Seismic exploration system based on seafloor crawler

A seismic detection system based on a seafloor crawler, comprising:

• a survey vessel, a seafloor crawler, a seismic source, a receiver, and a control chip, wherein the survey vessel and the seafloor crawler are connected by a towing rope;
• the seafloor crawler has a towing cable provided at the rear;
• the seismic source and the receiver are mounted on the towing cable;
• the seafloor crawler is provided with an electronic cabin;
• the data control chip is disposed within the electronic cabin;
• the control chip exchanges data with the drive unit of the seafloor crawler, the seismic source, and the receiver;
• the control chip is provided with a seismic exploration control module for setting the vibration parameters of the seismic source and preprocessing the data collected by the receiver to ultimately obtain seismic exploration data;
• the electronic cabin also contains a data transmission device, which is electrically connected to the control chip and is used to transmit the seismic exploration data to the survey vessel;
• the seismic detection control module is used to perform the following steps:
• S10, controlling the seafloor crawler to crawl within a predetermined detection area to obtain the seafloor crawler pose information, while controlling the seismic source to intermittently transmit seismic waves and receive reflection waves via the receiver;
• S20, calculating an outlier set in the first reflection wave, including amplitude outliers, frequency outliers, and phase outliers, using a sliding window by means of Bayesian outlier detection;
• S30, aligning the outlier set with the seismic waves according to the order in which the seismic waves are intermittently transmitted;
• extracting features of the seismic waves using a sliding window, recorded as seismic wave attributes, and calculating the correlation between the seismic wave attributes and the outlier set;
• S40, deleting, from the seismic wave attributes, seismic wave attributes with a correlation greater than a preset correlation threshold to obtain remaining features, and calculating, using a preset attribute-parameter equations, seismic wave parameters corresponding to the remaining features as optimization parameters;
• S50, controlling the seismic source to emit new seismic waves according to the optimization parameters, and receiving new reflection waves via the receiver;
• preprocessing the new reflection waves to obtain preprocessed new reflection waves;
• S60, subjecting the new seismic wave and the preprocessed new reflection wave to waveform alignment and travel time analysis to calculate the propagation time and velocity of the new seismic wave in different media;
• S70, subjecting the preprocessed new reflection wave to normal moveout correction using preset velocity correction equations to eliminate time differences caused by different seismic wave propagation paths;
• S80, subjecting the corrected preprocessed new reflection wave to spectrum analysis and amplitude recovery to improve the signal-to-noise ratio and resolution of signals and to obtain results as detection data.