Pile foundation safety automatic monitoring and early warning method and system based on ship-machine cooperation

Abstract

The invention discloses an automatic pile foundation safety monitoring and early warning method and system based on ship-machine cooperation, and the method comprises the steps: a land control terminal plans the navigation routes and data collection points of an unmanned plane and an unmanned ship according to the position distribution of a pile foundation; the unmanned aerial vehicle and the unmanned ship sail to the corresponding data collection points according to the planned sailing route; the unmanned aerial vehicle shoots front-view image data of the pile foundation at a data collection point of the unmanned aerial vehicle, the unmanned ship collects water depth data around the position at the data collection point of the unmanned aerial vehicle, and the unmanned aerial vehicle and the unmanned ship transmit the collected data back to the land control terminal; the land control terminal calculates the inclination angle of the pile foundation according to the multiple pile foundation image data, and calculates the displacement and bottom scouring condition of the pile foundation according to the water depth data around the pile foundation; and the land control terminal judges whether the inclination angle, displacement or bottom scouring of the pile foundation exceeds a corresponding preset threshold value or not, and if yes, an early warning signal is sent out. Automatic operation of safety monitoring and early warning of the multiple pile foundation groups is achieved, and the safety monitoring efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the field of monitoring technology, and in particular to a pile foundation safety automatic monitoring and early warning system and method based on ship-machine collaboration. Background Art

[0002] With the rapid development of modern society, the number of water-related buildings is gradually increasing, including many large projects such as bridges, docks and offshore wind power. These large projects usually use many pile foundations as supporting structures. In order to ensure the safe operation of buildings, pile foundation safety monitoring and early warning are very important.

[0003] Under the action of water flow, the mud and sand near the bottom of the pile foundation will be eroded to varying degrees. When the water flow causes the mud and sand at the bottom around the pile foundation to be eroded to a deep depth, it will pose a great threat to the stability of the pile foundation. The pile foundation will tilt or shift under the action of water flow, affecting the safety of the upper building. In addition, when the water flow contains sand or other objects that hit the pile foundation for a long time, it will pose a threat to the pile foundation structure and cause damage to the pile foundation structure. Summary of the invention

[0004] The present invention provides a pile foundation safety automatic monitoring and early warning method and system based on ship-machine collaboration, which realizes unmanned, automated and diversified comprehensive monitoring of multiple pile foundations, saving manpower and material resources required for pile foundation safety monitoring.

[0005] In order to achieve the above technical objectives, the present invention adopts the following technical solutions:

[0006] A pile foundation safety automatic monitoring and early warning method based on ship-machine collaboration includes:

[0007] The onshore control terminal plans the navigation route and data collection points of the UAV and the unmanned ship according to the location distribution of the pile foundation;

[0008] Among them, each pile foundation is provided with at least 4 drone data collection points and at least 4 unmanned boat collection points; the at least 4 drone data collection points are respectively located in the four directions around the pile foundation based on any direction, and each direction includes at least 1 drone data collection point; the at least 4 unmanned boat collection points are evenly distributed in the circumferential direction centered on the pile foundation;

[0009] The drones and unmanned boats sail to the data collection points of each pile foundation according to the navigation routes planned by the land control terminal;

[0010] The drone takes front-view image data of the pile foundation at its data collection point, and the unmanned ship collects water depth data around its location at its data collection point. The drone and the unmanned ship transmit the collected data back to the onshore control terminal;

[0011] The onshore control terminal calculates the inclination angle of the pile foundation based on the received multiple pile foundation image data, and calculates the displacement of the pile foundation and the bottom scouring condition based on the water depth data around the pile foundation;

[0012] The onshore control terminal determines whether the inclination angle, displacement or bottom scouring of the pile foundation exceeds the corresponding preset threshold value. If exceeded, the onshore control terminal sends out a warning signal.

[0013] Furthermore, four drone data collection points are set for each pile foundation, and the distances from each drone data collection point to the pile foundation are equal.

[0014] Furthermore, each pile foundation is provided with 4 unmanned ship data collection points, which are respectively located in the four directions around the pile foundation based on any direction, and the distances from each unmanned ship data collection point to the pile foundation are equal.

