A method and system for automatic monitoring and early warning of pile foundation safety based on ship-machine cooperation

Abstract

The present invention discloses a method and system for automatic monitoring and early warning of pile foundation safety based on ship-machine cooperation. The method includes: the onshore control terminal plans the navigation routes and data collection points of the unmanned aerial vehicle (UAV) and the unmanned ship according to the pile foundation position distribution; the UAV and the unmanned ship navigate to the corresponding data collection points according to the planned navigation routes; the UAV takes the front view image data of the pile foundation at its data collection point, and the unmanned ship collects the water depth data around its location at its data collection point. The UAV 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 multiple pile foundation image data, and calculates the displacement and bottom scouring condition of the pile foundation 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, and if it exceeds, an early warning signal is sent. The present invention realizes the automatic operation of safety monitoring and early warning for multiple pile foundation groups, and improves the safety monitoring efficiency.

Description

Technical Field

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

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

[0003] Under the action of water flow, the sediment near the bottom around the pile foundation is scoured to varying degrees. When the scouring depth of the sediment at the bottom around the pile foundation caused by the water flow is relatively deep, it will pose a great threat to the stability of the pile foundation. The pile foundation will tilt or displace under the action of water flow, affecting the safety of the upper building. In addition, when the water flow contains sand, gravel or other objects that continuously impact 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 cooperation, which realizes unmanned automation and diversified comprehensive monitoring of multiple pile foundations, and saves the manpower and material resources required for pile foundation safety monitoring.

[0005] 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 cooperation includes:

[0007] The onshore control terminal plans the flight routes and data collection points of the unmanned aerial vehicles according to the pile foundation position distribution, and plans the navigation routes and data collection points of the unmanned ships.

[0008] Among them, at least 4 unmanned aerial vehicle data collection points and at least 4 unmanned ship collection points are correspondingly set for each pile foundation; the at least 4 unmanned aerial vehicle data collection points are respectively located in the four surrounding directions of the pile foundation with any direction as the standard, and each direction includes at least 1 unmanned aerial vehicle data collection point; the at least 4 unmanned ship collection points are evenly distributed in the circumferential direction centered on the pile foundation.

[0009] The unmanned aerial vehicles and unmanned ships respectively sail to the data collection points of each pile foundation according to the flight routes planned by the onshore control terminal.

[0010] The unmanned aerial vehicle takes the front view image data of the pile foundation at its data collection point, and the unmanned ship collects the water depth data around its location at its data collection point. The unmanned aerial vehicle 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 and bottom scouring condition of the pile foundation 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. If it exceeds, the onshore control terminal issues a warning signal.

[0013] Further, 4 UAV data collection points are set for each pile foundation, and the distances from each UAV data collection point to the pile foundation are equal.

[0014] Further, 4 unmanned ship data collection points are set for each pile foundation, which are respectively located in the four surrounding directions of the pile foundation with any direction as the standard, and the distances from each unmanned ship data collection point to the pile foundation are equal.

[0015] Further, assuming M UAV data collection points and N unmanned ship data collection points corresponding to each pile foundation, M UAVs are correspondingly set to be respectively located at the M UAV data collection points to simultaneously capture the front view images in the surrounding directions of the pile foundation, and N unmanned ships are correspondingly set to be respectively located at the N unmanned ship data collection points to simultaneously collect the water depth data around the pile foundation; and the navigation routes of each UAV and unmanned ship are planned according to the preset order of multiple pile foundations to complete the data collection of multiple pile foundations in sequence.

[0016] Further, positioning devices are set on both the UAV and the unmanned ship, and the current position coordinates are transmitted back to the onshore control terminal every fixed time; the onshore control terminal determines whether the current position coordinates of the UAV and the unmanned ship deviate from their respective planned navigation routes. If they deviate, the point closest to the current position coordinates in the planned navigation route is calculated, and the deviated UAV / unmanned ship is controlled to navigate from the current position to this closest point.

