor work location selection system according to an embodiment of the present disclosure.

As shown in FIG. 1 , the system for selecting a location for working on the sea floor 1 may include a device for selecting a location for working on the sea floor 100 , a user terminal 200 , a server 300 and a network 400 .

In this embodiment, the seabed work location selection system 1 selects the optimal location for the work that can be performed on the seabed so that the work is performed at that location, for example, seabed bottom quality sample collection. It is to automatically select and recommend a drilling work location to perform drilling work for In this embodiment, a drilling operation for collecting a bottom quality sample may be described as an example of a seabed operation, and the drilling operation may include drilling a hole in the seabed and collecting a bottom quality sample. However, it is not limited thereto, and may be applied to various tasks that can be performed on the seabed. For example, it can also be applied for positioning purposes for installing observation equipment and other devices on the sea floor.

That is, the present embodiment is based on the user's intuition based on the observation data on the seafloor topographical shape, the seafloor sound signal reflection intensity, and the seafloor stratum structure, in the existing method of selecting the sampling (or drilling) location of the seafloor sample. In order to eliminate the inconvenience, complexity, and human error that occur in the method, it is possible to consistently and automatically select a drilling location for bottom quality sample collection based on quantitative seabed environmental parameter settings set by the user. is to allow

Meanwhile, in this embodiment, users access an application or website implemented in the user terminal 200 and input a request for selecting a sea floor work location, input sea floor environment variables and sea floor environment variable values, It is possible to perform a process such as checking the output screen for the selected work position or making a final decision on the selected work position and inputting the result. The user terminal 200 may access a seabed work location selection application or a seabed work location selection website and then receive a sea floor work location selection service through an authentication process. The authentication process may include authentication of inputting user information such as membership registration, authentication of a user terminal, etc., but is not limited thereto, and is not limited thereto. An authentication process may be performed only by accessing. In addition, in this embodiment, the user may mean a worker who wants to obtain optimal location information for seafloor work.

In this embodiment, the user terminal 200 is a desktop computer operated by a user, a smart phone, a laptop computer, a tablet PC, a smart TV, a mobile phone, a personal digital assistant (PDA), a laptop computer, a media player, a micro server, and a global GPS (GPS). positioning system) device, e-reader, digital broadcast terminal, navigation, kiosk, MP3 player, digital camera, home appliance, and other mobile or non-mobile computing device, but is not limited thereto. In addition, the user terminal 200 may be a wearable terminal such as a watch, glasses, hair band, and ring having a communication function and a data processing function. The user terminal 200 is not limited to the above, and a terminal capable of web browsing may be borrowed without limitation.

Meanwhile, in the present embodiment, the system 1 for selecting a location for working on the sea floor may be implemented by the apparatus 100 for selecting a location for working on the sea floor and/or the server 300 .

The server 300 may be a server for operating the sea floor work location selection system 1 including the sea floor work location selection device 100 . In addition, the server 300 may be a database server that provides big data necessary for applying various artificial intelligence algorithms and data for operating the device 100 for selecting a location for working on the seabed. In addition, the server 300 may include a web server or an application server for implementing the seafloor work location selection system 1, and a learning server for performing an artificial intelligence process such as deep learning. In this embodiment, the server 300 may include the aforementioned servers or network with these servers.

The network 400 may serve to connect the device 100 for positioning a job on the sea floor, the server 300 and the user terminal 200 in the system 1 for positioning a job on the sea floor. Such a network 400 may be wired networks such as LANs (local area networks), WANs (wide area networks), MANs (metropolitan area networks), ISDNs (integrated service digital networks), wireless LANs, CDMA, Bluetooth, satellite communication However, the scope of the present invention is not limited thereto. In addition, the network 400 may transmit and receive information using short-range communication and/or long-distance communication. Here, the short-range communication may include Bluetooth, radio frequency identification (RFID), infrared data association (IrDA), ultra-wideband (UWB), ZigBee, and wireless fidelity (Wi-Fi) technology, and may include long-distance communication. Communications may include code division multiple access (CDMA), frequency division multiple access (FDMA), time division multiple access (TDMA), orthogonal frequency division multiple access (OFDMA), and single carrier frequency division multiple access (SC-FDMA) technologies. can

Network 400 may include connections of network elements such as hubs, bridges, routers, switches, and gateways. Network 400 may include one or more connected networks, such as a multiple network environment, including a public network such as the Internet and a private network such as a secure enterprise private network. Access to network 400 may be provided through one or more wired or wireless access networks. Furthermore, the network 400 may support an Internet of Things (IoT) network and/or 5G communication in which information is exchanged and processed between distributed components such as things.

