Marine sand mining monitoring system and method

Abstract

The present invention discloses a marine sand mining monitoring system and method, which are used to solve the problems of insufficient monitoring accuracy and insufficient environmental change early warning faced by existing marine sand mining monitoring systems; the system comprises a monitoring and acquisition module, an environmental monitoring and analysis module, a precision monitoring and analysis module and an execution module; the system effectively evaluates the impact of sand mining activities on the environment by real-time monitoring and analysis of environmental factors and the accuracy of sand mining equipment, calculates the environmental quality impact coefficient and the environmental state impact coefficient, and makes adjustments in combination with dynamic environmental data to timely discover environmental changes and reduce the negative impact of sand mining on the ecological environment; the system also automatically analyzes the accuracy deviation of the equipment through the precision monitoring and correction module, and makes dynamic corrections based on the correlation analysis results, so that the equipment always operates within a high-precision range; the precise control method optimizes the sand mining process, improves sand mining efficiency and resource utilization, and reduces operation errors and environmental disturbances.

Description

Technical Field

[0001] The present invention relates to the technical field of marine sand mining monitoring, and in particular to a marine sand mining monitoring system and method. Background Art

[0002] Marine sand mining monitoring systems primarily rely on remote sensing technology, satellite monitoring, automated sensors, and data analysis platforms to achieve real-time monitoring of marine sand mining activities. These systems can collect environmental data related to sand mining, such as water depth, flow rate, temperature, salinity, and sand composition. They also utilize seabed topography scanning, vessel positioning, and video surveillance to accurately track sand mining operations. However, existing systems still face a series of problems: Insufficient monitoring accuracy: Although remote sensing technology and sensors can provide a large amount of data, in complex marine environments, especially in deep sea areas, the resolution and accuracy of sensors are often insufficient, resulting in suboptimal monitoring of sand mining activities; Insufficient early warning of environmental changes: Due to the lack of an effective environmental change prediction mechanism, existing systems are unable to provide early warning of abnormal fluctuations in the marine environment, such as changes in water temperature and flow rate, which may have potential impacts on the ecological environment and sand mining operations. Summary of the Invention

[0003] The purpose of the present invention is to solve the above-mentioned problems and to provide a marine sand mining monitoring system and method.

[0004] The object of the present invention can be achieved by the following technical solutions: A marine sand mining monitoring system includes an environmental monitoring and analysis module and an accuracy monitoring and analysis module;

[0005] The environmental monitoring and analysis module is used to analyze environmental data, specifically:

[0006] Analyze the environmental quality data to obtain the ideal value corresponding to each environmental factor under the ideal environmental state of the collection area. According to the results collected by the monitoring and collection module, collect the current environmental factor value, calculate the deviation degree of the environmental factor, and obtain the deviation degree of the i-th environmental factor. ; Each deviation value is standardized to a uniform scale by setting the formula: Output environmental quality impact coefficient HZZ, where: is the weight of the i-th factor, is the standardized deviation value of the i-th environmental factor;

[0007] Analyze the environmental status data to obtain the environmental status impact coefficient ;

[0008] The precision monitoring and analysis module is used to perform sand mining precision analysis on the sand mining equipment, specifically:

[0009] Get the sand mining area, analyze the seabed topography, and pre-process the topographic data to get the slope between the jth and j+1th points , then extract several isobaths from the terrain data. After the isobaths are extracted, the appropriate path is selected according to the characteristics of the equipment; first calculate the slope to obtain the slope S;

[0010] Obtain the deviation between the current position of the equipment and the ideal position; the actual collection point of the sand mining equipment is , and the ideal collection point is , then the accuracy deviation of the device at this position is calculated using the established formula: Output the accuracy deviation value of the jth point , and then calculate the average deviation value and maximum deviation value of sand mining equipment in the entire area; by formula: Output average deviation value Dp, Dmax=max(D1,D2,...,D m ) Output the maximum deviation value Dmax; then analyze whether the accuracy is consistent with the environmental quality influence coefficient HZZ and the environmental state influence coefficient The correlations between them were obtained by Spearman rank correlation coefficients r1 and r2.

[0011] As a preferred embodiment of the present invention, it also includes a monitoring and acquisition module and an execution module;

[0012] The monitoring and acquisition module is used to collect monitoring data during the marine sand mining process, including environmental data, precision data, and compliance data. The environmental data includes environmental quality data and environmental status data. The environmental quality data includes water quality, bottom quality, and climate. The environmental status data includes water flow rate, temperature, and depth. The precision data includes location, operation parameters, and equipment status data. The compliance data includes operation area, legal and regulatory compliance, and environmental impact assessment.

