A dynamic monitoring device for the evolution of the entire bridge pier scour process based on sonar scanning

Abstract

The present invention relates to the field of bridge pier monitoring devices, and more specifically, to a dynamic monitoring device for the evolution of the entire pier scour process based on sonar scanning. The device comprises an equipment mounting platform, an XZ-axis driver, and a scanning sonar. Two XZ-axis drivers are respectively provided on the waterfront and water-repellent sides of the pier. The XZ-axis drivers are connected to the pier via the equipment mounting platform. Each XZ-axis driver is connected to a scanning sonar. The scanning sonar emits acoustic pulses into the water, and the echoes generated by these pulses are used to measure the distance, locate, and identify underwater terrain and targets. The XZ-axis driver is used to drive the scanning sonar to rotate around horizontal and vertical axes, thereby collecting the geographic coordinates of the seabed and the surface of the pier. The embodiments of the present invention utilize two scanning sonars capable of rotating around vertical and horizontal axes to monitor the geographic coordinates of the seabed and the surface of the pier over a long period of time, continuously, and in real time. This device can intuitively form a three-dimensional point cloud image of the dynamic evolution of the entire pier scour process, thereby overcoming the shortcomings of traditional monitoring technologies.

Description

Technical Field

[0001] The present invention relates to the field of bridge pier monitoring devices, and in particular to a dynamic monitoring device for the entire evolution of bridge pier scouring based on sonar scanning. Background Art

[0002] Bridge pier scour is caused by the obstruction of the bridge piers, which causes strong vortexes to form around the piers. If the scour condition of the bridge can be monitored in real time, timely warnings can be issued and emergency mechanisms can be activated in an emergency, and emergency measures can be taken to avoid accidents.

[0003] The existing bridge pier scour monitoring methods mainly include the following: diving exploration, underwater robots, sonar, radar, ultrasonic monitoring, fiber grating sensor monitoring, etc.

[0004] (1) Diving exploration: During monitoring, divers wear diving suits equipped with lighting and video equipment to conduct underwater operations. The advantage is that it can achieve monitoring without blind spots. The disadvantages are that the monitoring speed is slow, the cost is high, and it can only be operated when the flow rate is low or during horizontal flow. In addition, there are certain safety risks when personnel work underwater.

[0005] (2) Underwater robot monitoring: The advantage is that it can also monitor deep water. The limitation is that the operating robots have different anti-flow capabilities. Robots with weak anti-flow capabilities cannot complete tasks in areas with high flow rates.

[0006] (3) The detection system based on fiber grating sensors can monitor continuously in real time, but it cannot observe the scouring situation intuitively. It is easily affected by light source fluctuations and connector loss changes, and has difficulties in quantification.

[0007] (4) Traditional multi-beam sonar monitoring method: This method cannot monitor continuously in real time and requires regular chartering of ships to conduct observations at sea. Summary of the Invention

[0008] The purpose of the present invention is to provide a dynamic monitoring device for the evolution of the entire process of bridge pier scour based on sonar scanning, so as to solve the problem that traditional bridge pier scour monitoring technology is difficult to achieve continuous real-time monitoring and intuitively observe the scour situation.

[0009] In order to solve the above technical problems, the present invention specifically provides the following technical solutions:

[0010] A dynamic monitoring device for the evolution of the entire process of pier scouring based on sonar scanning, comprising an equipment installation platform, an XZ-axis driver, a scanning sonar, a sonic velocity meter, an inclinometer, a tide gauge, a total station, a data wireless transmission device, and a data processing and analysis system. Two XZ-axis drivers are respectively provided on the water-facing side and the water-receiving side of the pier. The XZ-axis drivers are connected to the pier through the equipment installation platform. Each XZ-axis driver is connected to a scanning sonar. The scanning sonar emits sound pulses into the water, and the echoes generated by these pulses are used to measure the distance, locate and identify underwater targets. The XZ-axis driver is used to drive the The scanning sonar rotates around horizontal and vertical axes to collect the geographic coordinates of the seabed and the pier surface. The sonic velocity meter is used to correct the sound velocity of the water depth. The inclinometer is used to calibrate the installation attitude of the scanning sonar. The tide gauge is used to correct the tide level data. The total station is used to accurately measure the installation position, attitude and elevation of the scanning sonar probe. The data wireless transmission equipment is used to transmit the raw data including slant distance, horizontal angle and vertical angle to the data processing and analysis system. The data processing and analysis system is used to convert the raw data into three-dimensional polar coordinates, and then convert the three-dimensional polar coordinates into geographic coordinates based on the installation position and attitude calibration parameters of the equipment.