[0017] Further, 1 unmanned ship is additionally set, and a concrete flaw detection device is carried on it. The flaw detection data collection point for the pile foundation is located at the edge of the pile foundation; when the unmanned ship 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] Further, calculating the inclination angle of the pile foundation based on the received multiple pile foundation image data is specifically as follows:

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

[0020] S12, if the included angle obtained by each data collection point according to S11 is 90 degrees, the pile foundation is not inclined; otherwise, proceed to the next step to continue calculating the inclination direction and inclination angle of the pile foundation;

[0021] S13. Establish a space rectangular coordinate system with the z-axis in the vertical direction, and ensure that the x-axis and y-axis pass through each UAV data collection point;

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

[0023] If the pile foundation is inclined 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 point C to the projection lines of the center line of the pile foundation in the vertical and horizontal directions respectively in the front view image of the pile foundation taken at the data collection point on the y-axis;

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

[0025] If the pile foundation is inclined in the y-axis direction, measure the pixel distance cb from point C to the projection line of the center line of the pile foundation in the vertical direction in the front view image of the pile foundation taken at the data collection point on the x-axis;

[0026] S16. Convert the pixel distances cd, cb, and cC into actual distances L cd 、L cb 、L cC according to the shooting resolution, and then calculate the azimuth angle α x inclined in the x-axis direction, the azimuth angle α y inclined in the y-axis direction, and the inclination angle β deviating from the vertical direction:

[0027]

[0028] Furthermore, estimate the displacement of the pile foundation based on the water depth data around the pile foundation, specifically as follows:

[0029] S21. Integrate the water depth data collected at all the collection points of the unmanned boats around the pile foundation into a three-dimensional water depth map; among them, the three-dimensional water depth map shows the water depth data at each position coordinate, and no water depth data is shown at the positions where 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. Fit the above-mentioned closed polyline with a circular curve, and the optimal circle obtained by fitting is the current position of the pile foundation;

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

[0033] Furthermore, the bottom scouring condition of the pile foundation is deduced based on the water depth data around the pile foundation. Specifically: the water depth data collected at all the unmanned boat collection points around the pile foundation are fused 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 designed water depth of the pile foundation: if the water depth data at a certain position at the boundary of the pile foundation is greater than the designed water depth of the pile foundation, it indicates that scouring has occurred at that position; if the water depth data at a certain position at the boundary of the pile foundation is less than the designed water depth of the pile foundation, it indicates that there is sedimentation at that position.

[0034] A pile foundation case automatic monitoring and early warning system based on ship-machine cooperation includes an unmanned aerial vehicle, an unmanned boat, and an onshore control terminal. The unmanned boat is equipped with a water depth detection device, a positioning device, and a wireless communication device. 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 onshore control terminal cooperate to implement the pile foundation case automatic monitoring and early warning method described in any one of the above.

[0035] Compared with the prior art, the advantages of the present invention are as follows: the present invention cooperatively controls the unmanned boat and the unmanned aerial vehicle to reach the designated position, realizes unmanned automatic control, and through the equipment carried by the unmanned boat and the unmanned aerial vehicle, realizes the multi-pile safety monitoring of a large-scale pile foundation group, and can simultaneously monitor the inclination angle, displacement, and bottom scouring condition of the pile foundation, realizing diverse and comprehensive monitoring. The pile foundation safety monitoring by controlling unmanned equipment in the present invention is faster, simpler than traditional fixed monitoring equipment, saves time costs, solves the problem of high demand for instruments in traditional fixed monitoring, and realizes cross-regional monitoring of multiple targets by one set of monitoring system. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a flow chart of the pile foundation safety automatic monitoring and early warning method with ship-machine cooperation according to the embodiment of the present invention;

[0037] Figure 2 It is a schematic diagram of the pile foundation layout, information collection points, and the navigation route of the unmanned boat according to the embodiment of the present invention;

[0038] Figure 3 It is a schematic diagram of the pile foundation safety automatic monitoring and early warning system with ship-machine cooperation according to the embodiment of the present invention;

[0039] Figure 4 It is a schematic diagram of the current inclination status of the pile foundation according to the embodiment of the present invention;

[0040] Figure 5 It is a schematic diagram of the high-definition photo processing of the pile foundation according to the embodiment of the present invention, where (a), (b), (c), and (d) are the high-definition images of the pile foundation taken at data collection points 1-3, 1-4, 1-1, and 1-2 respectively;

[0041] Figure 6Obtain a schematic diagram of the current situation of the pile foundation positions for the embodiments of the present invention;

[0042] Figure 7 It is a structural diagram of the automatic monitoring and early warning system for the safety of pile foundations with ship-machine cooperation according to the embodiments of the present invention. Specific embodiments

[0043] The following will make a detailed description of the embodiments of the present invention. This embodiment is carried out based on the technical solution of the present invention, and gives a detailed implementation manner and specific operation process, and further explains the technical solution of the present invention.