[0013] The execution module is used to obtain the corrected accuracy deviation value Generate device correction instructions one and two to perform device correction.

[0014] As a preferred embodiment of the present invention, the deviation degree of the i-th environmental factor is obtained The specific process is:

[0015] Compare the difference between the current value of each environmental factor and its ideal value to quantify the impact of sand mining activities on the environment, using the formula: Output the degree of deviation of the i-th environmental factor , is the current collection value of the i-th environmental factor, is the ideal value of the i-th environmental factor.

[0016] As a preferred embodiment of the present invention, the environmental state influence coefficient is obtained The specific process is:

[0017] Calculate the water velocity factor, collect water velocity and direction data at different locations (x, y, z), and record the time series. Calculate the displacement of the water flow in space based on the monitored flow velocity V and time interval Δt: S(x, y, z, t) = V(x, y, z, t) × Δt; the cross-sectional area represents the cross-sectional area perpendicular to the direction of the water flow at a certain spatial position; measure the depth (z) and width of the river channel at a specified location (x, y) using a hydrographic instrument; draw a cross-sectional profile, divide the profile into small units, and sum them to obtain the cross-sectional area A(x, y, z); through the established formula: Output spatial position (x, y, z) and flow velocity at time t , is the partial derivative, which varies with time t and spatial position (x, y, z);

[0018] Calculate the temperature factor to get the time rate of change of temperature , calculate the depth factor to get the water depth ; By establishing the formula:

[0019] Output environmental status influence coefficient , is the convection term of water flow to temperature change, water depth change ΔDc(x,y,t), and a1, a2, a3, and a4 are all preset weights.

[0020] As a preferred embodiment of the present invention, the temperature factor is calculated to obtain the time rate of change of temperature. The specific process is:

[0021] By establishing the formula: Time rate of change of output temperature , where α is the preset water body thermal diffusion value, represents the spatial second-order gradient of temperature, is the convection term of water flow to temperature change, The influence of external heat source.

[0022] As a preferred embodiment of the present invention, the depth factor is calculated to obtain the water depth The specific process is:

[0023] The change of depth factor is caused by tide and sand mining activities, where the tidal change ΔDc(t2) is expressed by a sine function: Output tidal change ΔDc(t2), Ac is the tidal amplitude, θ is the angular frequency of the tide, t is the time variable, and φ is the phase offset of the tide; the water depth change ΔDc(x, y, t) caused by human activities is calculated by the established formula: Output water depth change ΔDc (x, y, t), is the volume of sand removed by sand mining at a certain location (x, y) and time t, is the water cross-sectional area corresponding to the sand mining area; through the established formula: Output the water depth at a certain location (x, y) in a dynamic environment at time t , D0 (x, y) is the initial water depth.

[0024] As a preferred embodiment of the present invention, the specific process of calculating the slope to obtain the slope S is as follows:

[0025] The terrain data is: , represents the coordinates of the jth measurement point, is the seabed depth of the point; connect each two adjacent data points in the topographic data to obtain the seabed topography network map; calculate the slope of the seabed topography network map, through the established formula: Output the slope between the jth and j+1th points ; is the depth of the neighboring point, are the coordinates of adjacent points;

[0026] Extract several isobaths from the terrain data, select a depth interval to extract an isobath; and on the plane coordinate system (x, y), extract all points with the same depth according to the given depth value, and connect them into an isobath. For each isobath, subdivide it into multiple small segments according to its adjacent depth values ​​and slope changes. Each small segment will serve as a path segment of the sand mining equipment; after the isobaths are extracted, select a suitable path according to the characteristics of the equipment; calculate the slope: obtain the slope S through the established formula, and compare the slope S with the corresponding slope threshold. If the slope S is less than the corresponding threshold, the area is more suitable for stable operation of the equipment; otherwise, optimize the path, use the curve fitting method to smooth the path, and divide the path into several small segments.

