Sand dredger sand excavation behavior real-time monitoring device based on multi-beam sounding

Abstract

The invention discloses a sand dredger sand excavation behavior real-time monitoring device based on a multi-beam system. The monitoring device comprises a satellite signal receiving module, a multi-beam sounding module, an information processing module, a communication module and a power control module. The satellite signal receiving module is used for receiving Beidou satellite signals; the multi-beam depth sounding module comprises a multi-beam depth sounder used for transmitting and receiving water depth detection sound waves and an attitude sensor used for collecting attitude data of the ship body; the information processing module is used for carrying out position calculation, topograph calculation and sand excavation amount calculation; the communication module communicates with a ground control center and sends the terrain and the sand excavation amount of the measured position in real time; the power controller is used for automatically cutting off a power system of the sand dredger after the sand excavation amount exceeds the limit, and real-time control over the sand excavation behavior is achieved. The behavior of the sand dredger can be monitored in real time, and the over-mining behavior can be controlled in real time; and when a plurality of ships carry out sand excavation operation at the same time, the sand excavation amount of each ship can be distinguished, and accurate control is achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of monitoring the sand mining behavior of sand mining vessels, and in particular relates to a real-time monitoring device for the sand mining behavior of sand mining vessels based on multi-beam sounding. Background Art

[0002] Sand mining is of great significance to the construction industry, infrastructure development, river ecosystems, and river and lake safety. However, due to its impact on river ecosystems and water resource security, sand mining supervision is particularly important. Currently, sand mining supervision strategies focus on post-mining processes such as transportation and sales. For example, methods such as law enforcement vessel patrols and video surveillance are used to estimate sand mining volume by counting sand transport vessels. However, there is a lack of real-time monitoring of the sand mining process, which may lead to incomplete supervision and weakened supervision.

[0003] Underwater topographic measurement devices and methods such as multi-beam echo sounders have been widely used in underwater topographic mapping and have played an important role in underwater topography reconstruction. However, the application of these technologies is mostly limited to static underwater topographic change analysis, or simply superimposing the results of two underwater topographic reconstructions to perform static sand mining volume calculations. There is no consideration of combining underwater topographic measurement systems with sand mining vessels to perform real-time calculations of sand mining volume and supervision of sand mining behavior. Summary of the Invention

[0004] In view of the above technical deficiencies, the present invention aims to provide a real-time monitoring device for sand mining behavior of sand mining vessels based on multi-beam sounding, which can provide high-precision calculation of sand mining volume; monitor the behavior of the vessel in real time and control over-mining behavior in real time; and when multiple vessels are mining sand simultaneously, the sand mining volume of each vessel can be distinguished and accurately controlled. The present invention achieves this goal through the following technical solutions:

[0005] A real-time monitoring device for sand mining behavior of a sand mining ship based on a multi-beam system, the monitoring device comprising a satellite signal receiving module, a multi-beam depth sounding module, an information processing module, a communication module and a power control module;

[0006] The satellite signal receiving module includes a satellite signal receiving antenna and transmits the received satellite signal to the information processing module;

[0007] The multi-beam echo sounding module includes a multi-beam echo sounder for transmitting and receiving water depth detection sound waves, and a posture sensor for collecting hull posture data; and transmits the obtained hull posture data and detection point coordinate data to the information processing module;

[0008] The information processing module performs satellite-based ship position calculation and multi-beam echo sounder-based water depth calculation based on the received data, maps the sounding point positions to a grid of specified accuracy in the geodetic coordinate system, and draws an underwater depth map. Based on this, the sand mining volume is calculated and recorded. The sand mining volume includes the additional sand mining volume from the multi-beam t-1th to the tth time, and the cumulative sand mining volume up to the tth time. The calculation method is as follows:

