KR20220095038A - Method and apparatus for determination a working point on the seabed - Google Patents

Abstract

A method and an apparatus for selecting a work point on the seabed are disclosed. The method for selecting a work point on the seabed according to an embodiment of the present disclosure may include steps of: acquiring seabed topographic information and seabed stratum information through a seabed work point selection apparatus; quantifying seafloor environmental variables based on seafloor topography information and seabed stratum information; selecting an optimal work point in the seabed by reflecting quantified seabed environmental variables according to detailed settings of the seabed work, when the seabed work point selection is requested through the seabed work point selection apparatus; and outputting the selected seabed work point, thereby capable of selecting the work point on the seabed consistently and automatically for collecting seabed geological samples.

Description

Method and device for selecting a working location on the seabed

The present disclosure provides a seabed operation that can automatically select a seabed work position such as drilling for collecting a bottom material sample by measuring the structure and strength of the seabed topography and strata It relates to a method and apparatus for selecting a location.

In general, terrestrial soil flows into the sea and accumulates, called marine sediment. Undersea drilling is the extraction of sediment from the seabed, and equipment capable of doing such work is called drilling. Currently, offshore drilling technology is being used for various environmental studies in addition to resource exploration. Subsea drilling is also very diverse, from simple hand-crafted equipment to cutting-edge equipment. Drilling rigs mainly used for marine geological research may include box, multiple, gravity, piston, and drill rigs, and researchers can choose according to the research purpose and convenience of use. You can choose to use a drilling rig.

Box or multi-column drilling machines can extract short deposits within a meter of the sea floor, while gravity and piston drilling machines can obtain deposits ranging from a few meters to tens of meters. Very complex and high-tech drilling rigs can extract thousands of meters of seabed sediment.

Box or multi-column rigs are mainly used for subsea geochemical and biological studies, and also to calibrate surface samples from gravity and piston rigs. Gravity and piston drilling machines used in the fields of marine sedimentation, geochemistry, paleocean and geophysics are one of the basic equipment of marine research vessels. Drilling requires a research vessel that uses a drill rig or has a structure that can use drilling equipment, and is also very expensive to use. From an economic point of view, gravity or piston drilling is mainly used to easily obtain seafloor sediments or to obtain samples covering a wide sea area.

In addition, in the drilling operation, as in the prior art 1, by using an auxiliary support ship and a remote-controlled submersible to form a borehole in a state where the vertical movement of the drill string is minimized, the drill pipe assembly and separation for the vertical movement of the drill string By reducing the working time, a subsea drilling method that can reduce the overall drilling time may be used.

On the other hand, in order to select a drilling location for collecting low-quality samples from the seafloor using the above-mentioned drilling rigs, in the prior art, in general, based on the data of observation equipment that measures the structure of the seafloor topography and stratum, and the acoustic signal reflection intensity, etc. The user analyzed the data of the observation equipment one by one and selected the location to collect the bottom quality sample.

However, when determining the location for collecting low-quality samples from the bottom of the sea, based on the data of observation equipment that measures the topography and stratum structure and the acoustic signal reflection intensity, the drilling operation is not performed depending on the user’s experience and intuition. There is a problem in that the standard varies depending on the user who selects a location for the purpose, and there is a problem in that a human error such as an inappropriate location is selected from time to time.

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

Prior Art 1: Korean Patent Registration No. 10-2019268 (Registered on 2019.09.02.)

One task of the embodiment of the present disclosure is to quantitatively measure the slope of the seafloor topography, which are environmental variables of the seafloor, the slope of the seafloor topography, the acoustic signal reflection intensity of the seafloor strata, and the structural change of the seafloor when selecting a location for collecting a seabed sediment sample. It is intended to consistently and automatically select a location for collecting low-quality samples from the seafloor by setting

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

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

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

The method of selecting a seafloor work location according to an embodiment of the present disclosure includes the steps of measuring the structure and strength of the seabed topography and strata to automatically select a seafloor work position, such as drilling for collecting a low-quality sample may include

Specifically, the method for selecting a seafloor working position according to an embodiment of the present disclosure includes the steps of: acquiring seafloor topographic information and seafloor stratum information through a seabed working position selection device; When the seafloor work location is requested through the step of quantifying the seafloor environmental variables and the seabed work location selection device, the quantified seafloor environmental variables are reflected according to the detailed seabed work settings to optimize the seabed work It may include the step of selecting the position of and outputting the selected seafloor working position.

Through the method for selecting a seafloor working position according to an embodiment of the present disclosure, when selecting a position for collecting a seabed low-quality sample, the user selects a seafloor environmental variable, the inclination of the seafloor topography, the sound signal reflection intensity of the seafloor strata, and the seabed It is possible to improve work accuracy and user satisfaction by consistently and automatically selecting a location for collecting low-quality samples from the seafloor by quantitatively setting the level of stratum structural change.