2 is a block diagram schematically illustrating a seafloor work location selection device according to an embodiment of the present disclosure, and FIG. 3 is a block diagram schematically illustrating a seafloor observation unit according to an embodiment of the present disclosure.

As shown in FIG. 2, the seafloor work location selection device 100 may include a communication interface 110, a user interface 120, a seafloor observation unit 130, a memory 140, and a processor 150. can

The communication interface 110 may interwork with the network 400 to provide a transmission/reception signal between external devices such as a user terminal, a server, and a sea bottom measuring device in the form of packet data. In addition, the communication interface 110 may be a device including hardware and software necessary for transmitting and receiving a signal such as a control signal or a data signal with another network device through a wired or wireless connection. The communication interface 110 may support various things intelligence communication (internet of things (IoT), internet of everything (IoE), internet of small things (IoST), etc.), machine to machine (M2M) communication, V2X ( vehicle to everything communication) communication, D2D (device to device) communication, and the like may be supported.

The user interface 120 may include an input interface into which user requests and commands for selecting a sea floor work location are input. In addition, in this embodiment, the user can directly acquire and collect the information on the topographical features and the information on the seabed stratum through the user interface 120 . That is, the seafloor topography information and the seafloor stratum information may not only be obtained through the seafloor observation unit 130 described later, but may also be input by a user or obtained from a server.

Also, the user interface 120 may include an output interface for outputting results performed by the apparatus 100 for selecting a location for working on the sea floor. For example, a result of selecting a seafloor work location may be displayed on a map and output, and the reason and analysis result for the work location selected, detailed information on the work location, and the like may be output. That is, the user interface 120 may output a result according to a user request and command for selecting a sea floor work location.

An input interface and an output interface of the user interface 120 may be implemented in the same interface.

The seafloor observation unit 130 manages seafloor topography information and seafloor stratum information, and as shown in FIG. 3(a), the topography measurement unit 130-1 measures the seafloor topography and the seafloor stratum structure. It may be configured to include a stratum measuring unit 130-2. On the other hand, in the sea bottom observation unit 130, as shown in FIG. , Subsea topography information may be managed by receiving the seabed topography measurement result from the topography measuring unit 130-1, and seafloor stratum information may be managed by receiving the seafloor geological structure measurement result from the stratum measuring unit 130-2.

In this embodiment, the terrain measurement unit 130-1 may include a multibeam sonar. An echo-sounder measures the depth of the sea using ultrasonic waves. A single echo sounder can tell the depth of a single point, but a multi-echo sounder can create a detailed seafloor map because several sound generators are placed in a row and sound waves are emitted simultaneously. That is, in this embodiment, the topography measuring unit 130-1 may measure information about the depth of the sea and the reflection intensity of ultrasonic waves (sound signals). Therefore, the seafloor topography information may include water depth information, acoustic signal reflection intensity information, and latitude and longitude information.

In this embodiment, the stratum measurement unit 130-2 may include a subbottom profiler. The shallow stratum probe uses low-frequency acoustic pulses to investigate the stratified structure of the surface sediments of the seabed in detail. In other words, shallow stratum exploration is an investigation of how the stratum is formed in the seabed, and through shallow stratum exploration, it is possible to grasp the geology and sedimentary structure of the seabed by measuring the arrival time of the seismic wave to the sedimentary layer below 100m below the seafloor. Sedimentary layers are distinguished by using the fact that the permeation characteristics of each medium are different. That is, in this embodiment, the stratum measurement unit 130-2 may measure the stratum structure of the sea floor. Accordingly, the seafloor stratum information may include stratum structure measurement information, water depth information, and latitude and longitude information.

The memory 140 can store various information necessary for the operation of the device for selecting a location for working on the seabed 100 and store control software capable of operating the device for selecting a location for working on the seabed 100, volatile or non-volatile. A recording medium may be included.

The memory 140 is connected to one or more processors 150 and, when executed by the processor 150, codes that cause the processor 150 to control the bottom work positioning device 100. can be saved

Here, the memory 140 may include magnetic storage media or flash storage media, but the scope of the present invention is not limited thereto. The memory 140 may include built-in memory and/or external memory, and may include volatile memory such as DRAM, SRAM, or SDRAM, one time programmable ROM (OTPROM), PROM, EPROM, EEPROM, mask ROM, flash ROM, Non-volatile memory such as NAND flash memory, or NOR flash memory, SSD. It may include a compact flash (CF) card, a flash drive such as an SD card, a Micro-SD card, a Mini-SD card, an Xd card, or a memory stick, or a storage device such as an HDD.