[0009] The set of coordinates of the current tth sounding detection point is recorded as the sounding area R t , R t The depth z of each detection point lq Forming a grid set G(R t ); S(t) is the temporary cumulative depth value set of all detection points detected by the ship up to the tth time, S(t, R t ) is the value of S(t) in R t Part of the region; Q(t, R t ) is the number of temporary depth records of all detection points detected by the ship up to the tth time in R t For each detection scan, the following processing is performed on the area:

[0010] S(t,R t )=S(t-1,R t )+G(R t )

[0011] Q(t,R t )=Q(t-1,R t )+1

[0012] For R t Any detection point P in the area i , scanned times Q(P i ) reaches the set threshold value T, the following formula is used to calculate the additional sand mining volume W(P i ), the additional sand mining volume W from the t-1th to the tth ship t , and the total sand mining volume W of the ship,

[0013] W(P i )=(Z1(P i )-Z2(P i ))*rx*ry

[0014] W t =ΣW(P i ), P i ∈R t

[0015] W=∑W j , j = 1, 2, ..., t

[0016] Z1(P i ) is point P i The average value of the depth measurement from the most recent 1 to T times, Z2(P i ) is point P i The average value of the bathymetric data between the last T+1 and 2T times; the initial value of Z is 0; rx and ry are the resolutions of the bathymetric grid along the latitude and longitude directions, respectively;

[0017] After the above W value is updated, P i Point cumulative depth value S(P i ) and the number of scans Q(P i ) is reset to zero and the t+1th scanning depth measurement is started;

[0018] After the sand mining device of the sand mining ship is started, the information processing module is started synchronously, and the total sand mining volume W calculated each time is converted to t Recorded in the information processing module;

[0019] The communication module is used to communicate with the ground control center and send the terrain and sand mining volume of the measured location in real time;

[0020] The power control module is used to automatically cut off the power system of the sand dredging ship after the sand dredging amount exceeds the limit, thereby realizing real-time control of the sand dredging behavior.

[0021] Furthermore, the hull attitude data includes real-time monitoring of the ship's roll, pitch, bow angle and draft depth.

[0022] Furthermore, the satellite-based hull position solution includes: using RTK (Real-Time Kinematic) or network RTK method to solve the position, using double-difference observation equation to calculate pseudo-range and phase according to the acquired satellite signal receiving antenna information, and then combining the network indirect adjustment method to calculate the geodetic coordinates (B G ,L G ), local horizontal coordinates (X L ,Y L ).

[0023] Furthermore, the water depth calculation based on the multi-beam echo sounder: the Rob Hare model is used to calculate the distance between the multi-beam device on the hull and the bottom detection point, and the detected position is converted; the calculation formula is as follows:

[0024]

[0025] Among them, θ is the vertical angle between the emitted beam and the echo sounder plane, r is the distance obtained by the beam in the θ direction, R is the attitude roll angle, P is the attitude pitch angle, A is the bow angle, (x q ,yq ,z q ) is the coordinate of the sounding point q in the hull coordinate system, (ΔX at ,ΔY at ,ΔZ at ) is the eccentricity correction of the local horizontal coordinate system, (x a ,y a ,z a ) is the coordinate of the satellite signal receiving antenna in the ship coordinate system, (x lq ,y lq ,z lq ) is the coordinate of the detection point q in the local horizontal coordinate system, Matrix rotation operation.

[0026] Furthermore, the mapping of the detection point position to a grid of a specified accuracy in the geodetic coordinate system is specifically as follows: the geodetic coordinates of a detection point of the beam echo sounder (B T ,L T ) is calculated as follows:

[0027]

[0028] Among them, (B G ,L G ) and (X L ,Y L ) are the geodetic coordinates and local horizontal coordinates of the satellite receiving antenna respectively; (x lq ,y lq ) is the local horizontal coordinate of the detection point, M and N are the curvature radii of the meridian and the meridian respectively, a is the major semi-axis of the Earth's ellipsoid, and e is the first eccentricity of the Earth.