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, by consistently and automatically selecting a drilling position for collecting a seafloor low-quality sample based on a quantitative seafloor environmental variable setting set by a user, the seafloor topography shape and seafloor acoustic signal It is possible to eliminate the inconvenience, complexity, and human error that occur in the existing method that selects the location of the collection (drilling) of the seafloor based on the user's intuition based on the observation data on the reflection intensity and the seafloor stratum. .

In addition, when selecting a location for collecting low-quality samples, the user quantitatively sets values for the slope of the bottom topography, the acoustic signal reflection intensity of the bottom stratum, and the structural change of the bottom stratum, which are environmental variables of the bottom of the bottom. By consistently and automatically selecting locations for collection, work accuracy can be improved and user satisfaction can be improved.

In addition, the optimal location determination criteria can be set differently depending on the purpose of the seabed work and the type of low-quality sample to be collected, and the optimal location is selected and provided for the user's purpose, thereby providing users with Satisfaction and reliability can be improved.

In addition, it is possible to improve user satisfaction and product performance by making it possible to more precisely and precisely extract the seafloor work location through the map generated based on various seafloor environmental variables.

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 following description.

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

Advantages and features of the present invention, and a method for achieving them will become apparent with reference to the detailed description 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 transformations, equivalents, and substitutes included in the spirit and scope of the present invention. . The embodiments presented below are provided so that the disclosure of the present invention is complete, and to completely inform those of ordinary skill in the art to which the present invention pertains to the scope of the invention. In describing the present invention, if it is determined that a detailed description of a related known technology may obscure the gist of the present invention, the detailed description thereof will be omitted.

The terms used in the present application are only used to describe specific embodiments, and are not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly dictates otherwise. In the present application, terms such as “comprise” or “have” are intended to designate that a feature, number, step, operation, component, part, or combination thereof described in the specification exists, but one or more other features It should be understood that this does not preclude the existence or addition of numbers, steps, operations, components, parts, or combinations thereof. Terms such as first, second, etc. may be used to describe various elements, but the elements should not be limited by the terms. The above terms are used only 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, and in the description with reference to the accompanying drawings, the same or corresponding components are given the same reference numerals, and overlapping descriptions thereof are omitted. decide to do

1 is a schematic illustration of a seafloor work positioning system according to an embodiment of the present disclosure.

As shown in FIG. 1 , the seabed work location selection system 1 may include a seabed work location selection device 100 , a user terminal 200 , a server 300 , and a network 400 .

In this embodiment, the seafloor work location selection system 1 selects an optimal position for work that can be performed on the seabed so that the work is performed at that position, for example, seabed low quality sample collection It is to automatically select and recommend a drilling work location for performing drilling work for In this embodiment, the drilling operation for collecting a low-quality sample may be described as an example for the seabed operation, and the drilling operation may include drilling a hole in the seabed and collecting a low-quality sample. However, the present invention is not limited thereto, and may be applied to various operations 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 seabed.

That is, in this embodiment, based on the observation data on the topographic shape of the seabed, the reflection intensity of the sound signal on the seabed, and the stratum structure of the seabed, the location of the sampling (drilling) of the seabed is selected depending on the user's intuition. In order to eliminate the inconvenience, complexity, and human error that occur in the method of is to make it

Meanwhile, in this embodiment, users access an application or website implemented in the user terminal 200 and input a request for selecting a seafloor work location, or input a seabed environment variable and a seabed environment variable value, A process such as checking the output screen for the selected working position or making a final decision on the selected working position and inputting it may be performed. The user terminal 200 may be provided with a seabed work location selection service through an authentication process after accessing a seabed work location selection application or a seabed work location selection website. The authentication process may include, but is not limited to, authentication for entering user information such as membership registration, authentication for a user terminal, etc., but is not limited thereto. The authentication process may be performed just by connecting. In addition, in this embodiment, the user may mean a worker who wants to obtain the optimal location information for the seafloor work.

In this embodiment, the user terminal 200 is a desktop computer, a smartphone, a notebook computer, a tablet PC, a smart TV, a mobile phone, a personal digital assistant (PDA), a laptop, a media player, a micro server, a GPS (global) operated by the user positioning system) devices, e-book terminals, digital broadcast terminals, navigation devices, kiosks, MP3 players, digital cameras, home appliances, and other mobile or non-mobile computing devices, but are not limited thereto. Also, the user terminal 200 may be a wearable terminal such as a watch, glasses, a hair band, and a 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.

On the other hand, in the present embodiment, the seabed work location selection system 1 may be implemented by the seabed work location selection device 100 and/or the server 300 .