The processor 150 may receive various data or information from an external device connected through the communication interface 110 and may transmit various data or information to the external device. And, the communication interface 110 may include at least one of a WiFi module, a Bluetooth module, a wireless communication module, and an NFC module.

The processor 150 may control the overall operation of the apparatus 100 for selecting a location for working on the sea floor. Specifically, the processor 150 is connected to the configuration of the device 100 for selecting a sea floor work location including the memory 140 as described above, and executes at least one command stored in the memory 140 as described above. Thus, the overall operation of the device 100 for selecting a working position on the sea floor can be controlled.

Processor 150 may be implemented in a variety of ways. For example, the processor 150 may include an application specific integrated circuit (ASIC), an embedded processor, a microprocessor, hardware control logic, a hardware finite state machine (FSM), a digital signal processor Processor, DSP) may be implemented as at least one.

The processor 150, as a kind of central processing unit, can control the entire operation of the sea floor work positioning device 100 by driving control software loaded in the memory 140. The processor 150 may include any type of device capable of processing data. Here, a 'processor' may refer to a data processing device embedded in hardware having a physically structured circuit to perform functions expressed by codes or instructions included in a program, for example. As an example of such a data processing device built into hardware, a microprocessor, a central processing unit (CPU), a processor core, a multiprocessor, an application-specific integrated (ASIC) circuit), field programmable gate array (FPGA), etc., but the scope of the present invention is not limited thereto.

FIG. 4 is an exemplary view showing submarine topography information according to an embodiment of the present disclosure, FIG. 5 is a diagram for explaining a method for extracting a gradient according to an embodiment of the present disclosure, and FIG. 6 is an example of the present disclosure. , and FIG. 7 is an exemplary view showing seafloor stratum structure information according to an embodiment of the present disclosure.

With reference to FIGS. 4 to 7 , the processor 150 for selecting the sea floor work position according to the present embodiment will be described in more detail.

The processor 150 may obtain seafloor topography information and seafloor stratum information through the seafloor observation unit 130 . As described above, the submarine topography information may include water depth information, acoustic signal reflection intensity information, and latitude and longitude information. As shown in FIG. It can be represented as a seafloor topographical map. In addition, as shown in FIG. 6 , it is possible to indicate seafloor topography information including acoustic signal reflection intensity information and latitude and longitude information.

And, in this embodiment, the submarine stratum information may include stratum structure measurement information, and water depth information, latitude and longitude information, as shown in FIG. 7 , including stratum structure measurement information, water depth information, and latitude and longitude information. The resulting seafloor stratum information can be represented as a seafloor stratum structure diagram. At this time, FIG. 7 (a) is a view of accumulated strata structure measurement values at time T, through which the strata structure shape can be confirmed, and FIG. 7 (b) shows the strata structure measurement value profile at time T.

In this case, in this embodiment, in order to select a predetermined area or a location for collecting a sea bottom quality sample, it is possible to obtain seafloor topographical information and seabed stratum information for a predetermined area selected by the user. That is, the range in which the seafloor topography information and the seafloor stratum information can be obtained may be limited.

Also, the processor 150 may quantify the seafloor environment variable based on the seafloor topography information and the seafloor stratum information.

At this time, the processor 150 calculates the seabed slope based on the latitude, longitude, and water depth information of the seafloor topography information to quantify the seafloor environmental variables and display them on a map, and the calculated seafloor slope value, latitude and longitude A seafloor gradient map (eg, 3D map) may be generated by reflecting the .

In this embodiment, the processor 150 may calculate the seabed gradient with reference to FIG. 5 . That is, the processor 150 may divide the seafloor terrain area of the seafloor topographical map into grids as shown in FIG. 4 . In other words, the seafloor topographical map may be grid-divided at equal intervals and the same size, and a center point may be set along with water depth information of the grid region. 5(a) is a graph of latitude (x) and longitude (y), and the water depth (z) for each area may be displayed as a z point on the xy plane. For example, point A indicates a depth of 374 m, point C indicates a depth of 391 m, and point E indicates a depth of 408 m.

Figure 5 (b) is a graph of latitude (x) and water depth (z), based on which, for example, the gradients for points C and A and the gradients for points C and E can be calculated. .

That is, the processor 150 may calculate an absolute angle with N adjacent points (eg, A and E) for each central point (eg, C) as shown in Equation 1. Here, point B may represent the orthogonal intersection of points C and A, and point D may represent the orthogonal intersection of points C and E.

Also, the processor 150 may calculate the inclination as the largest value ( ) among absolute angles with N adjacent points, as shown in Equation 2.