[0011] Furthermore, the XZ-axis driver includes an actuator capable of rotating around the Z-axis and the X-axis, the Z-axis is vertical, and the X-axis is horizontal. The range of the rotation angle of the actuator of the XZ-axis driver around the Z-axis is -180° to +180°, and the range of the rotation angle around the X-axis is -90° to +10°.

[0012] Furthermore, a protective sleeve is installed on the outside of the scanning sonar.

[0013] Furthermore, it also includes a suspension, which spans the two pier equipment installation platforms and is suspended above the water surface. The suspension is connected to the side of the two piers close to each other through the equipment installation platform, and the two XZ-axis drives are respectively arranged on the water-facing side and the water-receiving side of the suspension.

[0014] Furthermore, the suspension includes two steel cables and a sling perpendicular to the steel cables and suspended below the steel cables. The two ends of the two steel cables are respectively connected to the two equipment mounting platforms, and the two XZ-axis drives are both connected to the sling.

[0015] Furthermore, each of the steel cables is connected to the two equipment installation platforms via two pulleys, and the steel cables pass around the two pulleys to form a closed loop. The pulleys are driven to rotate by a motor, so that each of the steel cables can perform a circular motion between the two equipment installation platforms, and further, the sling connected to the steel cables can move following the movement of the steel cables.

[0016] Furthermore, the sling includes two hanging parts and a first telescopic rod, the two hanging parts are respectively fixedly connected to the two steel cables, the two telescopic ends of the first telescopic rod are respectively connected to the two hanging parts, and the first telescopic rod is used to adaptively extend when the sling rotates, thereby adapting to the change in the horizontal distance between the two hanging parts.

[0017] 7. The swiftly and minutely adjusting device for a wood-planer working table as claimed in claim 1, wherein said linking rod and said adjusting base are pivotally connected to each other with a bolt, and said bolt has a round shank to contact with said linking rod. said linking rod has a round shank to contact with said linking rod. said linking rod has a round shank to contact with said linking rod.

[0018] Furthermore, the sling also includes four hanging parts, a second telescopic rod and a balance rod. The first telescopic rod, the second telescopic rod and the balance rod are parallel to each other. The second telescopic rod is also connected to the two steel cables through the two hanging parts. The two ends of the balance rod are respectively connected to the first telescopic rod and the second telescopic rod through the two hanging parts. The two steel cables, the first telescopic rod, the second telescopic rod and the balance rod respectively constitute two parallelogram mechanisms.

[0019] Compared with the prior art, this application has the following beneficial effects:

[0020] The embodiment of the present invention uses two scanning sonars that can circle vertical and horizontal axes to monitor the geographic coordinates of the seabed and the pier surface over a long period of time, continuously, and in real time, thereby intuitively forming a three-dimensional point cloud image of the dynamic evolution of the entire pier scouring process. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the embodiments or the description of the prior art. Obviously, the drawings described below are merely exemplary, and those skilled in the art can derive other implementation drawings based on the provided drawings without inventive effort.

[0022] Figure 1 A front view of a first embodiment of the present invention;

[0023] Figure 2 A diagram defining the XYZ directions of the dual-axis scanning sonar according to the first embodiment of the present invention;

[0024] Figure 3 Another definition diagram of the XYZ directions of the dual-axis scanning sonar according to the first embodiment of the present invention;

[0025] Figure 4 This is a schematic diagram of three-dimensional polar coordinate conversion of a dual-axis scanning sonar according to the first embodiment of the present invention;

[0026] Figure 5 is a perspective view of a second embodiment of the present invention;

[0027] Figure 6 is a top view of a second embodiment of the present invention;

[0028] Figure 7 for Figure 6 Cross-sectional view in the AA direction;

[0029] Figure 8 for Figure 7 A local enlarged view of point B;

[0030] Figure 9 for Figure 7 A local enlarged view of point C;

[0031] Figure 10 is an assembly diagram of a hanging member according to a second embodiment of the present invention;

[0032] The numbers in the figure represent the following:

[0033] 1-Equipment installation platform; 2-XZ axis drive; 3-Scanning sonar; 31-Anemometer; 32-Inclinometer; 33-Tide gauge; 4-Steel cable; 41-Pulley; 42-Motor; 5-Hanging part; 51-Sliding part; 511-Through hole; 512-Top screw; 513-Rotating shaft; 514-Annular flange; 52-Rotating part; 521-Rotating groove; 522-First slot; 523-Second slot; 524-Jack; 6-First telescopic rod; 61-Mounting rod; 7-Second telescopic rod; 8-Balance rod. DETAILED DESCRIPTION

[0034] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0035] In order to address the shortcomings of traditional bridge pier scour monitoring technology, this embodiment provides a dynamic monitoring device for the evolution of the entire bridge pier scour process based on sonar scanning, hereinafter referred to as a monitoring device.