[0029] Beneficial effects of the present invention:

[0030] 1. Highly Accurate Sand Quantity Calculation: This invention utilizes a multi-beam echo sounder combined with a posture sensor to acquire precise underwater topography data in real time. Unlike the traditional method of calculating sand production by simply superimposing two underwater topography reconstruction results, this invention uses real-time measurements of water depth and hull posture data, and utilizes an information processing module to perform dynamic topography and sand production calculations. This effectively avoids calculation errors caused by ignoring dynamic factors, significantly improving the accuracy of sand production calculations and providing a reliable basis for the quantitative management of sand mining operations.

[0031] 2. Real-time monitoring and control of sand dredging vessel behavior: By receiving Beidou satellite signals through a satellite receiving antenna for precise positioning, combined with underwater topographic data obtained by a multi-beam echo sounder, the monitoring device of the present invention can grasp the location and sand dredging behavior of the sand dredging vessel in real time. Once the amount of sand mined exceeds the preset limit, the power control module will automatically cut off the power system of the sand dredging vessel, achieving timely prevention of over-mining behavior. This real-time monitoring and control mechanism makes up for the lack of real-time monitoring of the sand dredging process in traditional supervision methods, effectively strengthens the supervision of sand dredging, and protects the river's ecological environment and water resources.

[0032] 3. Accurately distinguish and identify multiple vessels operating simultaneously: In complex scenarios with multiple sand mining vessels operating simultaneously, the monitoring system of the present invention can accurately distinguish the sand mining volume of each vessel based on each vessel's independent positioning information and real-time sand mining data. Through real-time communication with the ground control center through the communication module, the ground control center can precisely control the sand mining situation of each vessel and rationally allocate sand mining quotas. This effectively avoids the regulatory confusion caused by the inability to distinguish sand mining volume when multiple vessels are operating, and improves the overall management efficiency and scientificity of sand mining operations.

[0033] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 The basic structure and working mode of the monitoring device of the present invention are shown in FIG. 1 . The working area of ​​the sand dredging ship is R in Example 1. t .

[0035] Figure 2 Schematic diagram of the working process of the monitoring device of the present invention. DETAILED DESCRIPTION

[0036] Example 1

[0037] A real-time monitoring device for sand mining behavior of sand mining ships based on a multi-beam system, the monitoring device includes a satellite signal receiving module, a multi-beam sounding module, an information processing module, a communication module and a power control module; the positions of the various parts are arranged as follows Figure 1 The workflow is as follows: Figure 2 shown.

[0038] The satellite signal receiving module includes a satellite signal receiving antenna and transmits the received satellite signal to the information processing module.

[0039] The multi-beam echo sounding module includes a multi-beam echo sounder for transmitting and receiving water depth detection sound waves, and a posture sensor for collecting hull posture data; and transmits the obtained hull posture data and detection point coordinate data to the information processing module; the hull posture data includes real-time monitoring of the ship's roll, pitch, bow roll angle and draft depth.

[0040] The information processing module calculates the ship's position based on satellites and the water depth based on a multi-beam echo sounder according to the received data, maps the sounding point positions to a grid of specified accuracy in a geodetic coordinate system, and draws an underwater depth map.

[0041] The satellite-based hull position solution includes: using RTK or network RTK method to solve the position, using double difference observation equation to calculate pseudo range and phase according to the acquired satellite signal receiving antenna information, and then combining the network indirect adjustment method to calculate the geodetic coordinates (B) at the receiving antenna. G ,L G ), local horizontal coordinates (X L ,Y L ).

[0042] The water depth calculation based on the multi-beam echo sounder: The Rob Hare model is used to calculate the distance between the multi-beam device on the hull and the bottom detection point, and the detected position is converted. The calculation formula is as follows:

[0043]

[0044]

[0045] Among them, θ is the vertical angle between the emitted beam and the echo sounder plane, r is the distance obtained by the beam in the θ direction, R is the attitude roll angle, P is the attitude pitch angle, A is the bow angle, (x q ,y q ,z q ) is the coordinate of the sounding point q in the hull coordinate system, (ΔX at ,ΔY at ,ΔZ at ) is the eccentricity correction of the local horizontal coordinate system, (x a ,y a ,z a ) is the coordinate of the satellite signal receiving antenna in the ship coordinate system, (x lq ,y lq ,z lq ) is the coordinate of the detection point q in the local horizontal coordinate system, Matrix rotation operation.

