Sand dredging behavior real-time monitoring device based on multi-beam sounding

Abstract

The application discloses a kind of based on the real-time monitoring device of sand dredging behavior of sand dredger of multi-beam system.The monitoring device includes satellite signal receiving module, multi-beam sounding module, information processing module, communication module and power control module.Satellite signal receiving module is used to receive Beidou satellite signal;Multi-beam sounding module includes the multi-beam depth finder for emitting and receiving water depth detection acoustic wave, and the attitude sensor for collecting ship body attitude data;Information processing module is used for position solution, topography and sand dredging amount calculation;Communication module communicates with ground control center, and real-time sends the topography and sand dredging amount of measured position;Power controller is used to automatically cut off the power system of sand dredger after sand dredging amount exceeds limit, realizes the real-time control of sand dredging behavior.The application can monitor the behavior of sand dredger in real time, and control over-dredging behavior in real time;And when multiple ships are simultaneously dredging, the sand dredging amount of each ship can be distinguished, and accurate control can be achieved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of sand mining behavior monitoring of sand mining vessels, and particularly relates to a sand mining behavior real-time monitoring device for sand mining vessels based on a multi-beam sounding system. BACKGROUND

[0002] Sand mining activities are of great significance to the construction industry, infrastructure construction, river ecological environment and river and lake safety. However, due to the influence of sand mining on river ecological environment and water resources safety, sand mining supervision becomes particularly important. At present, sand mining supervision strategies are mostly focused on the supervision of post-mining links such as transportation and sales. For example, law enforcement vessels are used for patrol and video monitoring, and the sand mining amount is estimated by counting the sand transportation vessels. However, there is a lack of real-time monitoring of the sand mining process, which leads to incomplete supervision and weakened supervision.

[0003] Multi-beam sounding instruments and other underwater topographic measurement devices and methods have been widely used in underwater topographic mapping and played an important role in underwater topographic reconstruction. However, the application of these technologies is mostly limited to static underwater topographic change analysis or simple superposition of the results of two underwater topographic reconstructions for static sand mining amount calculation. The underwater topographic measurement system is not combined with sand mining vessels for real-time calculation of sand mining amount and supervision of sand mining behavior. SUMMARY

[0004] Based on the above technical defects, the purpose of the present application is to provide a sand mining behavior real-time monitoring device for sand mining vessels based on a multi-beam sounding system, which can provide sand mining amount calculation accuracy, real-time monitoring of the behavior of the vessel, real-time control of over-mining behavior, and accurate control of the sand mining amount of each vessel when multiple vessels are simultaneously engaged in sand mining operations. The purpose of the present application is achieved through the following technical solutions:

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

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

[0007] The multi-beam sounding module comprises a multi-beam sounder for transmitting and receiving water depth detection sound waves, and an attitude sensor for collecting ship body attitude data; and transmits the obtained ship body attitude data and detection point coordinate data to the information processing module;

[0008] The information processing module performs satellite-based ship position calculation and multibeam echo sounder-based water depth calculation based on the received data. It maps the echo sounder locations to a grid of specified precision in a geodetic coordinate system, creates an underwater depth map, and calculates and records the sand extraction volume. The sand extraction volume includes the newly extracted sand volume from the (t-1)th to the tth multibeam echo sounder, and the cumulative sand extraction volume up to the tth echo sounder. The calculation method is as follows:

[0009] The set of coordinates of the current depth sounding points in the t-th measurement is denoted as the depth sounding area R. t R t The depth z of each detection point lq Form a grid set G(R) t S(t) is the temporary cumulative depth set of all detection points explored by the ship up to the t-th exploration, S(t, R) t ) is S(t) in R t Part of the region; Q(t, R) t R represents the number of temporary depth records for all points explored by the ship up to the t-th time. t For the area portion, the following processing is performed for each detection scan:

[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 Arbitrary detection point P in the region i Number of scans Q(P) i If the set threshold T is reached, the additional sand mining volume W(P) at that point is calculated using the following formula. i W represents the additional sand dredging volume from ship t-1 to t. t And the total sand dredging volume W from the ships,