The server 300 may be a server for operating the seabed work location selection system 1 including the seabed 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 seafloor work location selection device 100 . In addition, the server 300 may include a web server or application server that enables the seabed work location selection system 1 to be implemented, and a learning server that performs artificial intelligence processes such as deep learning. In this embodiment, the server 300 may include or network with the above-described servers.

The network 400 may serve to connect the seafloor work location selection device 100 , the server 300 , and the user terminal 200 in the seabed work location selection system 1 . The network 400 is, for example, wired networks such as local area networks (LANs), wide area networks (WANs), metropolitan area networks (MANs), and integrated service digital networks (ISDNs), wireless LANs, CDMA, Bluetooth, and satellite communication. It may cover a wireless network such as, but the scope of the present invention is not limited thereto. Also, the network 400 may transmit/receive information using short-distance communication and/or long-distance communication. Here, the short-range communication may include Bluetooth (bluetooth), radio frequency identification (RFID), infrared data association (IrDA), ultra-wideband (UWB), ZigBee, and Wireless fidelity (Wi-Fi) technologies. Communication may include code division multiple access (CDMA), frequency division multiple access (FDMA), time division multiple access (TDMA), orthogonal frequency division multiple access (OFDMA), single carrier frequency division multiple access (SC-FDMA) technology. 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, eg, multiple network environments, including public networks such as the Internet and private networks such as secure enterprise private networks. Access to network 400 may be provided via one or more wired or wireless access networks. Furthermore, the network 400 may support an Internet of Things (IoT) network and/or 5G communication that exchanges and processes information between distributed components such as things.

2 is a block diagram schematically showing an apparatus for selecting a seafloor working position according to an embodiment of the present disclosure, and FIG. 3 is a block diagram schematically showing a seabed observation unit according to an embodiment of the present disclosure.

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

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

The user interface 120 may include an input interface through which a user request and commands for selecting a seafloor work location are input. In addition, in this embodiment, the seabed topographic information and the seabed stratum information may be directly acquired and collected by the user through the user interface 120 . That is, the seabed topography information and the seabed stratum information may be acquired through the seabed observation unit 130 to be described later, as well as input by a user or acquired from a server.

In addition, the user interface 120 may include an output interface through which a result performed by the apparatus 100 for selecting a seafloor work location is output. For example, a result of selecting a seafloor working location may be displayed and output on a map, and a reason and analysis result of the selected working location, detailed information about the corresponding working location, etc. may be output. That is, the user interface 120 may output a result according to a user request and command for selecting a seafloor work location.

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

The seabed observation unit 130 manages the seabed topography information and the seabed stratum information, and as shown in FIG. It may be configured to include a stratification measurement unit 130-2. On the other hand, as shown in FIG. 3(b), the seabed observation unit 130 includes a topography measurement unit 130-1 and a stratum measurement unit 130-2 provided outside the seabed observation unit 130, , may receive the seabed topography measurement result from the topography measurement unit 130-1 to manage the seabed topography information, and receive the seafloor stratum measurement result from the stratum measurement unit 130-2 to manage the seabed stratum information.

In this embodiment, the terrain measuring unit 130-1 may be configured to include a multi-beam sonar. An echo-sounder measures the depth of the sea using ultrasonic waves, and it can calculate the depth of the sea by measuring the time it takes for ultrasonic waves shot from the bottom of the sea to be reflected off the sea floor. A single echo sounder can only know the depth of one point, but multiple echo sounders can create a detailed map of the seabed by placing several sound generators in a row and shooting sound waves at the same time. That is, in the present embodiment, the topography measuring unit 130-1 may measure the depth of the sea and the reflection intensity information of the ultrasonic wave (sound signal). Accordingly, the seabed topography information may include water depth information, acoustic signal reflection intensity information, and latitude and longitude information.

In this embodiment, the geological measurement unit 130-2 may be configured to include a subbottom profiler. The Cheonbu geological probe uses low-frequency acoustic pulses to investigate the stratified structure of the sediments on the seafloor in detail. The basic configuration is the same as that of the echo sounder, but the frequency of the sound waves used is relatively low, ranging from 1 to 10 kHz. In other words, the investigation of how the stratum in the seabed was formed is the Cheonbu stratum exploration. Through the Cheonbu stratum exploration, it is possible to understand the geology and sedimentation structure of the seabed by measuring the arrival time of seismic waves to the sedimentary layer 100m or less below the seabed. Sedimentary layers are distinguished by using the fact that permeation properties are different for each medium. That is, in the present embodiment, the stratum measurement unit 130 - 2 may measure the stratum structure of the sea floor. Accordingly, the seabed stratum information may include stratum measurement information, water depth information, and latitude and longitude information.

The memory 140 stores various types of information necessary for the operation of the seafloor working positioning device 100 , and can store control software capable of operating the seabed working positioning device 100 , and is volatile or nonvolatile. It may include a recording medium.