In addition, the processor 150 normalizes the seafloor reflection intensity based on the latitude, longitude and sound signal reflection intensity information of the seabed topography information to quantify the seafloor environmental variables and display them on a map, and obtains the normalized seafloor reflection intensity A seafloor reflection intensity map can be created by reflecting the value, latitude and longitude. In this embodiment, for example, reflection intensity information can be used as a seafloor environmental variable because a location where the reflection intensity is strong (hard substrate) or weak (mud) can be selected depending on the sample (sample) to be collected. .

In order to normalize the reflection intensity, the processor 150 sets the minimum reflection intensity and the maximum reflection intensity within the seafloor topography area (within the acquired seafloor topography data range) of the acquired seafloor topography information as a standard, and measures the reflection intensity. The value obtained by subtracting the minimum reflection intensity from , can be divided by the value obtained by subtracting the minimum reflection intensity from the maximum reflection intensity. That is, in this embodiment, the seafloor reflection intensity normalization equation can be simply expressed as Equation 3.

In the present embodiment, as shown in FIG. 6 , a seafloor reflection intensity map may be displayed, which may be the same as that of the seafloor topography information including sound signal reflection intensity information and latitude and longitude information described above.

In addition, in order to quantify seafloor environmental variables and display them on a map, the processor 150 calculates a seafloor stratum change degree based on the stratum structure measurement value of the seafloor stratum information, and accumulates the calculated stratum structure change value. , a stratum tectonic gradient map (eg, a 4-dimensional map) may be generated by reflecting the stratum gradient value, latitude, longitude, and water depth.

At this time, the processor 150 may subtract the stratified structure measurement value at the previous measurement point from the strata structure measurement value at the current point in time to calculate the seafloor layer structure gradient value. This can be briefly expressed as in Equation 4.

Further, the processor 150 may select an optimal location (or a predetermined area) for seafloor work based on the quantified seafloor environmental variables. The processor 150 selects the optimal location for the seafloor work by reflecting the quantified seafloor environmental variables according to the detailed settings of the seafloor work, when the seafloor work location selection is requested through the seafloor work location selection device. can In this case, in the present embodiment, a request for selecting a location for working on the sea floor may be requested from the user through the user terminal 200 or the user interface 120, and a request for selecting a location for working on the sea floor may also be requested from the server 300 or the like. .

In addition, in this embodiment, at the same time as the selection of a location for working on the sea floor is requested, detailed settings for working on the sea floor may be input, and a part of the area may be selected and input to limit the range for selecting the location. The detailed seafloor work setting may refer to settings for the type of work to be performed on the seafloor, the type of bottom quality sample to be collected, and the like. That is, in this embodiment, the criterion for selecting the optimal location may vary according to the detailed setting of the seafloor work.

In this embodiment, for example, when detailed settings for seafloor work are input, such as performing a drilling job, previously stored seafloor environment variables and values for seafloor environment variables for the drilling job are automatically set, and the drilling position for the drilling job is set. can be automatically extracted. For example, the optimal location selection criteria for drilling work are pre-stored as sea floor slope 0 and sea floor stratum change 0, so when a request for drilling is entered, the sea floor slope 0 and sea floor stratum change It is possible to automatically extract the location of FIG. 0 .

In addition, for example, when collecting sediment samples, a location where sediment can be generated must be selected. Since the area where sediment is continuously formed is flat, the seafloor slope = 0 (flat land), and a location where sediment is constantly layered and formed for a long time and the seafloor stratum change = 0 is selected.

In addition, in this embodiment, for example, when a user wants to perform a rock collection operation, in order to select an optimal location for rock collection, the user directly inputs a sea floor slope of 10 degrees and a sea floor reflection intensity max to quantify the Based on the seafloor environmental variables, the optimal location for the corresponding value can be extracted. In other words, since a slope may be required when the dredging method is applied when collecting rock samples, the environmental variables of the seabed are located as follows (dredging method): slope = 10 degrees, seafloor reflection intensity = max (hard bed quality) ) to select the location for sampling the bottom quality of the seabed.

At this time, when the user inputs the desired seafloor environment variables and seafloor environment variable values, in this embodiment, the seafloor environment variable values can be entered as conditional expressions within the range of the minimum/maximum values extracted in each map generation step. can

In summary, the processor 150 loads seafloor environmental variables and numerical values for each environmental variable according to the preset seafloor work type and the type of seafloor collected bottom quality sample according to the requested detailed seafloor work setting, and , it is possible to extract an area that satisfies the loaded seafloor environment variables and numerical values for each environment variable. In addition, when the seafloor environment variables and numerical values for each environment variable are input within the minimum and maximum ranges of the quantified seafloor environment variables, the processor 150 selects an area that satisfies the entered seafloor environment variables and numerical values for each environment variable. can be extracted.