[0027] As a preferred embodiment of the present invention, the specific process of obtaining the Spearman rank correlation coefficients r1 and r2 is:

[0028] There are k calculation samples, and the data include the accuracy deviation value D, the environmental quality impact coefficient HZZ and the environmental state impact coefficient ; Sort the data by numerical value and assign ranks. If equal values ​​appear, take the average rank; calculate the difference in ranks between the two variables corresponding to each sample , find the square , all Add together to get ; Substitute the calculated data into the formula: Output Spearman rank correlation coefficients r1 and r2; Spearman rank correlation coefficient r1 is the correlation coefficient with the environmental quality impact coefficient HZZ, and Spearman rank correlation coefficient r2 is the correlation coefficient with the environmental state impact coefficient Correlation coefficient between them; if r1>0 or r2>0, it is a positive correlation, which means that when the environmental factors increase, the accuracy deviation value D increases; if r1<0 or r2<0, it is a negative correlation, which means that when the environmental factors increase, the accuracy deviation value D decreases;

[0029] The accuracy deviation value D is corrected by the correlation between them: the correction formula is established: Output the corrected accuracy deviation value , β1 is the correction factor related to r1, β2 is the correction factor related to r2; the correction factors α1 and β2 are established by the formula: β1=u1×|r1|,β2=u2×|r2|, u1 and u2 are preset weight factors; |r1| and |r2| are the absolute values ​​of the Spearman rank correlation coefficient; if the accuracy deviation value after correction , When the accuracy is less than 0.5 meters, no equipment correction is required. If the accuracy deviation after correction is , 0.5< ≤1.0m, generate equipment correction instruction 1; if the accuracy deviation after correction , When it is greater than 1.0m, the device will receive the second correction instruction.

[0030] A method for monitoring marine sand mining, comprising:

[0031] Step 1: The monitoring and acquisition module collects environmental data, accuracy data, and compliance data;

[0032] Step 2: The environmental monitoring and analysis module calculates the degree of deviation of environmental factors and calculates the environmental quality impact coefficient through standardization and weight distribution;

[0033] Step 3: Calculate the dynamic factors of water velocity, temperature and depth, and output the environmental state influence coefficient;

[0034] Step 4: The accuracy monitoring and analysis module calculates the accuracy deviation value of the equipment and evaluates the equipment accuracy level based on the correlation analysis between the environmental impact coefficient and the accuracy deviation;

[0035] Step 5: Calculate the correction factor based on the deviation value and correlation analysis, and generate correction instruction 1 and correction instruction 2;

[0036] Step 6: The execution module adjusts the equipment coordinates, speed, path and working depth according to the correction instructions to ensure that the equipment accuracy meets the requirements.

[0037] Compared with the prior art, the present invention has the following beneficial effects:

[0038] 1. The present invention can analyze and evaluate the impact of sand mining activities on the environment in real time, ensuring that operations comply with ecological protection standards. By monitoring environmental factors such as water quality, bottom sediments, and ecological impacts, combined with the ideal value of each factor, the system can quantify the degree of deviation from the current environmental state and perform standardized processing. By calculating the environmental quality impact coefficient and the environmental state impact coefficient, the system can determine whether the current environmental quality meets the sand mining conditions. If the environmental quality impact coefficient exceeds the preset execution range, the system will automatically prevent sand mining activities to avoid adverse effects on the environment. This dynamic monitoring ensures that the sand mining process is always carried out within the environmental protection framework, effectively reducing ecological damage.

[0039] 2. The precision monitoring and analysis module of the present invention ensures the efficient operation of sand mining equipment through precise path selection and equipment position adjustment. It tracks the deviation between the actual collection point of the equipment and the ideal collection point in real time and calculates the precision deviation value. Based on the Spearman rank correlation coefficient, the system can analyze the relationship between the precision deviation and the environmental quality and status, thereby adjusting the equipment operation. When the precision deviation value exceeds the set threshold, the system will generate a correction instruction to reduce the deviation by adjusting the equipment position and speed. Through this automated precision correction, the sand mining equipment can continuously remain within the preset precision range, reduce errors, improve sand mining efficiency, and ensure that the interference with the seabed environment during operation is minimized. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] To facilitate understanding by those skilled in the art, the present invention is further described below with reference to the accompanying drawings.

[0041] Figure 1 It is a principle block diagram of the present invention;

[0042] Figure 2 A diagram showing the steps of the method of the present invention. DETAILED DESCRIPTION

[0043] The technical solutions of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0044] It should be understood that the terms “include” and “comprising” used in the specification and claims of the present disclosure indicate the presence of described features, integers, steps, operations, elements and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or collections thereof.

[0045] It should also be understood that the terminology used in this disclosure is for the purpose of describing specific embodiments only and is not intended to limit the disclosure. As used in this disclosure and the claims, the singular forms "a," "an," and "the" are intended to include the plural forms unless the context clearly indicates otherwise. It should be further understood that the term "and / or" as used in this disclosure and the claims refers to any and all possible combinations of one or more of the associated listed items, including and including these combinations.