[0015] Furthermore, assuming that each pile foundation corresponds to M drone data collection points and N unmanned boat data collection points, M drones are set up to be located at the M drone data collection points and simultaneously take frontal images in the directions around the pile foundation, and N unmanned boats are set up to be located at the N unmanned boat data collection points and simultaneously collect water depth data around the pile foundation; and the navigation routes of each drone and unmanned boat are planned according to the preset order of multiple pile foundations to complete data collection for multiple pile foundations in sequence.

[0016] Furthermore, both the UAV and the unmanned ship are equipped with positioning devices, which transmit the current location coordinates to the land control terminal at fixed intervals; the land control terminal determines whether the current location coordinates of the UAV and the unmanned ship deviate from their respective planned navigation routes. If deviated, the point in the planned navigation route closest to the current location coordinates is calculated, and the deviated UAV / unmanned ship is controlled to navigate from the current location to the nearest point.

[0017] Furthermore, an unmanned boat is also provided, on which a concrete flaw detection device is carried, and a flaw detection data collection point for the pile foundation is located at the edge of the pile foundation; when the unmanned boat sails to the flaw detection data collection point according to the planned navigation route, the concrete flaw detection device is used to perform flaw detection monitoring on the pile foundation.

[0018] 7. The automatic monitoring and early warning method for pile foundation cases based on ship-machine collaboration according to claim 1 is characterized in that the inclination angle of the pile foundation is calculated based on the received multiple pile foundation image data, specifically:

[0019] S11, for the front view image of the pile foundation taken at any data collection point, take the center points of the diameter of the pile foundation at two different heights, connect the two center points and extend them to the water surface line, and measure the angle between the above line segment and the water surface line;

[0020] S12, if the angles obtained at each data collection point according to S11 are all 90 degrees, the pile foundation is not tilted; otherwise, proceed to the next step to continue to calculate the tilt direction and tilt angle of the pile foundation;

[0021] S13, establishing a spatial rectangular coordinate system, where the z-axis is the vertical direction and the x-axis and y-axis pass through each drone data collection point;

[0022] S14, selecting a front view image of the pile foundation taken at the data collection point on the y-axis, and measuring whether the pile foundation is in a vertical direction: if the pile foundation in the image is in a vertical direction, it indicates that the pile foundation is not inclined in the x-axis direction, otherwise it indicates that the pile foundation is inclined in the x-axis direction;

[0023] If the pile foundation is tilted in the x-axis direction, take any point C on the center line of the pile foundation and measure the pixel distances cd and cC from the projection lines of the center line of the pile foundation in the vertical and horizontal directions of the image in the front view image of the pile foundation taken by the data collection point on the y-axis;

[0024] S15, selecting a front view image of the pile foundation taken at the data collection point on the x-axis, and measuring whether the pile foundation is in a vertical direction: if it is in a vertical direction, it indicates that the pile foundation is not inclined in the y-axis direction, otherwise it indicates that the pile foundation is inclined in the y-axis direction;

[0025] If the pile foundation is tilted in the y-axis direction, the pixel distance cb from the projection line of the pile foundation centerline in the vertical direction of the image taken by the data collection point on the x-axis is measured at point C;

[0026] S16, converting the pixel distance cd, pixel distance cb, and pixel distance cC into the actual distance L according to the shooting resolution cd , L cb , L cC , and then calculate the azimuth angle α tilted toward the x-axis x , the azimuth angle α tilted toward the y-axis y And the tilt angle β from the vertical direction:

[0027]

[0028] Furthermore, the displacement of the pile foundation is calculated based on the water depth data around the pile foundation, specifically:

[0029] S21, fusing the water depth data collected by all the unmanned boat collection points around the pile foundation into a three-dimensional water depth map; wherein the three-dimensional water depth map displays the water depth data at each position coordinate, and does not display the water depth data at the position where the water depth data cannot be collected;

[0030] S22, draw a closed polyline along the boundary of the area without water depth data in the three-dimensional water depth map;

[0031] S23, fitting the closed polyline with a circular curve, and the optimal circle obtained by fitting is the current position of the pile foundation;

[0032] S24, comparing the current position of the pile foundation with the set position to obtain the displacement of the pile foundation.

[0033] Furthermore, the bottom scouring of the pile foundation is inferred based on the water depth data around the pile foundation. Specifically, the water depth data collected by all unmanned boat collection points around the pile foundation are integrated to obtain the water depth data at the boundary of the pile foundation; then the water depth data at the boundary of the pile foundation is compared with the design water depth of the pile foundation: if the water depth data at a certain position of the pile foundation boundary is greater than the design water depth of the pile foundation, it indicates that the position is scoured; if the water depth data at a certain position of the pile foundation boundary is less than the design water depth of the pile foundation, it indicates that there is siltation at the position.