On the other hand, in this embodiment, the processor 150 uses machine learning such as deep learning for the detailed setting of the sea floor work so that the sea floor work location selection device 100 selects the optimal location. may be performed, and the memory 140 may store data used for machine learning, result data, and the like. In addition, in the present embodiment, the memory 140 may store an artificial neural network model according to the present disclosure and a module implemented to implement various embodiments of the present disclosure using the artificial neural network model. Also, information related to an algorithm for performing learning according to the present disclosure may be stored in the memory 140 . In addition, various information required within the scope of achieving the object of the present disclosure may be stored in the memory 140, and the information stored in the memory 140 may be updated as it is received from a server or an external device or input by a user. may be

That is, in the present embodiment, the processor 150 receives the type of seafloor work and the type of bottom sample collected as inputs, and determines the location selection criterion for the type of seafloor work and the type of bottom sample collected. It is possible to train a learning model to output numerical values for each environmental variable, load the trained learning model when requesting seafloor job location selection, and apply the loaded learning model to output the optimal location selection result.

Here, learning of the artificial neural network can be performed by adjusting the weight of the connection line between nodes (and adjusting the bias value if necessary) so that a desired output is produced for a given input. In addition, the artificial neural network may continuously update a weight value by learning. In addition, a method such as back propagation may be used for learning of the artificial neural network.

That is, an artificial neural network may be installed in the seafloor work location selection system 1, and the processor 150 may include an artificial neural network, for example, a deep neural network (DNN) such as CNN, RNN, or DBN. ) may be included. Therefore, the processor 150 outputs the seafloor environmental variables and numerical values for each environmental variable based on the seafloor work type of the seafloor work location selection system 1 and the type of seafloor collected bottom quality sample, and outputs other seafloor surface environment variables. A deep neural network can be trained to determine the optimal location according to environmental variables and numerical values of each environmental variable. Both unsupervised learning and supervised learning may be used as the machine learning method of the artificial neural network. The processor 150 may control to update the artificial neural network structure after learning according to settings.

In addition, the processor 150 may output the finally selected working position on the sea floor. That is, the processor 150 may display and output on a map a location (or a certain area) that satisfies the input seafloor environment variable and seafloor environment variable value. Accordingly, the user can perform the seabed work at the location indicated on the map.

In addition, in this embodiment, when a plurality of locations satisfying seafloor environment variables and seafloor environment variable values are extracted or a certain area satisfying seafloor environment variables and seafloor environment variable values is extracted, all of them are displayed on the map. In this case, when a user selects and inputs one of a plurality of locations or a specific area among certain areas, the seafloor work can be performed at the corresponding location (or area).

On the other hand, in this embodiment, the bottom quality state is estimated based on the relationship between the seafloor environmental variables (slope, reflection intensity, structural change), and the seafloor environmental variables (slope, reflection intensity, structure) corresponding to the estimated bed quality state gradient), so that seafloor environment variables can be used as low-quality environment variables. That is, the low-quality state can be grasped through low-quality environmental variables such as slope, reflection intensity, and structural change.

8 is a flowchart illustrating a method for selecting a sea floor work position according to an embodiment of the present disclosure.

Referring to FIG. 8 , in step S110, the device 100 for selecting a location for working on the seabed may obtain information on the seabed topography, and in step S120, the device for selecting a location for working on the seabed 100 may obtain information on the seabed stratum. Here, the seafloor topographic information may include water depth information, sound signal reflection intensity information, and latitude and longitude information, and the seafloor topographic information including the water depth information, latitude, and longitude information may be represented as a bottom topographic map (FIG. 4). reference). In addition, it is possible to indicate seafloor topography information including acoustic signal reflection intensity information and latitude and longitude information (see FIG. 6). And, in this embodiment, the seafloor stratum information may include stratum structure measurement information, and water depth information, and latitude and longitude information, and the seafloor stratum information including the stratum structure measurement information, water depth information, and latitude and longitude information is stored on the seafloor. It can be represented as a stratum structure diagram (see Fig. 7).

In this case, in this embodiment, in order to select a predetermined area or a location for collecting a sea bottom quality sample, it is possible to obtain seafloor topographical information and seabed stratum information for a predetermined area selected by the user. That is, the range in which the seafloor topography information and the seafloor stratum information can be obtained may be limited.

Next, in steps S210, S211, and S220, the apparatus 100 for selecting a seabed work location may quantify seafloor environmental variables based on the seafloor topographic information and the seafloor stratum information. Specifically, the device 100 for selecting a location for working on the seabed may calculate the slope of the seabed topography and generate a map of the slope of the seabed in step S210, extract the intensity of reflection of the sound signal from the seabed and map the intensity of reflection of the seabed in step S211. In step S220, the degree of change in the strata structure of the sea floor may be calculated and a map of the degree of change in the strata structure of the sea floor may be generated.