The memory 140 is connected to one or more processors 150, and when executed by the processor 150, causes the processor 150 to control the seafloor working positioning device 100 (cause) codes 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. Such memory 140 may include internal memory and/or external memory, 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 flash drive such as a compact flash (CF) card, 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. In addition, 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 seafloor work location. Specifically, the processor 150 is connected to the configuration of the apparatus 100 for selecting a seafloor work location including the memory 140 as described above, and executes at least one command stored in the memory 140 as described above. Thus, it is possible to control the overall operation of the seafloor work location selection device 100 .

The processor 150 may be implemented in various 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), and a digital signal processor (Digital Signal). Processor, DSP).

The processor 150 is a kind of central processing unit, and by driving control software mounted on the memory 140 , may control the overall operation of the seafloor work location selection device 100 . The processor 150 may include any type of device capable of processing data. Here, the 'processor' may refer to a data processing device embedded in hardware having a physically structured circuit to perform a function expressed by, for example, a code or an instruction included in a program. As an example of the data processing apparatus embedded in the hardware as described above, a microprocessor, a central processing unit (CPU), a processor core, a multiprocessor, an application-specific integrated (ASIC) circuit) and a processing device such as a field programmable gate array (FPGA), but the scope of the present invention is not limited thereto.

4 is an exemplary diagram illustrating seabed topographic 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 embodiment of the present disclosure It is an exemplary view showing information on the reflection intensity of a seabed acoustic signal according to , and FIG. 7 is an exemplary view showing information on the stratum structure of the seabed according to an embodiment of the present disclosure.

With reference to FIGS. 4 to 7 , the processor 150 for selecting a seafloor working location according to the present embodiment will be described in more detail.

The processor 150 may acquire seafloor topography information and seafloor stratum information through the seabed observation unit 130 . As described above, the seabed topography information may include water depth information, sound signal reflection intensity information, and latitude and longitude information. It can be represented as a topographic map of the sea floor. In addition, as shown in FIG. 6 , it is possible to represent seabed topographic information including acoustic signal reflection intensity information and latitude and longitude information.

And in this embodiment, the subsea stratum information may include stratum measurement information, and water depth information, latitude and longitude information, as shown in FIG. 7 , stratum structure measurement information, water depth information, latitude and longitude information are included The obtained seafloor stratum information can be expressed as a seabed stratum map. At this time, FIG. 7(a) is a view in which the stratum structure measurement values at time T are accumulated, through which the shape of the stratum structure can be confirmed, and FIG.

At this time, in this embodiment, it is possible to acquire the seabed topography information and the seabed stratum information for a predetermined area or a predetermined area selected by the user in order to select a location for collecting a low-quality sample on the seafloor. That is, a range in which the seabed topography information and the seabed stratum information can be obtained may be limited.

In addition, the processor 150 may quantify the seabed environment variable based on the seabed topography information and the seabed stratum information.

In this case, the processor 150 calculates a seabed inclination based on latitude, longitude, and water depth information of the seabed topographical information in order to quantify the seabed environmental variables and display them on a map, and the calculated seabed inclination value, latitude and longitude A sea floor gradient map (eg, a three-dimensional 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 seabed topographic region of the seabed topographic map as shown in FIG. 4 into a grid. In other words, the topographic map of the seafloor may be divided into grids with the same interval and the same size, and a center point may be set together with water depth information of the corresponding grid area. FIG. 5(a) is a graph of latitude (x) and longitude (y), and a water depth (z) for each area may be displayed as a z point on the xy plane. For example, point A represents a depth of 374m, point C represents a depth of 391m, and point E represents a depth of 408m.

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

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

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

In addition, the processor 150 normalizes the seabed reflection intensity based on the latitude, longitude, and sound signal reflection intensity information of the seabed topographic information in order to quantify the seabed environment variable and display it on a map, and the normalized seabed reflection intensity By reflecting the values and latitude and longitude, a sea floor reflection intensity map can be created. In this embodiment, for example, depending on the sample (sample) to be collected, a location with a strong (hard quality) or weak (mud) location can be selected, so the reflection intensity information can be used as an environmental variable at the bottom of the sea. .

For this reflection intensity normalization, the processor 150 sets the minimum reflection intensity and the maximum reflection intensity in the seabed topographic area of the acquired seabed topographic information (within the acquired seafloor topographic map data range) as a reference, and the measured 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 the present embodiment, the equation for normalizing the reflection intensity of the seabed can be briefly expressed as in Equation 3.

In this embodiment, as shown in FIG. 6 , a seabed reflection intensity map may be displayed, which may be the same as that of the seabed topographic information including the acoustic signal reflection intensity information and latitude and longitude information described above.