[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 Let P be a point. i The average value of the most recent 1 to T depth measurements, Z2(P) i Let P be a point. i The average value of the depth measurements between T+1 and 2T; the initial value of Z is 0; rx and ry are the resolutions of the depth measurement grid along the latitude and longitude lines, respectively;

[0017] After the W value is updated, P will be... i Cumulative depth value S(P) i ) and the number of times Q(P) was scanned i Reset to zero and begin the (t+1)th scan depth measurement;

[0018] After the sand dredging equipment of the sand dredger is started, the information processing module starts simultaneously, and calculates the total sand dredging volume W for each operation. 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 dredger after the sand mining volume exceeds the limit, so as to realize real-time control of sand mining behavior.

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

[0022] Furthermore, the satellite-based hull position calculation includes: performing position calculation using RTK (Real-Time Kinematic) or network RTK methods; calculating pseudorange and phase using double-difference observation equations based on the acquired satellite signal receiving antenna information; and then calculating the geodetic coordinates (B) at the receiving antenna using a network indirect adjustment method. G ,L G ), local horizontal coordinates (X) L ,Y L ).

[0023] Furthermore, the water depth calculation based on the multibeam echo sounder involves: using the Rob Hare model to calculate the distance between the ship's multibeam echo sounder and the underwater detection point, and then recalculating the detection position; the calculation formula is as follows:

[0024]

[0025] Where θ is the vertical angle between the emitted beam and the depth sounder plane, r is the distance of 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 ship coordinate system, (Delta X at , Delta Y at , Delta Z at ) is the eccentric 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 sounding point q in the local horizontal coordinate system, is a matrix rotation operation.

[0026] Further, the corresponding of the sounding point position to the grid with specified precision in the geodetic coordinate system is as follows: the geodetic coordinate (B T , L T ) of a sounding point of the beam sounding instrument is calculated as follows:

[0027]

[0028] Wherein, (B G , L G ) and (X L , Y L ) are the geodetic coordinate and the local horizontal coordinate of the satellite receiving antenna respectively, (x lq , y lq ) is the local horizontal coordinate of the sounding point, M and N are the meridian and the prime vertical radii of curvature respectively, a is the long semi-axis of the earth ellipsoid, and e is the first eccentricity of the earth.

[0029] The beneficial effects of the present application are as follows:

[0030] 1. High calculation precision of the sand mining amount: the present application adopts the multi-beam sounding instrument combined with the attitude sensor, so that the accurate underwater topographic data can be obtained in real time. Different from the traditional method of calculating the sand mining amount by simply superimposing the results of the underwater topographic reconstruction twice, the present application measures the water depth and the ship body attitude data in real time, and utilizes the information processing module to dynamically calculate the topography and the sand mining amount, so that the calculation error caused by neglecting the dynamic factors is effectively avoided, and the calculation precision of the sand mining amount is greatly improved, thereby providing a reliable basis for the quantitative management of the sand mining operation.

[0031] 2. Real-time monitoring and control of sand mining ship behavior: The Beidou satellite signal is received through the satellite receiving antenna to realize accurate positioning, and the underwater topographic data obtained by the multi-beam depth finder is combined, so that the monitoring device of the application can master the position and sand mining behavior of the sand mining ship in real time. Once the sand mining amount exceeds the preset limit, the power control module will automatically cut off the power system of the sand mining ship, realizing timely suppression of over-mining behavior. This real-time monitoring and control mechanism makes up for the lack of real-time monitoring of the sand mining process in the traditional supervision method, effectively strengthens the sand mining supervision, and safeguards the river ecological environment and water resources safety.

[0032] 3. Accurate identification in multi-ship operation: In the complex scene of multiple sand mining ships operating at the same time, the monitoring system of the application can accurately distinguish the sand mining amount of each ship based on the independent positioning information of each ship and the real-time sand mining data collected. Through real-time communication with the ground control center through the communication module, the ground control center can accurately control each ship according to the sand mining situation, reasonably allocate the sand mining amount index, and effectively avoid the supervision confusion problem caused by the inability to distinguish the sand mining amount in multi-ship operation, improving the overall management efficiency and scientificity of sand mining operation.