[0034] A pile foundation case automatic monitoring and early warning system based on ship-machine collaboration, comprising an unmanned aerial vehicle, an unmanned boat and a land control terminal, the unmanned boat being equipped with a water depth detection device, a positioning device and a wireless communication device, the unmanned aerial vehicle being equipped with a camera, a positioning device and a wireless communication device; the unmanned aerial vehicle, the unmanned boat and the land control terminal collaboratively implement any of the above-mentioned pile foundation case automatic monitoring and early warning methods.

[0035] Compared with the prior art, the advantages of the present invention are: the present invention coordinates the control of unmanned ships and drones to reach the designated location, realizes unmanned automatic control, and realizes the safety monitoring of multiple pile foundations in a large range of pile foundation groups through unmanned ships and drones carrying equipment, and can simultaneously monitor the inclination angle, displacement and bottom scouring of the pile foundation to achieve comprehensive monitoring of diversity. The present invention controls unmanned equipment to perform pile foundation safety monitoring, which is faster and simpler than traditional fixed monitoring equipment, saves time and cost, solves the problem of high instrument demand generated by traditional fixed monitoring instruments, and realizes a set of monitoring systems to monitor multiple targets across regions. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 This is a flow chart of a method for automatic monitoring and early warning of pile foundation safety in collaboration with ship and engine according to an embodiment of the present invention;

[0037] Figure 2 A schematic diagram of pile foundation arrangement, information collection points and unmanned ship navigation route according to an embodiment of the present invention;

[0038] Figure 3 Schematic diagram of a ship-engine coordinated pile foundation safety automatic monitoring and early warning system according to an embodiment of the present invention;

[0039] Figure 4 This is a schematic diagram of the current state of the pile foundation tilt according to an embodiment of the present invention;

[0040] Figure 5Schematic diagram of high-definition photo processing of pile foundations according to an embodiment of the present invention, wherein (a), (b), (c), and (d) are high-definition images of pile foundations taken by data collection points 1-3, 1-4, 1-1, and 1-2, respectively;

[0041] Figure 6 A schematic diagram of the current status of pile foundation positions obtained for an embodiment of the present invention;

[0042] Figure 7 This is a structural diagram of the automatic monitoring and early warning system for pile foundation safety coordinated by an embodiment of the present invention. DETAILED DESCRIPTION

[0043] The following is a detailed description of an embodiment of the present invention. This embodiment is based on the technical solution of the present invention, and provides a detailed implementation method and a specific operation process to further explain the technical solution of the present invention.

[0044] Example 1

[0045] This embodiment provides a pile foundation safety automatic monitoring and early warning method based on ship-machine collaboration, referring to Figure 1 As shown, including:

[0046] Step 1: The onshore control terminal plans the navigation route and data collection points of the UAV and the unmanned boat according to the location distribution of the pile foundation.

[0047] In this embodiment, each pile foundation corresponds to 4 drone data collection points and 4 unmanned ship data collection points. Figure 2 As shown, the four drone data collection points are located in the east, south, west and north of the pile foundation, and are equidistant from the pile foundation. The four unmanned boat collection points are located in the southeast, southwest, northwest and southwest of the pile foundation, and are equidistant from the pile foundation.

[0048] This embodiment is used to monitor and warn multiple pile foundation groups. In order to save data collection costs in safety monitoring, the navigation routes of each drone and unmanned ship are planned in the order of multiple pile foundations from low to far (the distance of the pile foundation relative to the land control terminal). That is, the above-mentioned drones and unmanned ships are used to first collect data from the nearest pile foundation 1, and then collect data from pile foundation 2, until a round of data collection for all pile foundations in the pile foundation group is completed.

[0049] In order to further realize the flaw detection of pile foundation, flaw detection data collection points can be further set at the edge of the pile foundation.

[0050] Step 2: The drone and unmanned boat navigate to the data collection point of each pile foundation according to the navigation route planned by the land control terminal.