[0044] Embodiment 1

[0045] This embodiment provides an automatic monitoring and early warning method for the safety of pile foundations with ship-machine cooperation. Referring to Figure 1 as shown, it includes:

[0046] Step 1, the onshore control terminal plans the flight routes and data collection points of the unmanned aerial vehicles according to the pile foundation position distribution, and plans the navigation routes and data collection points of the unmanned ships.

[0047] In this embodiment, each pile foundation corresponds to 4 unmanned aerial vehicle data collection points and 4 unmanned ship data collection points. As Figure 2 shown, the 4 unmanned aerial vehicle data collection points are respectively located in the due east, due south, due west, and due north directions of the pile foundation, and the distances to the pile foundation are equal. The 4 unmanned ship collection points are respectively located in the southeast, southwest, northwest, and southwest directions of the pile foundation, and the distances to the pile foundation are equal.

[0048] This embodiment is used to monitor and early warn multiple pile foundation groups. To save the data acquisition cost in safety monitoring, the navigation routes of each unmanned aerial vehicle 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 onshore control terminal), that is, the above-mentioned unmanned aerial vehicle and unmanned ship are used to first collect data on the pile foundation 1 closest to the distance, and then collect data on the pile foundation 2 until a round of data collection on all pile foundations of the pile foundation group is completed.

[0049] To further realize pile foundation flaw detection, flaw detection data collection points can also be further set at the edges of the pile foundations.

[0050] Step 2, the unmanned aerial vehicles and unmanned ships respectively sail to the data collection points of each pile foundation according to the navigation routes planned by the onshore control terminal.

[0051] In this embodiment, both the unmanned aerial vehicle (UAV) and the unmanned ship are equipped with positioning devices, and they transmit their current location coordinates to the onshore control terminal at fixed intervals. The onshore control terminal determines whether the current location coordinates of the UAV and the unmanned ship deviate from their respective planned navigation routes. If there is a deviation, it calculates the point on the planned navigation route that is closest to the current location coordinates, and controls the deviated UAV / unmanned ship to navigate from the current location to this closest point and return to their respective planned navigation routes.

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

[0053] In this embodiment, for the above-mentioned 4 UAV data collection points of the pile foundation, 4 UAVs are correspondingly set, and they respectively navigate to the corresponding data collection points according to the navigation routes planned by the onshore control terminal. At the same time, they take frontal images in the due east, due south, due west, and due north directions of the pile foundation and transmit them to the onshore control terminal.

[0054] For the above-mentioned 4 unmanned ship data collection points of the pile foundation, 4 unmanned ships are correspondingly set, and they navigate to the corresponding data collection points according to the navigation routes planned by the onshore control terminal. At the same time, they collect the water depth data in the southeast, southwest, northwest, and southwest regions of the pile foundation and transmit them to the onshore control terminal.

[0055] In addition, 1 unmanned ship is also set for the flaw detection data collection point, which is equipped with a concrete flaw detection device. It navigates to the flaw detection data collection point according to the navigation route planned by the onshore control terminal to collect flaw detection data of the pile foundation and transmit it 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 and bottom scour situation of the pile foundation based on the water depth data around the pile foundation.

[0057] Step 4.1: Calculating the inclination angle of the pile foundation based on the received multiple pile foundation image data, specifically:

[0058] S11: For the frontal image of the pile foundation taken at any data collection point, take the center points of the pile foundation diameters 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 by S11 at each data collection point are all 90 degrees, then the pile foundation has not tilted; otherwise, proceed to the next step to continue calculating the tilt direction and tilt angle of the pile foundation;

[0060] S13. Establish a spatial rectangular coordinate system with the z-axis in the vertical direction, and ensure that the x-axis and y-axis pass through each UAV data collection point;

[0061] S14. Select the front view image of the pile foundation taken at the data collection point on the y-axis, and measure whether the pile foundation is vertical in it: If the pile foundation is vertical in the image, it indicates that the pile foundation does not tilt in the x-axis direction; otherwise, it means the pile foundation tilts in the x-axis direction;

[0062] If the pile foundation tilts 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 point C to the projection lines of the center line of the pile foundation in the vertical and horizontal directions in the front view image of the pile foundation taken at the data collection point on the y-axis;