[0046] See also Figure 1 As shown, the present invention provides a marine sand mining monitoring system, including: a monitoring and acquisition module, an environmental monitoring and analysis module, a precision monitoring and analysis module and an execution module;

[0047] The monitoring and acquisition module is used to collect monitoring data during the marine sand mining process. The monitoring data mainly includes environmental data, precision data and compliance data. Environmental data includes environmental quality data and environmental status data. Environmental quality data includes water quality, bottom sediment and climate. Environmental status data includes water flow rate, temperature and depth, etc., reflecting the health of the ecological environment and the impact of sand mining on the environment, as well as ensuring the accurate execution of sand mining operations. Precision data includes location, operating parameters and equipment status data to ensure the accurate execution of sand mining operations. Compliance data includes operating area, legal and regulatory compliance and environmental impact assessment, etc., to ensure that sand mining activities comply with all relevant regulations.

[0048] The environmental monitoring and analysis module is used to analyze environmental data, specifically:

[0049] Analyze environmental quality data: Obtain the ideal value corresponding to each environmental factor under the ideal environmental conditions of the collection area (the ideal value is the optimal value of the environmental factor under healthy or ideal conditions). For example: water quality factor: the ideal value is clear water (low turbidity, high dissolved oxygen, etc.); bottom sediment factor: the ideal value is pristine bottom sediment type with minimal bottom sediment disturbance; ecological impact factor: the ideal value is rich biological populations and species diversity;

[0050] According to the results collected by the monitoring and acquisition module, the current environmental factor values ​​are collected, such as the current water turbidity, dissolved oxygen concentration, etc.; the deviation degree of the environmental factors is calculated: the difference between the current value of each environmental factor and its ideal value is compared, and the impact of sand mining activities on the environment is quantified by the formula: Output the degree of deviation of the i-th environmental factor ,in, is the current collection value of the i-th environmental factor, is the ideal value of the i-th environmental factor;

[0051] Since different environmental factors have different dimensions and numerical ranges, it is necessary to normalize each deviation value so that it is on a unified scale (for example, 0 to 1). Then, a weight value is assigned to each environmental factor to reflect the relative importance of the factor to the overall environmental impact, and the total weight is 1;

[0052] By establishing the formula: Output environmental quality impact coefficient HZZ, where: is the weight of the i-th factor, is the standardized deviation value of the i-th environmental factor; the calculated environmental quality impact coefficient HZZ is matched with the preset execution range, which includes execution range 1 and execution range 2; if the environmental quality impact coefficient HZZ belongs to execution range 1, the environmental status data is analyzed; if the environmental quality impact coefficient HZZ belongs to execution range 2, sand mining cannot be carried out;

[0053] Analyze environmental status data:

[0054] The water velocity factor is calculated. The dynamic change of the water velocity factor is determined by the position function and cross-sectional area of ​​the water body passing through the cross-section. The position function of the cross-section is obtained by arranging multiple sensors in the water body (such as current meters and acoustic Doppler current profilers (ADCP)). The water velocity and direction data at different positions (x, y, z) are collected and recorded in time series. The displacement of the water flow in space is calculated based on the monitored flow velocity V and time interval Δt: S (x, y, z, t) = V (x, y, z, t) × Δt. The cross-sectional area represents the cross-sectional area perpendicular to the direction of the water flow at a certain spatial position. The depth (z) and width of the river channel at a specified position (x, y) are measured by using hydrographic cross-sectional instruments (such as echo sounders). The cross-sectional profile is drawn, the cross-sectional profile is divided into small units (such as triangles or rectangles), and the cross-sectional area A (x, y, z) is obtained by summing them. The formula established is: Output spatial position (x, y, z) and flow velocity at time t , is the partial derivative, which varies with time t and spatial position (x, y, z);

[0055] The temperature factor is calculated. The temperature factor is controlled by the heat conduction equation and the water convection effect, through the established formula: Time rate of change of output temperature , where α is the preset water body thermal diffusion value, represents the spatial second-order gradient of temperature, is the convection term of water flow to temperature change, is the influence value of external heat source (such as solar heating or industrial exhaust heat), and its value is customized by those skilled in the art according to actual use;