That is, in order to quantify seafloor environment variables and display them on a map, the seafloor job positioning device 100 calculates the seafloor inclination based on the latitude, longitude, and water depth information of the seafloor topographical information, and calculates the seafloor inclination A seafloor gradient map (eg, a 3D map) may be generated by reflecting the values, latitude and longitude. At this time, the seafloor work location selection device 100 divides the seafloor topographical area of the seafloor topographical map into a grid, calculates absolute angles with N adjacent points for each center point of each grid, and calculates absolute angles between the N adjacent points. The slope can be calculated with the largest value.

In addition, in order to quantify seafloor environmental variables and display them on a map, the seafloor work location selection device 100 normalizes the seafloor reflection intensity based on the latitude, longitude, and sound signal reflection intensity information of the seafloor terrain information, and normalizes the seafloor reflection intensity. A seafloor reflectance map can be created by reflecting the seafloor reflectance value, latitude and longitude. In order to normalize the reflection intensity, the seafloor work location selection device 100 sets the minimum and maximum reflection intensity within the seafloor topographical area (within the acquired seafloor topographical data range) of the acquired seafloor topographical information, , the value obtained by subtracting the minimum reflection intensity from the measured reflection intensity can be divided by the value obtained by subtracting the minimum reflection intensity from the maximum reflection intensity.

In addition, in order to quantify seafloor environmental variables and display them on a map, the seafloor work location selection device 100 calculates a seafloor stratum structure change degree based on the stratum structure measurement value of the seafloor stratum information, and calculates the stratum structure change. By accumulating the degree values, a seafloor layer structure change map (eg, a 4-dimensional map) may be generated by reflecting the layer structure change value, latitude, longitude, and water depth. At this time, the seafloor work location selection device 100 may subtract the strata structure measurement value at the previous measurement point from the strata structure measurement value at the current point in time to calculate the seafloor layer structure gradient value.

In step S300, the device 100 for selecting a location for working on the sea floor receives a request for selecting a location for working on the sea floor. At this time, in this embodiment, at the same time as the request for selecting the seafloor work location, seafloor environmental variables such as seafloor inclination, seafloor reflection intensity, and stratum gradient may be input. It can be entered (loaded). That is, in the present embodiment, a request for selecting a location for working on the sea floor may be requested from the user through the user terminal 200 or the user interface 120, and a request for selecting a location for working on the sea floor may be requested from the server 300 or the like. .

In addition, in this embodiment, at the same time as the selection of a location for working on the sea floor is requested, detailed settings for working on the sea floor may be input, and a part of the area may be selected and input to limit the range for selecting the location. The detailed seafloor work setting may refer to settings for the type of work to be performed on the seafloor, the type of bottom quality sample to be collected, and the like. That is, in this embodiment, the criterion for selecting the optimal location may vary according to the detailed setting of the seafloor work.

In step S400, the apparatus 100 for selecting a location for working on the seabed may select an optimal location (or a certain area) for working on the seabed based on the quantified environmental variables of the seafloor. That is, the seafloor work location selection device 100 is based on the seafloor work location selection criteria according to the preset seafloor work type and the type of seafloor sampling bottom quality sample according to the requested detailed seafloor work setting, and the seafloor environment variable and the value for each environmental variable. A value may be loaded, and an area satisfying the loaded seafloor environment variable and numerical value for each environment variable may be extracted. In addition, when the seafloor work location selection device 100 inputs the seafloor environmental variables and numerical values for each environmental variable within the minimum and maximum ranges of the quantified seafloor environmental variables, the input seafloor environmental variables and numerical values for each environmental variable A region satisfying can be extracted.

In this embodiment, for example, when detailed settings for seafloor work are input, such as performing a drilling job, previously stored seafloor environment variables and values for seafloor environment variables for the drilling job are automatically set, and the drilling position for the drilling job is set. can be automatically extracted. In addition, in this embodiment, for example, when a user wants to perform a rock collection operation, in order to select an optimal location for rock collection, the user directly inputs a sea floor slope of 10 degrees and a sea floor reflection intensity max to quantify the Based on the seafloor environmental variables, the optimum location for the corresponding value can be extracted. At this time, when the user inputs the desired seafloor environment variables and seafloor environment variable values, in this embodiment, the seafloor environment variable values can be entered as conditional expressions within the range of the minimum/maximum values extracted in each map generation step. can

In step S500, the apparatus 100 for selecting a sea floor work position may output the selected sea floor work position. That is, the device 100 for selecting a seafloor work location may display and output a location (or a certain area) satisfying the input seafloor environmental variable and seafloor environmental variable value on a map. Accordingly, the user can perform the seabed work at the location indicated on the map.