In addition, the processor 150 calculates a seafloor stratification gradient based on the measurement value of the stratum of the seabed stratum information in order to quantify the seabed environmental variable and display it on a map, and accumulate the calculated stratum gradient value. , it is possible to generate a seafloor stratification gradient map (eg, a four-dimensional map) by reflecting the geological gradient values, latitude, longitude, and water depth.

In this case, the processor 150 may calculate the seafloor stratification gradient value by subtracting the stratum measurement value at the previous measurement time from the stratum structure measurement value at the current time point. This can be briefly expressed as in Equation (4).

In addition, the processor 150 may select an optimal location (or a certain area) for seafloor work based on the quantified seafloor environmental variables. When the seafloor work location selection is requested through the seafloor work location selection device, the processor 150 reflects the quantified seafloor environmental variables according to the detailed seafloor work settings to select an optimal position for seafloor work. can At this time, in this embodiment, selection of the seafloor working position may be requested from the user through the user terminal 200 or the user interface 120, and selection of the seafloor working position may be requested from other servers 300, etc. .

In addition, in this embodiment, at the same time that the seafloor work location selection is requested, the seafloor work detailed setting may be input together, and some areas may be selectively input to limit the range for selecting the location. The detailed setting of the seafloor work may refer to settings for the type of work to be performed on the seabed, the type of low-quality sample to be collected, and the like. That is, in the present embodiment, the criterion for selecting the optimal position may vary according to detailed settings for the seafloor work.

In this embodiment, for example, when detailed settings for a seabed work such as performing a drilling operation are input, the seafloor environment variable and the seabed environment variable value for the pre-stored drilling operation are automatically set, and the drilling position for the drilling operation can be automatically extracted. For example, the optimal location selection criteria for the drilling operation are pre-stored as 0 seafloor slope and 0 seafloor geological change. It may be possible to automatically extract the position for FIG. 0 .

Also, for example, when collecting sediment samples, a location where sediment can be generated should be selected. Since the area where sediments are continuously generated is flat land, the seafloor gradient = 0 (flat land), and a location where sediments are constantly stacked for a long time and generated so that the seafloor stratification gradient = 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 sea floor slope of 10 degrees and the sea floor reflection intensity max are directly inputted and quantified It is possible to extract the optimal position for the corresponding value based on the established seafloor environment variable. In other words, when the dredge method is applied when collecting rock samples, a slope is sometimes required. ) to select a location for collecting low-quality samples from the seafloor.

At this time, when the user inputs the desired seafloor environmental variable and seafloor environmental variable values, in this embodiment, the seafloor environmental 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, according to the requested detailed seafloor work setting, the preset seafloor work type and the location selection criterion according to the type of seabed collection low-quality sample, the seafloor environmental variable and the numerical value for each environmental variable, , it is possible to extract an area that satisfies the loaded seabed environment variables and numerical values for each environment variable. In addition, when the numerical value of the seabed environment variable and each environmental variable is input within the minimum and maximum ranges of the quantified seabed environment variable, the processor 150 selects an area that satisfies the input seafloor environment variable and the numerical value for each environmental variable. can be extracted.

On the other hand, in this embodiment, the processor 150 is a machine learning such as deep learning (Deep Learning) for the detailed setting of the seafloor work so that the seafloor work location selection device 100 performs optimal location selection. , and the memory 140 may store data used for machine learning, result data, and the like. Also, 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. In addition, information related to an algorithm for performing learning according to the present disclosure may be stored in the memory 140 . In addition, various information necessary within the scope for 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 this embodiment, the processor 150 receives the type of the seabed work type and the seabed collection low-quality sample as inputs, and the location selection criterion according to the seabed work type and the type of the seabed-collected low-quality sample, the seabed environment variable and It is possible to train the learning model to output numerical values for each environmental variable, and to load the trained learning model upon request to select a seafloor work location and apply the loaded learning model to output the optimal location selection result.

Here, learning of the artificial neural network can be accomplished by adjusting the weight of the connection line between nodes (and adjusting the bias value if necessary) so that a desired output is obtained 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 the artificial neural network.

That is, the seafloor work location selection system 1 may be equipped with an artificial neural network, and the processor 150 is an artificial neural network, for example, a deep neural network such as CNN, RNN, DBN, etc. ) may be included. Therefore, the processor 150 outputs the numerical value of the seafloor environment variable and the environmental variable for each position selection criterion according to the seafloor work type of the seafloor work location selection system 1 and the type of seabed collection low-quality sample, and other seafloors A deep neural network can be trained to determine the optimal location according to environmental variables and numerical values for each environmental variable. As a machine learning method of such an artificial neural network, both unsupervised learning and supervised learning can be used. The processor 150 may control to update the artificial neural network structure after learning according to a setting.

And the processor 150 may output the final selected seafloor working position. That is, the processor 150 may display and output the input seafloor environment variable and a location (or a certain region) that satisfy the seafloor environment variable values on the map. Accordingly, the user may allow the seafloor operation to be performed at the location indicated on the map.