[0056] The depth factor is calculated. The change of the depth factor is caused by tide and sand mining activities. The tidal change ΔDc(t2) is expressed by a sine function: Output tidal change ΔDc(t2), Ac is the tidal amplitude, which indicates the maximum water depth change during tidal rise and fall, θ is the angular frequency of the tide (related to the tidal period), t is the time variable used to describe the dynamic change of the tide over time, φ is the phase offset of the tide, which determines the starting time of the tide; the water depth change ΔDc(x, y, t) caused by human activities is calculated by the established formula: Output water depth change ΔDc (x, y, t), is the volume of sand removed by sand mining at a certain location (x, y) and time t, is the water cross-sectional area corresponding to the sand mining area;

[0057] Finally, by setting up the formula: Output the water depth at a certain location (x, y) in a dynamic environment at time t , D0 (x, y) is the initial water depth, which means the basic water depth at this location without external interference, usually determined by the terrain and the original state of the water body; the calculated water depth Match the preset operating depth range of the sand mining equipment. If the water depth If the water depth does not fall within the preset operating depth range of the sand mining equipment, the sand mining equipment should be replaced; otherwise, if the water depth If it belongs to the preset operating depth range of the sand mining equipment, further calculation is carried out: all dynamic factors are integrated into a comprehensive dynamic environment index in a weighted manner, and the established formula is: Output environmental status influence coefficient , a1, a2, a3 and a4 are preset weights and can be adjusted by those skilled in the art according to actual needs;

[0058] The accuracy monitoring and analysis module is used to analyze the sand mining accuracy of sand mining equipment, specifically:

[0059] Obtain the sand mining area and analyze the seabed topography, usually presented in the form of a three-dimensional grid or discrete measurement points; pre-process the topographic data. If the topographic data is: ,in, represents the coordinates of the jth measurement point, is the seabed depth of the point; then connect each two adjacent data points in the topographic data to obtain the seabed topography network map; then calculate the slope of the seabed topography network map, through the established formula: Output the slope between the jth and j+1th points ; is the depth of the neighboring point, are the coordinates of adjacent points;

[0060] Extract several isobaths (isodepth point sets) from the terrain data, select a depth interval, for example, extract an isobath every 1 meter or 2 meters; and on the plane coordinate system (x, y), according to the given depth value, extract all points with the same depth and connect them into an isobath. For each isobath, subdivide it into multiple small segments according to its adjacent depth values ​​and slope changes. Each small segment will serve as a path segment for the sand mining equipment; for example, for an isobath with a depth of 5 meters, all points with a depth of 5 meters will be extracted and connected into a closed or open curve to form the basis of the path;

[0061] After extracting the depth contours, select a suitable path based on the characteristics of the equipment. First, calculate the slope: Calculate the slope S using a set formula and compare it with the corresponding slope threshold. If the slope S is less than the threshold, the area is more suitable for stable equipment operation. Otherwise, optimize the path and smooth it using curve fitting methods (fitting methods include Bezier curves, spline curves, etc., which generate smooth curves based on control points to make the path more stable).

[0062] After the path selection and optimization is completed, the path is divided into several small segments, each of which is the path segment for the equipment to complete a sand mining process; each segment task is completed one by one according to the order of the path;

[0063] In the actual collection process, there is a deviation between the current position of the equipment and the ideal position. Assume that the actual collection point of the sand mining equipment is , and the ideal collection point is , then the accuracy deviation of the device at this position is calculated using the established formula: Output the accuracy deviation value of the jth point , and then calculate the average deviation value or maximum deviation value of the sand mining equipment in the entire area; by formula: Output average deviation value Dp, Dmax=max(D1,D2,...,D m ) Output the maximum deviation value Dmax; then, based on the calculated deviation value Dp or Dmax, the accuracy is divided into different levels. If D≤0.5 meters, it is high accuracy; if 0.5<D≤1.0 meters, it is medium accuracy; if D>1.0 meters, it is low accuracy;

[0064] If the equipment acquisition accuracy is medium or low, then analyze whether the accuracy is consistent with the environmental quality influence coefficient HZZ and the environmental status influence coefficient Related to; conduct correlation analysis:

[0065] If there are k calculation samples, the data includes the accuracy deviation value D, the environmental quality impact coefficient HZZ and the environmental state impact coefficient ; Sort the data by numerical value and assign ranks. If equal values ​​appear, take the average rank; then calculate the difference in ranks between the two variables corresponding to each sample , and then square , all Add together to get ; Then substitute the calculated data into the formula: Output Spearman rank correlation coefficients r1 and r2, where Spearman rank correlation coefficient r1 is the correlation coefficient with the environmental quality impact coefficient HZZ, and Spearman rank correlation coefficient r2 is the correlation coefficient with the environmental state impact coefficient The correlation coefficient between

[0066] If r1>0 or r2>0, it is a positive correlation, which means that when the environmental factors increase, the accuracy deviation value D increases. If r1<0 or r2<0, it is a negative correlation, which means that when the environmental factors increase, the accuracy deviation value D decreases.