[0051] The drone and unmanned ship in this embodiment are both equipped with positioning devices, which transmit the current location coordinates to the land control terminal at fixed intervals; the land control terminal determines whether the current location coordinates of the drone and unmanned ship deviate from their respective planned navigation routes. If deviated, the point closest to the current location coordinates in the planned navigation route is calculated, and the deviated drone / unmanned ship is controlled to navigate from the current location to the nearest point and return to their respective planned navigation routes.

[0052] Step 3: The drone takes front-view image data of the pile foundation at its data collection point, and the unmanned ship collects water depth data around the pile foundation at its data collection point. The drone and the unmanned ship transmit the collected data back to the onshore control terminal. Figure 3 shown.

[0053] In this embodiment, four drones are set up corresponding to the above-mentioned four drone data collection points of the pile foundation, which respectively navigate to the corresponding data collection points according to the navigation routes planned by the land control terminal, and simultaneously take frontal images of the pile foundation in the four directions of due east, due south, due west and due north, and transmit them back to the land control terminal.

[0054] For the above-mentioned four unmanned boat data collection points of the pile foundation, four unmanned boats are set up accordingly, which sail to the corresponding data collection points according to the navigation route planned by the land control terminal, and at the same time collect water depth data in the southeast, southwest, northwest and southwest areas of the pile foundation, and transmit them back to the land control terminal.

[0055] In addition, an unmanned boat is set up for the flaw detection data collection point, which is equipped with a concrete flaw detection device. It sails to the flaw detection data collection point according to the navigation route planned by the onshore control terminal to collect flaw detection data on the pile foundation and transmit it back to the onshore control terminal.

[0056] Step 4: The onshore control terminal calculates the inclination angle of the pile foundation based on the received multiple pile foundation image data, and calculates the displacement of the pile foundation and the bottom scouring condition based on the water depth data around the pile foundation.

[0057] Step 4.1, calculating the inclination angle of the pile foundation according to the received multiple pile foundation image data, specifically:

[0058] S11, for the front view image of the pile foundation taken at any data collection point, take the center points of the diameter of the pile foundation at two different heights, connect the two center points and extend them to the water surface line, and measure the angle between the above line segment and the water surface line;

[0059] S12, if the angles obtained at each data collection point according to S11 are all 90 degrees, the pile foundation is not tilted; otherwise, proceed to the next step to continue to calculate the tilt direction and tilt angle of the pile foundation;

[0060] S13, establishing a spatial rectangular coordinate system, where the z-axis is the vertical direction and the x-axis and y-axis pass through each drone data collection point;

[0061] S14, selecting a front view image of the pile foundation taken at the data collection point on the y-axis, and measuring whether the pile foundation is in a vertical direction: if the pile foundation in the image is in a vertical direction, it indicates that the pile foundation is not inclined in the x-axis direction, otherwise it indicates that the pile foundation is inclined in the x-axis direction;

[0062] If the pile foundation is tilted in the x-axis direction, take any point C on the center line of the pile foundation and measure the pixel distances cd and cC from the projection lines of the center line of the pile foundation in the vertical and horizontal directions of the image in the front view image of the pile foundation taken by the data collection point on the y-axis;

[0063] S15, selecting a front view image of the pile foundation taken at the data collection point on the x-axis, and measuring whether the pile foundation is in a vertical direction: if it is in a vertical direction, it indicates that the pile foundation is not inclined in the y-axis direction, otherwise it indicates that the pile foundation is inclined in the y-axis direction;

[0064] If the pile foundation is tilted in the y-axis direction, the pixel distance cb from the projection line of the pile foundation centerline in the vertical direction of the image taken by the data collection point on the x-axis is measured at point C;

[0065] S16, converting the pixel distance cd, pixel distance cb, and pixel distance cC into the actual distance L according to the shooting resolution cd , L cb , L cC , and then calculate the azimuth angle α tilted toward the x-axis x , the azimuth angle α tilted toward the y-axis y And the tilt angle β from the vertical direction:

[0066]

[0067] For example Figure 4 The figure is a schematic diagram of the tilt status of a pile foundation. In this case, the data collection points of the drone are located in the southeast, northwest, and northeast directions of the pile foundation, and are symmetrically distributed. The east direction and the north direction are the positive x-axis and y-axis directions in this embodiment, respectively. Figure 5 The photos taken by the drone at data collection points 1-3 are Figure 4 The current status of the pile foundation tilt is mapped on the surface cdDC. The photos taken by the drone at data collection points 1-4 are as follows: Figure 4 The current state of pile foundation tilt is mapped on the surface bcCB. Therefore, the pile foundation tilt in the photos collected by the drone at data collection points 1-1 and 1-3 is consistent, and the pile foundation tilt in the photos collected by the drone at data collection points 1-2 and 1-4 is consistent. The specific steps in this case are:

[0068] (1) The photos collected by the pile foundation drone information collection point 1-3 show that the pile foundation is tilted to the east, and the photos collected by the pile foundation drone information collection point 1-4 show that the pile foundation is tilted to the north. Figure 4 , 5 The pile foundation in this case is tilted toward the east-northeast direction.