[0063] S15. Select the front view image of the pile foundation taken at the data collection point on the x-axis, and measure whether the pile foundation is vertical in it: If it is vertical, it indicates that the pile foundation does not tilt in the y-axis direction; otherwise, it means the pile foundation tilts in the y-axis direction;

[0064] If the pile foundation tilts in the y-axis direction, measure the pixel distance cb from point C to the projection line of the center line of the pile foundation in the vertical direction in the front view image of the pile foundation taken at the data collection point on the x-axis;

[0065] S16. Convert the pixel distances cd, cb, and cC into actual distances L cd 、L cb 、L cC , and then calculate the azimuth angle α x of tilting in the x-axis direction, the azimuth angle α y of tilting in the y-axis direction, and the tilt angle β deviating from the vertical direction:

[0066]

[0067] For example Figure 4 is a schematic diagram of the tilting status of a certain pile foundation. In this case, the data collection points of the UAV are located in the due east, south, west, and north directions of the pile foundation, symmetrically distributed, and the due east direction and the due north direction are the positive x-axis and positive y-axis directions in this embodiment respectively. Figure 5 The photos taken by the UAV at the data collection points 1-3 are Figure 4 The tilting status of the pile foundation in is mapped on the plane cdDC, and the photos taken by the UAV at the data collection points 1-4 are Figure 4 The tilting status of the pile foundation in is mapped on the plane bcCB. Therefore, the tilting of the pile foundation in the photos collected by the UAV at the data collection points 1-1 and 1-3 is consistent, and the tilting of the pile foundation in the photos collected by the UAV at the data collection points 1-2 and 1-4 is consistent. The specific steps in this case are as follows:

[0068] (1) The photos collected by the pile foundation UAV information collection points 1-3 show that the pile foundation is tilted eastward, and the photos collected by the pile foundation UAV information collection points 1-4 show that the pile foundation is tilted northward. Therefore Figure 4 、 5 the pile foundation in the case is tilted in the northeast direction.

[0069] (2) According to the photos taken by the UAV information collection points 1-3 and 1-4, measure the pixel lengths of the line segments cd and bc as L cd 、L bc :

[0070] L ab =L cd

[0071] Then the inclination direction angle:

[0072] (3) According to the photo taken by the UAV information collection point 1-3, measure the pixel length of the line segment aA as L aA :

[0073] Then the inclination angle:

[0074] (4) Therefore, according to the photos taken by the UAV information collection points 1-3 and 1-4, it can be deduced that the pile foundation is tilted α degrees east-northward, and the inclination angle is β;

[0075] (5) Use the photos taken by the UAV information collection points 1-1 and 1-2 to verify the above results.

[0076] Step 4.2, deduce the displacement of the pile foundation according to the water depth data around the pile foundation, as shown in Figure 6 : Specifically:

[0077] S21, Since the water depth detection device carried by the unmanned boat can collect the water depth data in the scanning area, the water depth data collected at all the unmanned boat collection points around the pile foundation can be fused into a three-dimensional water depth map; among them, the three-dimensional water depth map shows the water depth data at each position coordinate, and the water depth data is not shown at the positions that cannot be collected;

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

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

[0081] Step 4.3, deduce the bottom scouring condition of the pile foundation based on the water depth data around the pile foundation, specifically: fuse the water depth data collected at all unmanned vessel collection points around the pile foundation to obtain the water depth data at the pile foundation boundary; then compare the water depth data at the pile foundation boundary with the designed water depth of the pile foundation: if the water depth data at a certain position of the pile foundation boundary is greater than the designed water depth of the pile foundation, it indicates that scouring occurs at this position; if the water depth data at a certain position of the pile foundation boundary is less than the designed water depth of the pile foundation, it indicates that sedimentation occurs at this 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. If it exceeds, the onshore control terminal issues a warning signal.