[0067] The accuracy deviation value D is corrected by the correlation between them, specifically:

[0068] By establishing the correction formula: Output the corrected accuracy deviation value , β1 is the correction factor related to r1, β2 is the correction factor related to r2; the correction factors α1 and β2 are calculated according to the absolute value of the Spearman rank correlation coefficient and the actual experience value, through the established formula: β1=u1×|r1|,β2=u2×|r2|, u1 and u2 are preset weight factors, which depend on the HZZ and The degree of influence on D; |r1| and |r2| are the absolute values ​​of the Spearman rank correlation coefficient; if the corrected accuracy deviation value , When the accuracy is less than 0.5 meters, no equipment correction is required. If the accuracy deviation after correction is , 0.5< ≤1.0m, generate equipment correction instruction 1; if the accuracy deviation after correction , >1.0m, the device will be corrected.

[0069] The execution module is used to obtain the corrected accuracy deviation value Generate device correction instructions one and two to execute device correction;

[0070] When receiving the equipment correction instruction 1, adjust the equipment sand mining coordinate position to the new coordinate and reduce the equipment speed to V1; the new coordinate position is: (x′, y′) = (x+z1, y+z2); V1 = V 原 ×(1−z3); After fine-tuning, monitor the new accuracy deviation value: if ≤0.5m, stop correction; if the requirement is still not met, continue adjustment;

[0071] When receiving the second correction instruction of the equipment, a new sequential collection path is generated through seabed bottom data analysis, and the path coordinate points are (x1′, y1′), (x2′, y2′), ...; the sand mining depth is adjusted to reduce the deviation and reduce the sand mining speed of the equipment; after the correction, the new accuracy deviation value is monitored in real time , ≤0.5m, stop correction. If the requirements are still not met, repeat the large-scale correction process.

[0072] See also Figure 2 As shown, another aspect of the present invention provides a method for monitoring marine sand mining, comprising:

[0073] Step 1: The monitoring and acquisition module collects monitoring data from the marine sand mining process, primarily including environmental data, precision data, and compliance data. Environmental data includes environmental quality data such as water quality, bottom sediments, and climate, as well as environmental status data such as water velocity, temperature, and depth. Precision data includes equipment location, operating parameters, and status. Compliance data is used to ensure that sand mining activities comply with laws, regulations, and environmental impact assessment requirements.

[0074] Step 2: The environmental monitoring and analysis module analyzes environmental quality data, first obtaining the ideal and currently collected values ​​for each environmental factor, calculating the degree of deviation for each factor, and performing standardization. By assigning weights to each environmental factor, the environmental quality impact coefficient HZZ is calculated and matched against the preset execution range to determine whether sand mining operations can continue.

[0075] Step 3: When the environmental quality impact coefficient falls within Scope 1, analyze the environmental status data. Calculate the three dynamic factors—water velocity, temperature, and depth—to quantify their temporal and spatial variations. For example, water velocity is calculated using flow monitoring equipment to determine displacement, temperature is calculated using the heat conduction equation and convection terms to determine the rate of change, and depth is calculated using tides and sand mining activities to determine dynamic water depth. Finally, integrate these factors to output the environmental status impact coefficient.

[0076] Step 4: The accuracy monitoring and analysis module analyzes the accuracy of the sand mining equipment, determining the deviation between the actual and ideal collection points. The module further calculates the average and maximum deviations and assesses the equipment's accuracy level (high, medium, or low). If the accuracy is insufficient, a correlation analysis is performed to calculate the correlation between the environmental quality impact coefficient, the environmental status impact coefficient, and the accuracy deviation.

[0077] Step 5: The accuracy monitoring and analysis module analyzes the accuracy of the sand mining equipment, determining the deviation between the actual and ideal collection points. It further calculates the average and maximum deviations and assesses the equipment's accuracy level (high, medium, or low). If the accuracy is insufficient, a correlation analysis is performed to calculate the correlation between the environmental quality impact coefficient, the environmental status impact coefficient, and the accuracy deviation.

[0078] Step 6: The execution module adjusts the device according to the correction instructions:

[0079] Equipment correction instruction 1: Adjust the sand mining coordinate position, reduce the equipment speed and make fine adjustments until the accuracy deviation value is ≤0.5 meters.