[0069] (2) Based on the photos taken by the drone information collection points 1-3 and 1-4, the pixel lengths of the measured line segments cd and bc are L respectively. cd , L bc :

[0070] L ab =L cd

[0071] The tilt direction angle is:

[0072] (3) Based on the photos taken by the drone information collection points 1-3, the pixel length of the measured line segment aA is L aA :

[0073] The tilt angle is:

[0074] (4) Therefore, based on the photos taken by the drone information collection points 1-3 and 1-4, it can be inferred that the pile foundation is tilted α degrees to the east and north, and the tilt angle is β;

[0075] (5) The above results were verified using photos taken by drone information collection points 1-1 and 1-2.

[0076] Step 4.2, calculate the displacement of the pile foundation based on the water depth data around the pile foundation, refer to Figure 6 As shown, specifically:

[0077] S21, since the water depth detection device carried by the unmanned boat can collect water depth data in the scanning area, the water depth data collected by all the collection points of the unmanned boats around the pile foundation can be integrated into a three-dimensional water depth map; wherein the three-dimensional water depth map displays the water depth data at each position coordinate, and the water depth data at the position that cannot be collected is not displayed;

[0078] S22, draw a closed polyline along the boundary of the area without water depth data in the three-dimensional water depth map;

[0079] S23, fitting the closed polyline with a circular curve, and the optimal circle obtained by fitting is the current position of the pile foundation;

[0080] S24, comparing the current position of the pile foundation with the set position to obtain the displacement of the pile foundation.

[0081] Step 4.3, calculate the bottom scouring of the pile foundation based on the water depth data around the pile foundation, specifically: merge the water depth data collected by all unmanned boat collection points around the pile foundation to obtain the water depth data at the boundary of the pile foundation; then compare the water depth data at the boundary of the pile foundation with the design water depth of the pile foundation: if the water depth data at a certain position of the pile foundation boundary is greater than the design water depth of the pile foundation, it indicates that the position is scoured; if the water depth data at a certain position of the pile foundation boundary is less than the design water depth of the pile foundation, it indicates that there is siltation at the position.

[0082] Step 5: The onshore control terminal determines whether the inclination angle, displacement or bottom scouring of the pile foundation exceeds the corresponding preset threshold value. If exceeded, the onshore control terminal sends out a warning signal.

[0083] Example 2

[0084] This embodiment provides a pile foundation safety automatic monitoring and early warning system based on ship-machine collaboration, such as Figure 7 As shown, it includes a land control terminal and a data acquisition module; the land control terminal includes a ship-machine collaborative automatic control module, a data processing and early warning module, and a data transmission unit. The data acquisition module is composed of a drone and an unmanned ship. The unmanned ship is equipped with a water depth detection device / concrete flaw detection device, a positioning device and a wireless communication device, and the drone is equipped with a camera, a positioning device and a wireless communication device. The data acquisition module, together with the land control terminal, collaboratively implements the pile foundation case automatic monitoring and early warning method described in Example 1. Specifically:

[0085] The ship-machine cooperative automatic control module sends out unmanned ship and unmanned aerial vehicle control instructions through the data transmission unit to control the unmanned ship and unmanned aerial vehicle to reach the target position (corresponding data collection point). At the same time, the ship-machine cooperative automatic control module receives the current position information of the unmanned ship and unmanned aerial vehicle through the data transmission unit for automatic navigation of the unmanned ship and unmanned aerial vehicle.