In addition, in this embodiment, when a plurality of locations satisfying seafloor environment variables and seafloor environment variable values are extracted or a certain area satisfying seafloor environment variables and seafloor environment variable values is extracted, all of them are displayed on the map. In this case, when a user selects and inputs one of a plurality of locations or a specific area among certain areas, the seafloor work can be performed at the corresponding location (or area).

Embodiments according to the present invention described above may be implemented in the form of a computer program that can be executed on a computer through various components, and such a computer program may be recorded on a computer-readable medium. At this time, the medium is a magnetic medium such as a hard disk, a floppy disk and a magnetic tape, an optical recording medium such as a CD-ROM and a DVD, a magneto-optical medium such as a floptical disk, and a ROM hardware devices specially configured to store and execute program instructions, such as RAM, flash memory, and the like.

Meanwhile, the computer program may be specially designed and configured for the present invention, or may be known and usable to those skilled in the art of computer software. Examples of computer programs may include not only machine language codes generated by a compiler but also high-level language codes that can be executed by a computer using an interpreter or the like.

In the specification of the present invention (particularly in the claims), the use of the term "above" and similar indicating terms may correspond to both singular and plural. In addition, when a range is described in the present invention, as including the invention to which individual values belonging to the range are applied (unless there is a description to the contrary), each individual value constituting the range is described in the detailed description of the invention Same as

The steps constituting the method according to the present invention may be performed in any suitable order unless an order is explicitly stated or stated to the contrary. The present invention is not necessarily limited according to the order of description of the steps. The use of all examples or exemplary terms (eg, etc.) in the present invention is simply to explain the present invention in detail, and the scope of the present invention is limited due to the examples or exemplary terms unless limited by the claims. it is not going to be In addition, those skilled in the art can appreciate that various modifications, combinations and changes can be made according to design conditions and factors within the scope of the appended claims or equivalents thereof.

Therefore, the spirit of the present invention should not be limited to the above-described embodiments and should not be determined, and all scopes equivalent to or equivalently changed from the claims as well as the claims described below are within the scope of the spirit of the present invention. will be said to belong to

1: Seabed work positioning system
100: Sea floor work location selection device
110: communication interface
120: user interface
130: sea floor observation unit
140: memory
150: processor
200: user terminal
300: server
400: Network

Claims (18)