[0080] Equipment correction instruction 2: Replan the sand mining path, generate a new sequential mining path, adjust the sand mining depth and speed, and significantly correct the equipment operation until the accuracy deviation value meets the requirements.

[0081] The preferred embodiments of the present invention disclosed above are intended only to help illustrate the present invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the present invention to specific embodiments. Obviously, many modifications and variations are possible based on the contents of this specification. These embodiments are selected and described in detail in this specification to better explain the principles and practical applications of the present invention, thereby enabling those skilled in the art to better understand and utilize the present invention. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A marine sand mining monitoring system, comprising an environmental monitoring and analysis module and an accuracy monitoring and analysis module, characterized in that: The environmental monitoring and analysis module is used to analyze environmental data, specifically: Analyze the environmental quality data and obtain the ideal value corresponding to each environmental factor under the ideal environmental conditions of the collection area. According to the results collected by the monitoring and collection module, collect the current environmental factor value and calculate the degree of deviation of the environmental factor: compare the difference between the current value of each environmental factor and its ideal value, and quantify the impact of sand mining activities on the environment. The formula is: Output the degree of deviation of the i-th environmental factor , is the current collection value of the i-th environmental factor, is the ideal value of the i-th environmental factor; Each deviation value is normalized to a uniform scale by setting the formula: Output environmental quality impact coefficient HZZ, where: is the weight of the i-th factor, is the standardized deviation value of the i-th environmental factor; Analyze environmental status data: Calculate the water velocity factor, collect water velocity and direction data at different locations (x, y, z), and record the time series. Calculate the displacement of water in space based on the monitored flow velocity V and time interval Δt: S(x, y, z, t) = V(x, y, z, t) × Δt; the cross-sectional area represents the cross-sectional area perpendicular to the direction of water flow at a certain spatial position; measure the depth (z) and width of the river channel at a specified location (x, y) using a hydrographic instrument; draw a cross-sectional profile, divide the profile into small units, and sum them to obtain the cross-sectional area A(x, y, z); through the established formula: Output spatial position (x, y, z) and flow velocity at time t , is the partial derivative, which varies with time t and spatial position (x, y, z); Calculate the temperature factor to get the time rate of change of temperature , calculate the depth factor to get the water depth ; By establishing the formula: Output environmental status influence coefficient , is the convection term of water flow to temperature change, water depth change ΔDc(x,y,t), a1, a2, a3 and a4 are preset weights; The precision monitoring and analysis module is used to perform sand mining precision analysis on the sand mining equipment, specifically: Get the sand mining area, analyze the seabed topography, and pre-process the topographic data to get the slope between the jth and j+1th points , then extract several isobaths from the terrain data. After the isobaths are extracted, the appropriate path is selected according to the characteristics of the equipment; first calculate the slope to obtain the slope S; Obtain the deviation between the current position of the equipment and the ideal position; the actual collection point of the sand mining equipment is , and the ideal collection point is , then the accuracy deviation of the device at this position is calculated using the established formula: Output the accuracy deviation value of the jth point , and then calculate the average deviation value and maximum deviation value of sand mining equipment in the entire area; by formula: Output average deviation value Dp, Dmax=max(D1,D2,...,D m ) Output the maximum deviation value Dmax; then analyze whether the accuracy is consistent with the environmental quality influence coefficient HZZ and the environmental state influence coefficient The correlations between them were obtained by Spearman rank correlation coefficients r1 and r2.

2. A marine sand mining monitoring system according to claim 1, characterized in that: It also includes a monitoring and acquisition module and an execution module; The monitoring and acquisition module is used to collect monitoring data during the marine sand mining process, including environmental data, precision data, and compliance data. The environmental data includes environmental quality data and environmental status data. The environmental quality data includes water quality, bottom quality, and climate. The environmental status data includes water flow rate, temperature, and depth. The precision data includes location, operation parameters, and equipment status data. The compliance data includes operation area, legal and regulatory compliance, and environmental impact assessment. The execution module is used to obtain the corrected accuracy deviation value Generate device correction instructions one and two to perform device correction.

3. A marine sand mining monitoring system according to claim 1, characterized in that: The temperature factor is calculated to obtain the time rate of change of temperature The specific process is: By establishing the formula: Time rate of change of output temperature , where α is the preset water body thermal diffusion value, represents the spatial second-order gradient of temperature, is the convection term of water flow to temperature change, The influence of external heat source.