[0086] The data acquisition module is used for collecting and transmitting pile foundation monitoring information. The unmanned ships and drones receive the control instructions issued by the ship-machine cooperative automatic control module through their own wireless communication devices, and regularly feedback the current position information of the unmanned ships and drones. In addition, the unmanned ships and drones transmit the pile foundation monitoring data collected at the target location to the data processing and early warning through their own wireless communication devices. In the pile foundation safety automatic monitoring and early warning system of this embodiment, at least four unmanned ships are equipped with water depth detection devices, positioning devices and wireless communication devices to realize the water depth data collection around the pile foundation, one unmanned ship is equipped with concrete flaw detection devices, positioning devices and wireless communication devices to realize monitoring of pile foundation flaw detection, and four drones are equipped with high-definition cameras, positioning devices and wireless communication devices to realize the shooting of pile foundation photos on the water surface and above the water surface;

[0087] The data processing and early warning module receives the pile foundation monitoring data collected by the unmanned ship / unmanned aerial vehicle through the data transmission unit and processes the relevant data according to the preset program to perform safety early warning monitoring of each pile foundation in the pile foundation group;

[0088] The data transmission unit is used to communicate with the wireless communication devices on the unmanned aerial vehicle and the unmanned ship to realize data transmission and handover between the various parts.

[0089] The above embodiments are preferred embodiments of the present application. Ordinary technicians in this field can also make various changes or improvements on this basis. Without departing from the overall concept of the present application, these changes or improvements should fall within the scope of protection required by the present application.

Claims

1. A pile foundation safety automatic monitoring and early warning method based on ship-machine collaboration, characterized in that: include: The onshore control terminal plans the navigation route and data collection points of the UAV and the unmanned ship according to the location distribution of the pile foundation; Among them, each pile foundation is provided with at least 4 drone data collection points and at least 4 unmanned boat collection points; the at least 4 drone data collection points are respectively located in the four directions around the pile foundation based on any direction, and each direction includes at least 1 drone data collection point; the at least 4 unmanned boat collection points are evenly distributed in the circumferential direction centered on the pile foundation; The drones and unmanned boats sail to the data collection points of each pile foundation according to the navigation routes planned by the land control terminal; The drone takes front-view image data of the pile foundation at its data collection point, and the unmanned ship collects water depth data around its location at its data collection point. The drone and the unmanned ship transmit the collected data back to the onshore control terminal; The onshore control terminal calculates the inclination angle of the pile foundation based on the received multiple pile foundation image data, and calculates the displacement of the pile foundation and the bottom scouring condition based on the water depth data around the pile foundation; The onshore control terminal determines whether the inclination angle, displacement or bottom scouring of the pile foundation exceeds the corresponding preset threshold value. If exceeded, the onshore control terminal sends out a warning signal.

2. The method for automatic monitoring and early warning of pile foundation safety based on ship-machine collaboration according to claim 1 is characterized in that: Four drone data collection points are set up for each pile foundation, and the distances from each drone data collection point to the pile foundation are equal.

3. The automatic monitoring and early warning method for pile foundation safety based on ship-machine collaboration according to claim 1 is characterized in that: Four unmanned ship data collection points are set for each pile foundation, which are located in the four directions of the pile foundation based on any direction, and the distance from each unmanned ship data collection point to the pile foundation is equal.

4. The automatic monitoring and early warning method for pile foundation safety based on ship-machine collaboration according to claim 1 is characterized in that: Assuming that each pile foundation corresponds to M drone data collection points and N unmanned boat data collection points, M drones are set up to be located at the M drone data collection points and simultaneously take frontal images in the directions around the pile foundation, and N unmanned boats are set up to be located at the N unmanned boat data collection points and simultaneously collect water depth data around the pile foundation; and the navigation routes of each drone and unmanned boat are planned according to the preset order of multiple pile foundations to complete data collection for multiple pile foundations in sequence.

5. The automatic monitoring and early warning method for pile foundation safety based on ship-machine collaboration according to claim 1 is characterized in that: Both the UAV and the unmanned ship are equipped with positioning devices, which transmit the current location coordinates to the land control terminal at fixed intervals; the land control terminal determines whether the current location coordinates of the UAV and the unmanned ship deviate from their respective planned navigation routes. If deviated, the point closest to the current location coordinates in the planned navigation route is calculated, and the deviated UAV / unmanned ship is controlled to navigate from the current location to the nearest point.