In addition, in this embodiment, when a plurality of locations satisfying the seafloor environmental variable and seafloor environmental variable values are extracted, or a certain area satisfying the seafloor environmental variable and seafloor environmental variable values is extracted, all of these are displayed on the map In this case, one location among a plurality of locations or a specific area among a certain area may be selectively input by the user, and the seafloor operation may be performed at the corresponding location (or area).

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

8 is a flowchart illustrating a method for selecting a seafloor working location according to an embodiment of the present disclosure.

Referring to FIG. 8 , the apparatus 100 for selecting a seafloor working position in step S110 may acquire seabed topographic information, and in step S120 the apparatus 100 for selecting a seafloor working position may acquire information on the seafloor. Here, the seabed topographic information may include water depth information, acoustic signal reflection intensity information, and latitude and longitude information, and the seabed topographic information including water depth information, latitude and longitude information may be represented as a seabed topographic map (FIG. 4). Reference). In addition, it is possible to represent the seabed topographic information including the acoustic signal reflection intensity information and latitude and longitude information (refer to FIG. 6). And in this embodiment, the seabed stratum information may include stratum measurement information, and water depth information, latitude and longitude information, and the seafloor stratum information including stratum measurement information, water depth information, latitude and longitude information It can be represented as a stratification diagram (see Fig. 7).

At this time, in this embodiment, it is possible to acquire the seabed topography information and the seabed stratum information for a predetermined area or a predetermined area selected by the user in order to select a location for collecting a low-quality sample on the seafloor. That is, a range in which the seabed topography information and the seabed stratum information can be obtained may be limited.

Next, the seafloor operation location selection apparatus 100 may quantify the seafloor environment variable based on the seabed topography information and the seabed stratum information in steps S210, S211 and S220. Specifically, the seabed work location selection device 100 may calculate the seabed topography gradient in step S210 and generate a seabed gradient map, extract the seabed acoustic signal reflection intensity in step S211, and map the seabed reflection intensity can be generated, and in step S220, a seafloor stratification gradient may be calculated and a seafloor stratified gradient map may be generated.

That is, the seafloor work location selection device 100 calculates the seabed inclination based on latitude, longitude, and water depth information of the seabed topographic information in order to quantify the seabed environmental variables and display them on a map, and the calculated seabed inclination By reflecting the values and latitude and longitude, a seafloor gradient map (eg, a three-dimensional map) may be generated. At this time, the seabed work location selection device 100 divides the seabed topographic area of the seabed topographic map into a grid, calculates absolute angles with N adjacent points for each central point of each grid, and among the absolute angles with N adjacent points The slope can be calculated with the largest value.

In addition, the seafloor work location selection device 100 normalizes the seafloor reflection intensity based on latitude, longitude, and sound signal reflection intensity information of the seabed topography information, in order to quantify the seabed environment variable and display it on a map. A sea floor reflection intensity map can be created by reflecting the value of one sea floor reflection intensity and latitude and longitude. For normalization of the reflection intensity, the seabed work location selection device 100 is set based on the minimum and maximum reflection intensity in the seabed topographic area of the obtained seabed topographic information (within the range of the acquired seafloor topographic map data), and , the value obtained by subtracting the minimum reflection intensity from the measured reflection intensity can be divided into the value obtained by subtracting the minimum reflection intensity from the maximum reflection intensity.

And in order to quantify the seafloor environmental variables and display the seafloor environmental variables on a map, the seafloor work location selection device 100 calculates a seafloor stratification gradient based on the stratum measurement value of the seafloor stratum information, and calculates the calculated stratum structure change By accumulating the degree values, a seafloor stratification gradient map (eg, a four-dimensional map) may be generated by reflecting the geological gradient value, latitude, longitude, and water depth. In this case, the apparatus 100 for selecting a seafloor operation location may calculate the seafloor stratification gradient value by subtracting the stratum measurement value at the previous measurement time from the stratum structure measurement value at the current time point.

In step S300, the seabed work location selection device 100 receives the seabed work location selection request. At this time, in this embodiment, at the same time as the request for selecting a seafloor work location, seafloor environmental variables such as seafloor slope, seafloor reflection intensity, and stratum gradient may be input. It can be input (loaded). That is, in this embodiment, selection of a seafloor work location may be requested from a user through the user terminal 200 or the user interface 120, and selection of a seafloor work location may be requested from other servers 300, etc. .

In addition, in this embodiment, at the same time that the seafloor work location selection is requested, the seafloor work detailed setting may be input together, and some areas may be selectively input to limit the range for selecting the location. The detailed setting of the seafloor work may mean settings for the type of work to be performed on the seabed, the type of low-quality sample to be collected, and the like. That is, in the present embodiment, the criterion for selecting the optimal position may vary according to detailed settings for the seafloor work.