[0083] Embodiment 2

[0084] This embodiment provides a pile foundation safety automatic monitoring and warning system based on ship-machine collaboration, as Figure 7 shown, including an onshore control terminal and a data acquisition module; the onshore control terminal includes a ship-machine collaboration automatic control module, a data processing and warning module, and a data transmission unit. The data acquisition module consists of an unmanned aerial vehicle (UAV) and an unmanned vessel. The unmanned vessel is equipped with a water depth detection device / concrete flaw detection device, a positioning device and a wireless communication device, and the UAV is equipped with a camera, a positioning device and a wireless communication device. The data acquisition module and the onshore control terminal work together to jointly implement the pile foundation case automatic monitoring and warning method described in Embodiment 1. Specifically:

[0085] The ship-machine collaboration automatic control module issues control instructions for the unmanned vessel and the UAV through the data transmission unit to control the unmanned vessel and the UAV to reach the target position (corresponding data collection point). At the same time, the ship-machine collaboration automatic control module receives the current position information of the unmanned vessel and the UAV through the data transmission unit for the automatic navigation of the unmanned vessel and the UAV;

[0086] The data acquisition module is used for the acquisition and transmission of pile foundation monitoring information. The unmanned vessel and the UAV receive the control instructions issued by the ship-machine collaboration automatic control module through their own wireless communication devices and regularly feedback the current position information of the unmanned vessel and the UAV. In addition, the unmanned vessel and the UAV transmit the pile foundation monitoring data collected at the target position to the data processing and warning through their own wireless communication devices. In the pile foundation safety automatic monitoring and warning system of this embodiment, at least four unmanned vessels are equipped with a water depth detection device, a positioning device and a wireless communication device to realize the acquisition of water depth data around the pile foundation, one unmanned vessel is equipped with a concrete flaw detection device, a positioning device and a wireless communication device to realize the monitoring of pile foundation flaw detection, and four UAVs are equipped with high-definition cameras, positioning devices and wireless communication devices to realize the taking of photos of the water surface and the pile foundation above the water surface;

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

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

[0089] The above embodiments are the preferred embodiments of the present application. Those of ordinary skill in the art can also make various transformations or improvements on this basis. Without departing from the general concept of the present application, these transformations or improvements should all fall within the scope of protection required by the present application.

Claims

1. An automatic monitoring and early warning method for pile foundation safety based on ship-machine cooperation, characterized in that, Including: The onshore control terminal plans the flight routes and data collection points of the unmanned aerial vehicles (UAVs) and the navigation routes and data collection points of the unmanned vessels according to the pile foundation position distribution. Among them, at least 4 UAV data collection points and at least 4 unmanned vessel collection points are correspondingly set for each pile foundation; the at least 4 UAV data collection points are respectively located in the four surrounding directions of the pile foundation with any direction as the standard, and each direction includes at least 1 UAV data collection point; the at least 4 unmanned vessel collection points are evenly distributed in the circumferential direction centered on the pile foundation. The UAVs and unmanned vessels respectively navigate to the data collection points of each pile foundation according to the flight routes planned by the onshore control terminal. The UAVs take the front view image data of the pile foundations at their data collection points, and the unmanned vessels collect the water depth data around their locations at their data collection points. The UAVs and unmanned vessels 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 and bottom scour condition of the pile foundation based on the water depth data around the pile foundation. The onshore control terminal determines whether the inclination angle, displacement or bottom scour of the pile foundation exceeds the corresponding preset threshold. If it exceeds, the onshore control terminal issues a warning signal. Among them, calculating the displacement of the pile foundation based on the water depth data around the pile foundation is specifically as follows: S21, fusing the water depth data collected at all the unmanned vessel collection points around the pile foundation into a three-dimensional water depth map; wherein, the three-dimensional water depth map shows the water depth data at each position coordinate, and the water depth data is not shown at the positions where it cannot be collected. S22, making a closed polyline along the boundary of the area without water depth data in the three-dimensional water depth map. S23, fitting the above closed polyline with a circular curve, and the obtained optimal circle 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.

2. The method for automatically monitoring and warning the safety of pile foundations based on ship-machine cooperation according to claim 1, characterized in that 4 UAV data collection points are set for each pile foundation, and the distances from each UAV data collection point to the pile foundation are equal.

3. The method for automatically monitoring and warning the safety of pile foundations based on ship-machine cooperation according to claim 1, wherein, 4 unmanned vessel data collection points are set for each pile foundation, which are respectively located in the four surrounding directions of the pile foundation with any direction as the standard, and the distances from each unmanned vessel data collection point to the pile foundation are equal.