A method for selecting a working location on the seabed through a device for selecting a working location on the seabed,
obtaining seabed topographic information and seabed stratum information through the seabed work location selection device;
quantifying a seafloor environment variable based on the seafloor topography information and the seafloor stratum information;
selecting an optimal location for seafloor work by reflecting the quantified seafloor environmental variables according to detailed settings for seafloor work, when a seafloor work site selection is requested through the seafloor work site selection device; and
Including the step of outputting the selected sea floor work position,
Receiving detailed settings for at least one seafloor work selected from among a seafloor work type and a type of seafloor collected sediment sample together with the seafloor work location selection request,
The step of selecting the optimal location for the seafloor work,
Criteria linked to the detailed setting of the seabed work, based on the seafloor environmental variables and numerical values for each environmental variable, which are preset location selection criteria corresponding to each seafloor work type and each seafloor sampling quality sample type loading seafloor environment variables and numerical values for each environment variable, or loading a range of minimum/maximum values for inputting seafloor environment variable values of reference seafloor environment variables associated with the input detailed seafloor work settings; and
Extracting a region that satisfies the loaded seafloor environment variable and numerical value for each environment variable, or the input seafloor environment variable and numerical value for each environment variable within the range of the loaded minimum/maximum value,
How to choose a location for seabed work.
According to claim 1,
The step of quantifying the seafloor environmental variables,
Calculating a seabed gradient based on latitude, longitude, and water depth information of the seafloor topography information; and
Generating a sea bottom gradient map by reflecting the calculated sea bottom gradient value, latitude and longitude,
How to choose a location for seabed work.
According to claim 2,
The step of calculating the seafloor gradient,
Dividing the seafloor terrain area of the acquired seafloor topographic information into grids;
calculating absolute angles with N adjacent points for each central point of the lattice; and
Comprising the step of calculating the slope with the largest value among the absolute angles with the adjacent N points,
How to choose a location for seabed work.
According to claim 1,
The step of quantifying the seafloor environmental variables,
normalizing seafloor reflection intensity based on latitude, longitude, and acoustic signal reflection intensity information of the seafloor topography information; and
Generating a seafloor reflection intensity map by reflecting the normalized seafloor reflection intensity value and latitude and longitude,
How to choose a location for seabed work.
According to claim 4,
The step of normalizing the seafloor reflection intensity,
setting a minimum reflection intensity and a maximum reflection intensity within a seabed topography area of the acquired seabed topography information as standards; and
Dividing a value obtained by subtracting the minimum reflection intensity from the measured reflection intensity by a value obtained by subtracting the minimum reflection intensity from the maximum reflection intensity,
How to choose a location for seabed work.
According to claim 1,
The step of quantifying the seafloor environmental variables,
Calculating a degree of change in the stratum structure of the seabed based on the stratum structure measurement value of the seafloor stratum information; and
Accumulating the calculated stratum tectonic gradient values and generating a sea bottom stratum gradient map by reflecting the stratum gradient values, latitude, longitude, and water depth,
How to choose a location for seabed work.
According to claim 6,
The step of calculating the seafloor stratum structural change,
Comprising the step of subtracting the stratum structure measurement value at the previous measurement point from the stratum structure measurement value at the current point in time to calculate the seafloor layer structure gradient value,
How to choose a location for seabed work.
delete delete As a sea floor work positioning device,
Memory; and
at least one processor coupled with the memory and configured to execute computer readable instructions contained in the memory;
The at least one processor,
Obtaining seafloor topography information and seafloor stratum information;
quantifying seafloor environmental variables based on the seafloor topography information and seafloor stratum information;
When the selection of the seabed work location is requested, determining the optimal location for the seafloor work by reflecting the quantified seafloor environmental variables according to the detailed setting of the seafloor work; and
It is configured to perform an operation of outputting the extracted sea floor work position,
It is configured to further perform an operation of receiving at least one seafloor work detailed setting from among a seafloor work type and a seafloor collection low quality sample type together with the seafloor work location selection request,
The operation of selecting the optimal location for the seafloor work,
Criteria linked to the detailed setting of the seabed work, based on the seafloor environmental variables and numerical values for each environmental variable, which are preset location selection criteria corresponding to each seafloor work type and each seafloor sampling quality sample type Operation of loading seafloor environment variables and numerical values for each environment variable, or loading a range of minimum/maximum values for inputting seafloor environment variable values of standard seafloor environment variables linked to the received seafloor work detailed settings; and
Configured to perform an operation of extracting a region satisfying the loaded seafloor environment variable and the numerical value for each environment variable or the input seafloor environment variable and numerical value for each environment variable within the range of the loaded minimum/maximum value felled,
Seabed work positioning device.
According to claim 10,
The operation of quantifying the seafloor environmental variables,
Calculating a seabed gradient based on latitude, longitude, and water depth information of the seabed topography information; and
It is configured to perform an operation of generating a seafloor gradient map by reflecting the calculated seafloor gradient value, latitude and longitude,
Seabed work positioning device.
According to claim 11,
The operation of calculating the sea floor slope,
Dividing the undersea topographical area of the acquired undersea topographical information into a lattice;
An operation of calculating an absolute angle with N adjacent points for each central point of the lattice, and
Is configured to perform an operation of calculating the inclination with the largest value among the absolute angles with the adjacent N points,
Seabed work positioning device.
According to claim 10,
The operation of quantifying the seafloor environmental variables,
Normalizing seafloor reflection intensity based on the latitude, longitude, and sound signal reflection intensity information of the seabed topography information; and
It is configured to perform an operation of generating a seafloor reflection intensity map by reflecting the normalized seafloor reflection intensity value, latitude and longitude,
Seabed work positioning device.
According to claim 13,
The operation of normalizing the seafloor reflection intensity,
setting a minimum reflection intensity and a maximum reflection intensity within a seabed topography area of the obtained seabed topography information as standards; and
And configured to perform an operation of dividing a value obtained by subtracting the minimum reflection intensity from the measured reflection intensity by a value obtained by subtracting the minimum reflection intensity from the maximum reflection intensity.
Seabed work positioning device.
According to claim 10,
The operation of quantifying the seafloor environmental variables,
Calculating a degree of change in the stratum structure of the sea floor based on the stratum structure measurement value of the sea floor stratum information; and
By accumulating the calculated stratum tectonic gradient values, generating a sea bottom stratum gradient map by reflecting the stratum gradient values, latitude, longitude, and water depth,
Seabed work positioning device.
According to claim 15,
The operation of calculating the seafloor stratum change degree,
It is configured to perform an operation of calculating the stratum structure gradient value at the sea bottom by subtracting the stratum structure measurement value at the previous measurement time point from the stratum structure measurement value at the current time point,
Seabed work positioning device.
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