In step S400, the seafloor work location selection apparatus 100 may select an optimal location (or a certain area) for seafloor work based on the quantified seafloor environmental variables. That is, the seafloor work location selection device 100 is a seabed environment variable and numerical value for each environmental variable according to the preset seafloor work type and the type of the seabed collection low-quality sample according to the requested seabed work detailed setting It is possible to load a value and extract an area that satisfies the loaded seabed environment variable and numerical values for each environment variable. In addition, when the seafloor work location selection device 100 enters a seafloor environmental variable and a numerical value for each environmental variable within the minimum and maximum ranges of the quantified seafloor environmental variable, the inputted numerical value for the seabed environment variable and the environmental variable It is possible to extract a region that satisfies .

In this embodiment, for example, when detailed settings for a seabed work such as performing a drilling operation are input, the seafloor environment variable and the seabed environment variable value for the pre-stored drilling operation are automatically set, and the drilling position for the drilling operation 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 sea floor slope of 10 degrees and the sea floor reflection intensity max are directly inputted and quantified It is possible to extract the optimal position for the corresponding value based on the established seafloor environment variable. At this time, when the user inputs the desired seafloor environmental variable and seafloor environmental variable values, in this embodiment, the seafloor environmental 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 seafloor working position selection device 100 may output the selected seafloor working position. That is, the apparatus 100 for selecting a seafloor work location may display and output a position (or a predetermined region) that satisfies the input seafloor environment variable and the seafloor environment variable value on the map. Accordingly, the user may allow the seafloor operation to be performed at the location indicated on the map.

In addition, in this embodiment, when a plurality of locations satisfying the seafloor environmental variable and seafloor environmental variable values are extracted, or a certain area satisfying the seafloor environmental variable and seafloor environmental variable values is extracted, all of these are displayed on the map In this case, one location among a plurality of locations or a specific area among a certain area may be selectively input by the user, and the seafloor operation may be performed at the corresponding location (or area).

The above-described embodiment according to the present invention may be implemented in the form of a computer program that can be executed through various components on a computer, and such a computer program may be recorded in a computer-readable medium. In this case, the medium includes a hard disk, a magnetic medium such as a floppy disk and a magnetic tape, an optical recording medium such as CD-ROM and DVD, a magneto-optical medium such as a floppy disk, and a ROM , RAM, flash memory, etc., a hardware device specially configured to store and execute program instructions.

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

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

The steps constituting the method according to the present invention may be performed in an appropriate order unless the order is explicitly stated or there is no description to the contrary. The present invention is not necessarily limited to the order in which the steps are described. The use of all examples or exemplary terms (eg, etc.) in the present invention is merely for the purpose of describing the present invention in detail, and the scope of the present invention is limited by the examples or exemplary terms unless limited by the claims. it is not going to be In addition, those skilled in the art will appreciate that various modifications, combinations, and changes may be made in accordance with design conditions and factors within the scope of the appended claims or their equivalents.

Therefore, the spirit of the present invention should not be limited to the above-described embodiments, and the scope of the spirit of the present invention is not limited to the scope of the scope of the present invention. will be said to belong to

1: Seabed work location selection system
100: seabed 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)