4. The method for automatically monitoring and warning the safety of pile foundations based on ship-machine cooperation according to claim 1, wherein Assuming M UAV data collection points and N unmanned vessel data collection points corresponding to each pile foundation, M UAVs are correspondingly set to be located at the M UAV data collection points to simultaneously take the front view images in the four surrounding directions of the pile foundation, and N unmanned vessels are correspondingly set to be located at the N unmanned vessel data collection points to simultaneously collect the water depth data around the pile foundation; and the flight routes of each UAV and unmanned vessel are planned according to the preset order of multiple pile foundations to complete the data collection of multiple pile foundations in sequence.

5. The method for automatically monitoring and warning of pile foundation safety based on ship-machine cooperation according to claim 1, characterized in that, Both the UAVs and unmanned vessels are equipped with positioning devices, and transmit the current position coordinates back to the onshore control terminal at fixed intervals; the onshore control terminal determines whether the current position coordinates of the UAVs and unmanned vessels deviate from their respective planned flight routes. If they deviate, it calculates the point closest to the current position coordinates in the planned flight route, and controls the deviated UAV / unmanned vessel to navigate from the current position to the closest point.

6. The method for automatically monitoring and warning the safety of pile foundations based on ship-machine cooperation according to claim 1, wherein, In addition, one unmanned ship is also set up, on which a concrete flaw detection device is carried, and the flaw detection data collection point for the pile foundation is located at the edge of the pile foundation; when the unmanned ship sails to the flaw detection data collection point according to the planned navigation route, the concrete flaw detection device is used to conduct flaw detection monitoring on the pile foundation.

7. The method for automatically monitoring and warning of pile foundation safety based on ship-machine cooperation according to claim 1, characterized in that Calculate the inclination angle of the pile foundation 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 pile foundation diameters at two different heights, connect the two center points and extend it to the water surface line, and measure the included angle between the extended line segment of the center point connection line and the water surface line; S12. If the included angle obtained by each data collection point according to S11 is 90 degrees, the pile foundation is not inclined; otherwise, proceed to the next step to continue calculating the inclination direction and inclination angle of the pile foundation; S13. Establish a space rectangular coordinate system, with the z-axis in the vertical direction and satisfying that the x-axis and y-axis pass through each UAV data collection point; S14. Select the front view image of the pile foundation taken at the data collection point on the y-axis and measure whether the pile foundation in it is in the vertical direction: if the pile foundation in the image is in the 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 inclined in the x-axis direction, take any point C on the pile foundation center line and measure the pixel distances cd and cC from point C to the projection lines of the pile foundation center line in the vertical and horizontal directions in the front view image of the pile foundation taken at the data collection point on the y-axis; S15. Select the front view image of the pile foundation taken at the data collection point on the x-axis and measure whether the pile foundation in it is in the vertical direction: if it is in the 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 inclined in the y-axis direction, measure the pixel distance cb from point C to the projection line of the pile foundation center line in the vertical direction in the front view image of the pile foundation taken at the data collection point on the x-axis; S16. Convert the pixel distances cd, cb, and cC into actual distances L, L, and L according to the shooting resolution, and then calculate the azimuth angle α tilted in the x-axis direction, the azimuth angle α tilted in the y-axis direction, and the tilt angle β deviating from the vertical direction: cd , L cb , L cC , and then calculate the azimuth angle α tilted in the x-axis direction x , the azimuth angle α tilted in the y-axis direction y and the tilt angle β deviating from the vertical direction:

8. The method for automatically monitoring and warning the safety of pile foundations based on ship-machine cooperation according to claim 1, characterized in that, Calculate the bottom scour condition of the pile foundation based on the water depth data around the pile foundation, specifically: fuse the water depth data collected at all unmanned ship collection points around the pile foundation to obtain the water depth data at the pile foundation boundary; then compare the water depth data at the pile foundation boundary with the designed water depth of the pile foundation: if the water depth data at a certain position at the pile foundation boundary is greater than the designed water depth of the pile foundation, it indicates that this position has been scoured; if the water depth data at a certain position at the pile foundation boundary is less than the designed water depth of the pile foundation, it indicates that there is sedimentation at this position.

9. An automatic monitoring and early warning system for pile foundation safety based on ship-machine cooperation, characterized in that, It includes UAVs, unmanned ships and onshore control terminals. The unmanned ship is equipped with a water depth detection device, a positioning device and a wireless communication device, and the UAV is equipped with a camera, a positioning device and a wireless communication device; the UAVs, unmanned ships and onshore control terminals cooperate to implement the pile foundation safety automatic monitoring and early warning method according to any one of claims 1-8.

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