6. The automatic monitoring and early warning method for pile foundation safety based on ship-machine collaboration according to claim 1 is characterized in that: In addition, an unmanned boat is set up, which is equipped with a concrete flaw detection device. The flaw detection data collection point for the pile foundation is located at the edge of the pile foundation. When the unmanned boat sails to the flaw detection data collection point according to the planned navigation route, the concrete flaw detection device is used to carry out flaw detection monitoring of the pile foundation.

7. The automatic monitoring and early warning method for pile foundation cases based on ship-machine collaboration according to claim 1 is characterized in that: The inclination angle of the pile foundation is calculated based on the received multiple pile foundation image data, specifically: S11, for the front view image of the pile foundation taken at any data collection point, take the center points of the diameter of the pile foundation at two different heights, connect the two center points and extend them to the water surface line, and measure the angle between the above line segment and the water surface line; S12, if the angles obtained at each data collection point according to S11 are all 90 degrees, the pile foundation is not tilted; otherwise, proceed to the next step to continue to calculate the tilt direction and tilt angle of the pile foundation; S13, establishing a spatial rectangular coordinate system, where the z-axis is the vertical direction and the x-axis and y-axis pass through each drone data collection point; S14, selecting a front view image of the pile foundation taken at the data collection point on the y-axis, and measuring whether the pile foundation is in a vertical direction: if the pile foundation in the image is in a vertical direction, it indicates that the pile foundation is not inclined in the x-axis direction, otherwise it indicates that the pile foundation is inclined in the x-axis direction; If the pile foundation is tilted in the x-axis direction, take any point C on the center line of the pile foundation and measure the pixel distances cd and cC from the projection lines of the center line of the pile foundation in the vertical and horizontal directions of the image in the front view image of the pile foundation taken by the data collection point on the y-axis; S15, selecting a front view image of the pile foundation taken at the data collection point on the x-axis, and measuring whether the pile foundation is in a vertical direction: if it is in a vertical direction, it indicates that the pile foundation is not inclined in the y-axis direction, otherwise it indicates that the pile foundation is inclined in the y-axis direction; If the pile foundation is tilted in the y-axis direction, the pixel distance cb from the projection line of the pile foundation centerline in the vertical direction of the image taken by the data collection point on the x-axis is measured at point C; S16, converting the pixel distance cd, pixel distance cb, and pixel distance cC into the actual distance L according to the shooting resolution cd , L cb , L cC , and then calculate the azimuth angle α tilted toward the x-axis x , the azimuth angle α tilted toward the y-axis y And the tilt angle β from the vertical direction:

8. The automatic monitoring and early warning method for pile foundation cases based on ship-machine collaboration according to claim 1 is characterized in that: The displacement of the pile foundation is calculated based on the water depth data around the pile foundation, specifically: S21, fusing the water depth data collected by all the unmanned boat collection points around the pile foundation into a three-dimensional water depth map; wherein the three-dimensional water depth map displays the water depth data at each position coordinate, and does not display the water depth data at the position where the water depth data cannot be collected; S22, draw a closed polyline along the boundary of the area without water depth data in the three-dimensional water depth map; S23, fitting the closed polyline with a circular curve, and the optimal circle obtained by fitting is the current position of the pile foundation; S24, comparing the current position of the pile foundation with the set position to obtain the displacement of the pile foundation.

9. The automatic monitoring and early warning method for pile foundation cases based on ship-machine collaboration according to claim 1 is characterized in that: The bottom scouring of the pile foundation is calculated based on the water depth data around the pile foundation. Specifically, the water depth data collected by all unmanned boat collection points around the pile foundation are integrated to obtain the water depth data at the boundary of the pile foundation; then the water depth data at the boundary of the pile foundation is compared with the design water depth of the pile foundation: if the water depth data at a certain position of the pile foundation boundary is greater than the design water depth of the pile foundation, it indicates that the position is scoured; if the water depth data at a certain position of the pile foundation boundary is less than the design water depth of the pile foundation, it indicates that there is siltation at that position.

10. An automatic monitoring and early warning system for pile foundation cases based on ship-machine collaboration, characterized in that: It includes an unmanned aerial vehicle, an unmanned boat and a land control terminal, the unmanned boat is equipped with a water depth detection device, a positioning device and a wireless communication device, and the unmanned aerial vehicle is equipped with a camera, a positioning device and a wireless communication device; the unmanned aerial vehicle, the unmanned boat and the land control terminal cooperate to realize the automatic monitoring and early warning method of pile foundation cases as described in any one of claims 1-9.

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