4. A marine sand mining monitoring system according to claim 3, characterized in that: The depth factor is calculated to obtain the water depth The specific process is: The change of depth factor is caused by tide and sand mining activities, where the tidal change ΔDc(t2) is expressed by a sine function: Output tidal change ΔDc(t2), Ac is the tidal amplitude, θ is the angular frequency of the tide, t is the time variable, and φ is the phase offset of the tide; the water depth change ΔDc(x, y, t) caused by human activities is calculated by the established formula: Output water depth change ΔDc (x, y, t), is the volume of sand removed by sand mining at a certain location (x, y) and time t, is the water cross-sectional area corresponding to the sand mining area; through the established formula: Output the water depth at a certain location (x, y) in a dynamic environment at time t , D0 (x, y) is the initial water depth.

5. The marine sand mining monitoring system according to claim 1, characterized in that: The specific process of calculating the slope to obtain the slope S is as follows: The terrain data is: , represents the coordinates of the jth measurement point, is the seabed depth of the point; connect each two adjacent data points in the topographic data to obtain the seabed topography network map; calculate the slope of the seabed topography network map, through the established formula: Output the slope between the jth and j+1th points ; is the depth of the neighboring point, are the coordinates of adjacent points; Extract several isobaths from the terrain data, select a depth interval to extract an isobath; and on the plane coordinate system (x, y), extract all points with the same depth according to the given depth value, and connect them into an isobath. For each isobath, subdivide it into multiple small segments according to its adjacent depth values ​​and slope changes. Each small segment will serve as a path segment of the sand mining equipment; after the isobaths are extracted, select a suitable path according to the characteristics of the equipment; calculate the slope: obtain the slope S through the established formula, and compare the slope S with the corresponding slope threshold. If the slope S is less than the corresponding threshold, the area is more suitable for stable operation of the equipment; otherwise, optimize the path, use the curve fitting method to smooth the path, and divide the path into several small segments.

6. A marine sand mining monitoring system according to claim 5, characterized in that: The specific process of obtaining the Spearman rank correlation coefficients r1 and r2 is: There are k calculation samples, and the data include the accuracy deviation value D, the environmental quality impact coefficient HZZ and the environmental state impact coefficient ; Sort the data by numerical value and assign ranks. If equal values ​​appear, take the average rank; calculate the difference in ranks between the two variables corresponding to each sample , find the square , all Add together to get ; Substitute the calculated data into the formula: Output Spearman rank correlation coefficients r1 and r2; Spearman rank correlation coefficient r1 is the correlation coefficient with the environmental quality impact coefficient HZZ, and Spearman rank correlation coefficient r2 is the correlation coefficient with the environmental state impact coefficient Correlation coefficient between them; if r1>0 or r2>0, it is a positive correlation, which means that when the environmental factors increase, the accuracy deviation value D increases; if r1<0 or r2<0, it is a negative correlation, which means that when the environmental factors increase, the accuracy deviation value D decreases; The accuracy deviation value D is corrected by the correlation between them: the correction formula is established: Output the corrected accuracy deviation value , β1 is the correction factor related to r1, β2 is the correction factor related to r2; Correction factors α1 and β2 are established by the formula: β1=u1×|r1|, β2=u2×|r2|, where u1 and u2 are preset weight factors; |r1| and |r2| are the absolute values ​​of the Spearman rank correlation coefficient; if the corrected accuracy deviation value , When the accuracy is less than 0.5 meters, no equipment correction is required. If the accuracy deviation after correction is , 0.5< ≤1.0m, generate equipment correction instruction 1; if the accuracy deviation after correction , When it is greater than 1.0m, the device will be corrected with the second instruction.

7. A method for monitoring marine sand mining, characterized in that: Applied to implement any one of claims 1-6 of the marine sand mining monitoring system, the method comprises: Step 1: The monitoring and acquisition module collects environmental data, accuracy data, and compliance data; Step 2: The environmental monitoring and analysis module calculates the degree of deviation of environmental factors and calculates the environmental quality impact coefficient through standardization and weight distribution; Step 3: Calculate the dynamic factors of water velocity, temperature and depth, and output the environmental state influence coefficient; Step 4: The accuracy monitoring and analysis module calculates the accuracy deviation value of the equipment and evaluates the equipment accuracy level based on the correlation analysis between the environmental impact coefficient and the accuracy deviation; Step 5: Calculate the correction factor based on the deviation value and correlation analysis, and generate correction instruction 1 and correction instruction 2; Step 6: The execution module adjusts the equipment coordinates, speed, path and working depth according to the correction instructions to ensure that the equipment accuracy meets the requirements.

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