As a method of selecting a seabed working position through a seabed working position selection device,
obtaining seafloor topographic information and seafloor stratum information through the seabed operation location selection device;
quantifying a seabed environment variable based on the seabed topography information and the seabed stratum information;
selecting an optimal position for seafloor work by reflecting the quantified seafloor environmental variable according to detailed seafloor work settings when the seabed work location selection is requested through the seabed work location selection device; and
Including the step of outputting the selected seafloor working position,
How to select a location for work on the seabed.
The method of claim 1,
The step of quantifying the seabed environmental variable is,
calculating a seabed gradient based on latitude, longitude, and water depth information of the seabed topography information; and
and generating a seafloor gradient map by reflecting the calculated seafloor gradient value, latitude and longitude,
How to select a location for work on the seabed.
3. The method of claim 2,
The step of calculating the seabed slope is,
dividing the seabed topographical area of the acquired seabed topographical information into a grid;
calculating an absolute angle with N adjacent points for each central point of the grid; and
Comprising the step of calculating the slope with the largest value among the absolute angles with the N adjacent points,
How to select a location for work on the seabed.
The method of claim 1,
The step of quantifying the seabed environmental variable is,
normalizing the seabed reflection intensity based on latitude, longitude, and acoustic signal reflection intensity information of the seabed topography information; and
Including the step of generating a sea floor reflection intensity map by reflecting the normalized sea floor reflection intensity value, latitude and longitude,
How to select a location for work on the seabed.
5. The method of claim 4,
The step of normalizing the reflection intensity of the seabed is,
setting a minimum reflection intensity and a maximum reflection intensity in the seabed terrain area of the acquired seabed topography information as a reference; and
Comprising the step 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,
How to select a location for work on the seabed.
The method of claim 1,
The step of quantifying the seabed environmental variable is,
calculating a seafloor stratification gradient based on the measured stratum structure of the seabed stratum information; and
Comprising the step of accumulating the calculated stratum gradient value, and generating a seafloor stratum gradient map by reflecting the stratum gradient value, latitude, longitude and water depth,
How to select a location for work on the seabed.
7. The method of claim 6,
The step of calculating the degree of change in the stratum structure of the seabed is,
Comprising the step of subtracting the measurement value of the stratum at the previous measurement time from the measurement value of the stratum at the current time, and calculating the value of the stratum gradient of the seabed,
How to select a location for work on the seabed.
The method of claim 1,
The step of selecting an optimal location for the seabed work is,
According to the detailed setting of the requested seafloor work, the location selection criteria according to the preset seafloor work type and the type of bottom material sample loading the seafloor environment variable and numerical values for each environmental variable step; and
Including the step of extracting a region that satisfies the loaded seabed environment variable and numerical values for each environmental variable,
How to select a location for work on the seabed.
The method of claim 1,
The step of selecting an optimal location for the seabed work is,
When the seafloor environment variable and the numerical value for each environmental variable are input within the minimum and maximum ranges of the quantified seafloor environmental variable through the seafloor work location selection device, the input numerical value for the seafloor environmental variable and the environmental variable Including the step of extracting a region that satisfies
How to select a location for work on the seabed
A device for selecting a position on the seabed, comprising:
Memory; and
at least one processor coupled to the memory and configured to execute computer readable instructions contained in the memory;
The at least one processor,
an operation of acquiring seafloor topographic information and seafloor stratum information;
An operation of quantifying seafloor environmental variables based on the seabed topography information and seabed stratum information,
When the selection of the seafloor work location is requested, the operation of determining the optimal position for seafloor work by reflecting the quantified seafloor environmental variables according to detailed seafloor work settings; and
configured to perform an operation of outputting the extracted seafloor working position,
Subsea work positioning device.
11. The method of claim 10,
The operation of quantifying the seafloor environmental variable is,
calculating a seabed gradient based on latitude, longitude, and water depth information of the seabed topography information; and
configured to generate a sea floor gradient map by reflecting the calculated sea floor gradient value, latitude and longitude,
Subsea work positioning device.
12. The method of claim 11,
The operation of calculating the seabed slope is,
The operation of dividing the seabed terrain area of the obtained seabed topography information into a grid;
calculating an absolute angle with N adjacent points for each central point of each grid, and
configured to perform an operation of calculating a slope with the largest value among absolute angles with the N adjacent points,
Subsea work positioning device.
11. The method of claim 10,
The operation of quantifying the seafloor environmental variable is,
Normalizing the seabed reflection intensity based on latitude, longitude, and acoustic signal reflection intensity information of the seabed topography information, and
configured to perform an operation of generating a seabed reflection intensity map by reflecting the normalized seafloor reflection intensity value and latitude and longitude,
Subsea work positioning device.
14. The method of claim 13,
The operation of normalizing the seabed reflection intensity is,
setting a minimum reflection intensity and a maximum reflection intensity in the seabed terrain area of the obtained seabed topography information as a reference; 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,
Subsea work positioning device.
11. The method of claim 10,
The operation of quantifying the seafloor environmental variable is,
Calculating the degree of change in the stratum structure of the seabed based on the measured value of the stratum of the seabed stratum information, and
configured to perform an operation of generating a seafloor stratification gradient map by accumulating the calculated stratum gradient value and reflecting the stratum gradient value, latitude, longitude and water depth,
Subsea work positioning device.
16. The method of claim 15,
The operation of calculating the degree of change in the stratum of the seabed is,
configured to perform an operation of calculating the seafloor stratum gradient value by subtracting the stratum measurement value of the previous measurement time from the stratum measurement value of the current time point,
Subsea work positioning device.
11. The method of claim 10,
The operation of selecting the optimal location for the seabed work is,
According to the detailed setting of the requested seafloor work, the location selection criteria according to the preset seafloor work type and the type of bottom material sample loading the seafloor environment variable and numerical values for each environmental variable action, and
configured to perform an operation of extracting an area that satisfies the loaded seabed environment variable and numerical values for each environmental variable,
Subsea work positioning device.
11. The method of claim 10,
The operation of selecting the optimal location for the seabed work is,
When the seafloor environment variable and the numerical value for each environmental variable are input within the minimum and maximum ranges of the quantified seafloor environmental variable through the seafloor work location selection device, the input numerical value for the seafloor environmental variable and the environmental variable configured to perform an operation of extracting a region that satisfies
Subsea work positioning device.

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