[0033] The application will be further described in detail below in combination with the drawings and specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0034] Figure 1 The figure is a schematic diagram of the basic structure and working mode of the monitoring device of the application. The working area of the sand mining ship is R t .

[0035] Figure 2 The figure is a schematic diagram of the working process of the monitoring device of the application. DETAILED DESCRIPTION

[0036] Embodiment 1

[0037] A sand mining ship sand mining behavior real-time monitoring device based on a multi-beam system, the monitoring device comprises a satellite signal receiving module, a multi-beam depth finding module, an information processing module, a communication module and a power control module; the position of each part is set as Figure 1 indicated. Figure 2

[0038] The satellite signal receiving module: comprising a satellite signal receiving antenna, and transmitting the received satellite signal to the information processing module.

[0039] ​The multi-beam sounding module comprises a multi-beam sounder for transmitting and receiving water depth detection sound waves, and a posture sensor for collecting ship body posture data; and the obtained ship body posture data and detection point coordinate data are transmitted to the information processing module; the ship body posture data comprises real-time monitoring of the roll, pitch, yaw angle and draft of the ship.

[0040] The information processing module: according to the received data, carries out satellite-based ship body position solution, multi-beam sounder-based water depth calculation, and corresponding measurement point position to the grid with specified precision in the geodetic coordinate system, and carries out underwater depth map drawing.

[0041] The satellite-based ship body position solution comprises: using RTK or network RTK method to solve the position, calculating the pseudo-range and phase by using double-difference observation equation according to the obtained satellite signal receiving antenna information, and then calculating the geodetic coordinates (B G ,L G ) and local horizontal coordinates (X L ,Y L ) of the receiving antenna by using inter-network adjustment method.

[0042] The multi-beam sounder-based water depth calculation: the Rob Hare model is used to calculate the distance between the ship multi-beam device and the water bottom detection point, and the position of the detection is recalculated; the calculation formula is as follows:

[0043]

[0044]

[0045] Wherein, θ is the vertical angle between the emitted beam and the plane of the sounder, r is the distance obtained by the beam in the θ direction, R is the roll angle, P is the pitch angle, A is the yaw angle, (x q ,y q ,z q ) is the coordinate of the measurement point q in the ship coordinate system, (ΔX at ,ΔY at ,ΔZ at ) is the eccentric correction in 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, is the matrix rotation operation.

[0046] The correspondence of the sounding point position to the grid with specified precision in the geodetic coordinate system is specifically as follows: the geodetic coordinates (B T ,L T ) of a sounding point of the beam sounding instrument are calculated as follows:

[0047]

[0048] Wherein, (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 ) are the local horizontal coordinates of the detection point; M and N are the radii of curvature of the meridian and the prime vertical respectively; a is the long semi-axis of the earth ellipsoid; and e is the first eccentricity of the earth.

[0049] And the sand mining amount is calculated and recorded, the sand mining amount includes the newly added sand mining amount from the t-1th time to the tth time of multi-beam and the cumulative sand mining amount up to the tth time; the calculation method is as follows:

[0050] The set of the current tth time sounding detection point coordinates is denoted as sounding area R t , the depth z lq of each detection point in R t forms 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 part of S(t) in the R t area; Q(t, R t ) is the temporary depth record number of all detection points detected by the ship up to the tth time in the R t area; for each detection scanning, the following processing is performed:

[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 any detection point P t in the R i area, if the scanning number Q(P i ) reaches the set threshold T, the following formula is used to calculate the newly added sand mining amount W(P i ) and the newly added sand mining amount W tAnd the total sand dredging volume W from the ships,

[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 Let P be a point. i The average value of the most recent 1 to T depth measurements, Z2(P) i Let P be a point. i The average value of the depth measurements between T+1 and 2T; the initial value of Z is 0; rx and ry are the resolutions of the depth measurement grid along the latitude and longitude lines, respectively;

[0058] After the W value is updated, P will be... i Cumulative depth value S(P) i ) and the number of times Q(P) was scanned i Reset to zero and begin the (t+1)th scan depth measurement;

[0059] After the sand dredging equipment of the sand dredger is started, the information processing module starts simultaneously, and calculates the total sand dredging volume W for each operation. 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 dredger after the sand mining volume exceeds the limit, so as to realize real-time control of sand mining behavior.