[0046] The mapping of the sounding point position to the grid of specified accuracy in the geodetic coordinate system is as follows: The geodetic coordinates of a sounding point of the beam echo sounder (B T ,L T ) is calculated as follows:

[0047]

[0048] Among them, (B G ,L G ) and (X L ,Y L ) are the geodetic coordinates and local horizontal coordinates of the satellite receiving antenna respectively; (x lq ,y lq ) is the local horizontal coordinate of the detection point, M and N are the curvature radii of the meridian and the meridian respectively, a is the major semi-axis of the Earth's ellipsoid, and e is the first eccentricity of the Earth.

[0049] The sand mining volume is calculated and recorded accordingly. The sand mining volume includes the newly mined sand mining volume from the multi-beam t-1th to the tth time, and the cumulative sand mining volume up to the tth time. The calculation method is as follows:

[0050] The set of coordinates of the current tth sounding detection point is recorded as the sounding area R t , R t The depth z of each detection point lq Forming a grid set G(R t ); S(t) is the temporary cumulative depth value set of all detection points detected by the ship up to the tth time, S(t, R t ) is the value of S(t) in R t Part of the region; Q(t, R t ) is the number of temporary depth records of all detection points detected by the ship up to the tth time in R t For each detection scan, the following processing is performed on the area:

[0051] S(t,R t )=S(t-1,R t )+G(R t )

[0052] Q(t,R t )=Q(t-1,R t )+1

[0053] For R t Any detection point P in the area i , scanned times Q(P i ) reaches the set threshold value T, the following formula is used to calculate the additional sand mining volume W(P i ), the additional sand mining volume W from the t-1th to the tth ship t, and the total sand mining volume W of the ship,

[0054] W(P i )=(Z1(P i )-Z2(P i ))*rx*ry

[0055] W t =∑W(P i ), P i ∈R t

[0056] W=∑W j , j = 1, 2, ..., t

[0057] Z1(P i ) is point P i The average value of the depth measurement from the most recent 1 to T times, Z2(P i ) is point P i The average value of the bathymetric data between the last T+1 and 2T times; the initial value of Z is 0; rx and ry are the resolutions of the bathymetric grid along the latitude and longitude directions, respectively;

[0058] After the above W value is updated, P i Point cumulative depth value S(P i ) and the number of scans Q(P i ) is reset to zero and the t+1th scanning depth measurement is started;

[0059] After the sand mining device of the sand mining ship is started, the information processing module is started synchronously, and the total sand mining volume W calculated each time is converted to t Recorded in the information processing module;

[0060] The communication module is used to communicate with the ground control center and send the terrain and sand mining volume of the measured location in real time;

[0061] The power control module is used to automatically cut off the power system of the sand dredging ship after the sand dredging amount exceeds the limit, thereby realizing real-time control of the sand dredging behavior.

[0062] The above embodiments are only partial embodiments of the present invention and cannot cover the entire present invention. Based on the above embodiments and drawings, those skilled in the art can obtain more implementation methods without paying any creative work. Therefore, these implementation methods obtained without paying any creative work should be included in the scope of protection of the present invention.