[0062] The above embodiments are only a partial embodiment of the present invention and do not cover all of the present invention. Based on the above embodiments and the accompanying drawings, those skilled in the art can obtain more implementation methods without creative effort. Therefore, all implementation methods obtained without creative effort should be included within the protection scope of the present invention.

Claims

1. A real-time monitoring device for sand dredging behavior of a sand dredger based on a multibeam system, characterized in that: The monitoring device includes a satellite signal receiving module, a multibeam echo 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 signals to the information processing module. The multibeam echo sounder module includes a multibeam echo sounder for transmitting and receiving acoustic waves for water depth detection, and an attitude sensor for collecting ship attitude data; and transmits the obtained ship attitude data and detection point coordinate data to the information processing module. The information processing module performs satellite-based ship position calculation and multibeam echo sounder-based water depth calculation based on the received data. It then maps the detection point locations to a grid of specified precision in a geodetic coordinate system, creates an underwater depth map, and calculates and records the sand extraction volume accordingly. The calculation method is as follows: The set of coordinates of the current t-th depth sounding point in a multibeam bathymetry test is denoted as the depth sounding area R. t R t The depth z of each detection point lq Forming a grid set For R t Arbitrary detection point P in the region i Number of scans Q(P) i If the set threshold T is reached, the additional sand mining volume W(P) at that point is calculated using the following formula. i The amount of sand mined by ships detected by multibeam sonar from the (t-1)th to the tth time. And the total sand dredging volume W from the ships, Let P be the point i The average value of the most recent 1 to T internal depth measurements, Let P be the point i The average value of the depth measurements taken between T+1 and 2T most recently; the initial value of Z is 0; These represent the resolution of the sounding grid along the parallels of latitude and longitude, respectively. After the W value is updated, P will be... i Cumulative depth value S(P) i ) and the number of times Q(P) was scanned i Reset to zero and begin the (t+1)th multibeam depth sounding scan; After the sand dredging equipment of the sand dredger is started, the information processing module is started simultaneously, and the total sand volume calculated each time is processed. 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 dredger after the sand mining volume exceeds the limit, so as to realize real-time control of sand mining behavior.

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

3. The real-time monitoring device for sand dredging behavior of a sand dredger based on a multi-beam system according to claim 1, characterized in that: The satellite-based hull position calculation includes: performing position calculation using RTK or network RTK methods; calculating pseudorange and phase using double-difference observation equations based on the acquired satellite signal receiving antenna information; and then calculating the geodetic coordinates (B) at the receiving antenna using a network indirect adjustment method. G , L G ), local horizontal coordinates (X) L Y L ).

4. The real-time monitoring device for sand dredging behavior of a sand dredger based on a multi-beam system according to claim 1, characterized in that: The water depth calculation based on the multibeam echo sounder: The Rob Hare model is used to calculate the distance between the multibeam echo sounder on the hull and the underwater detection point, and the detection position is reduced accordingly; The calculation formula is as follows: Where θ is the vertical angle between the emitted beam and the depth sounder plane, r is the distance of 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 Let q be the coordinate of the sounding point in the ship's coordinate system, and (ΔX) be the coordinate of the sounding point. at , ΔY at ,ΔZ at (x) represents the eccentricity correction for the local horizontal coordinate system. a , y a , z a (x) represents the coordinates of the satellite signal receiving antenna in the ship's coordinate system. lq , y lq , z lq Let q be the coordinates of the detection point in the local horizontal coordinate system. This is a matrix rotation operation.

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

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