Claims

1. A real-time monitoring device for sand dredging behavior of sand dredging vessels based on a multi-beam system, characterized by: The monitoring device includes a satellite signal receiving module, a multi-beam sounding module, an information processing module, a communication module and a power control module; The satellite signal receiving module includes a satellite signal receiving antenna and transmits the received satellite signal to the information processing module; The multi-beam echo sounding module includes a multi-beam echo sounder for transmitting and receiving water depth detection sound waves, and a posture sensor for collecting hull posture data; and transmits the obtained hull posture data and detection point coordinate data to the information processing module; The information processing module calculates the ship's position based on the satellite and the water depth based on the multi-beam echo sounder according to the received data, maps the detection point positions to a grid of specified accuracy in the geodetic coordinate system, draws an underwater depth map, and calculates and records the sand production based on this. The calculation method is as follows: The set of coordinates of the multi-beam current t-th sounding point is recorded as the sounding area R t , R t The depth z of each detection point lq Forming a Grid Collection ; For R t Any detection point P in the area i , scanned times Q(P i ) reaches the set threshold value T, the following formula is used to calculate the additional sand mining volume W(P i ), the additional sand mining volume of ships from the t-1th to the tth multi-beam detection , and the total sand mining volume W of the ship, Point P i The average value of the depth measurement from the most recent 1 to T times, Point P i The average value of the most recent depth measurements between T+1 and 2T; the initial value of Z is 0; are the resolutions of the bathymetric grid along the latitude and longitude directions respectively; After the above W value is updated, P i Point cumulative depth value S(P i ) and the number of scans Q(P i ) is reset to zero and the multi-beam t+1th scanning depth measurement is started; After the sand mining device of the sand mining ship is started, the information processing module is started synchronously to calculate the total sand mining volume each time. Recorded in the information processing module; The communication module is used to communicate with the ground control center and send the terrain and sand mining volume of the measured location in real time; The power control module is used to automatically cut off the power system of the sand dredging ship after the sand dredging volume exceeds the limit, thereby realizing real-time control of the sand dredging behavior.

2. The device for real-time monitoring of sand mining behavior of sand dredging vessels based on a multi-beam system according to claim 1, characterized in that: The hull attitude data includes real-time monitoring of the ship's roll, pitch, bow angle and draft depth.

3. The device for real-time monitoring of sand mining behavior of sand dredging vessels based on a multi-beam system according to claim 1, characterized in that: The satellite-based hull position solution includes: using RTK or network RTK method to solve the position, using double difference observation equation to calculate pseudo range and phase according to the acquired satellite signal receiving antenna information, and then combining the network indirect adjustment method to calculate the geodetic coordinates (B) at the receiving antenna. G , L G ), local horizontal coordinates (X L , Y L ).

4. The device for real-time monitoring of sand mining behavior of sand dredging vessels based on a multi-beam system according to claim 1, characterized in that: The water depth calculation based on the multi-beam echo sounder: the Rob Hare model is used to calculate the distance between the multi-beam device on the hull and the bottom detection point, and the detected position is converted; The calculation formula is as follows: Among them, θ is the vertical angle between the emitted beam and the echo sounder plane, r is the distance obtained by the beam in the θ direction, R is the attitude roll angle, P is the attitude pitch angle, A is the bow angle, (x q ,y q ,z q ) is the coordinate of the sounding point q in the hull coordinate system, (ΔX at , ΔY at ,ΔZ at ) is the eccentricity correction of the local horizontal coordinate system, (x a , y a , z a ) is the coordinate of the satellite signal receiving antenna in the ship coordinate system, (x lq , y lq , z lq ) is the coordinate of the detection point q in the local horizontal coordinate system, Matrix rotation operation.

5. The device for real-time monitoring of sand mining behavior of sand dredging vessels based on a multi-beam system according to claim 1, characterized in that: The specific method of mapping the detection point position to the grid of specified accuracy in the geodetic coordinate system is as follows: The geodetic coordinates of a detection point of the beam echo sounder (B T , L T ) is calculated as follows: Among them, (B G , L G ) and (X L , Y L ) are the geodetic coordinates and local horizontal coordinates of the satellite receiving antenna respectively; is the local horizontal coordinate of the detection point, M and N are the curvature radii of the meridian and the meridian respectively, a is the major semi-axis of the Earth's ellipsoid, and e is the first eccentricity of the Earth.

Images