[0036] (First embodiment)

[0037] refer to Figure 1 The monitoring device includes an equipment installation platform 1, an XZ-axis driver 2 and a scanning sonar 3. Two equipment installation platforms 1 are respectively arranged on the waterside and the waterside of the bridge pier. Each equipment installation platform 1 is connected to an XZ-axis driver 2, and each XZ-axis driver 2 is connected to a scanning sonar 3. The scanning sonar emits sound pulses into the water, and uses the echoes generated by these pulses to measure the distance, locate and identify underwater targets. The XZ-axis driver 2 is used to drive the scanning sonar 3 to rotate around the horizontal and vertical axes, thereby collecting the geographic coordinates of the bridge pier surface.

[0038] Specifically, the equipment installation platform 1 includes two hoops fixedly connected to the pile foundation, and a triangular side bracket connected to the two hoops. This type of cantilever structure is relatively common and will not be described in detail herein.

[0039] Specifically, the scanning sonar 3 is an active sonar, which uses a transmitting array to transmit sound pulses into the water. A protective sleeve is installed on the outside of the scanning sonar 3.

[0040] Specifically, the XZ-axis driver 2 refers to a driver whose actuator can rotate around the Z-axis and the X-axis. The Z-axis is vertical and the X-axis is horizontal. The rotation angle range of the probe of the scanning sonar 3 around the Z-axis is -180° to +180°, and the rotation angle range of the probe around the X-axis is -90° to +10°.

[0041] In addition, the monitoring device also includes auxiliary monitoring equipment such as a sonic velocity meter 31, an inclinometer 32, a tide gauge 33, a total station, as well as auxiliary monitoring equipment such as wireless data transmission equipment, a data processing and analysis system, an early warning system, and a power supply system. Such auxiliary monitoring equipment is not shown in the figure.

[0042] The sonic velocity meter 31 is used to correct the sound velocity of the water depth, the inclinometer 32 is used to calibrate the sonar installation attitude, the tide gauge 33 is used to correct the tide level data, and the total station is used to accurately measure the installation position, attitude and elevation of the dual-axis scanning sonar probe, so as to facilitate the correction of the elevation data to the corresponding reference surface during post-processing.

[0043] Reference Figure 2 、 Figure 3 and Figure 4 , the specific working principle of the monitoring device is:

[0044] The sonar system transmits pulses with a 2.8° conical beam width angle, an operating frequency of 330kHz, and a maximum range of 300m (slant range). First, when the sound pulse encounters an obstacle or the seabed, an echo signal will be reflected. After the sonar receives the echo signal, it forms an image based on the difference in signal delay and intensity. Secondly, the sonar probe rotates in steps at a certain horizontal and vertical angle, and repeats the transmission and reception process again. Finally, it rotates horizontally and vertically within a specified angle range to form a complete three-dimensional point cloud image. The sonar system can be set to a maximum horizontal viewing angle of 360°, a maximum vertical viewing angle of +5° to -90°, and a minimum range resolution of 1cm. The working principle of dual-axis scanning sonar: Dual-axis scanning sonar is an active sonar that uses a transmitting array to transmit sound pulses into the water, and uses the echoes generated by these pulses to measure the distance, locate, and identify underwater targets.

[0045] The scanning sonar probe is used as the reference point for the profile coordinates. The probe is defined as being in the z-0 plane and at the center of a circle (x=0, y=0). The direction of the 0° reference (y-axis) is determined by the index mark on the side of the housing. The reference point for the target coordinates is the rotation center of the XZ-axis actuator 2, which is located on the z-axis below the probe reference defined by the z-offset.

[0046] Scanning sonar continuously emits frequency-modulated waves, and when it encounters a target, it generates an echo. Since both the sonar and the target are stationary, 2R / c (where R represents distance and c represents the speed of sound) is used. The greater the target distance R, the longer the sound wave takes to return, and the greater the time difference f between the echo frequency and the transmission frequency at the same time. From the above analysis, we can see that f is closely related to R, and the relationship between the two can be expressed by the following formula:

[0047] f = 2R·S / (c·T);

[0048] Where R is the distance, S is the frequency modulation of the continuous signal, c is the speed of sound, and T is the frequency modulation period. The frequency decrease rate of the signal per unit time is S / T. After 2R / c, the frequency of the corresponding transmitted wave is reduced by (S / T)*(2R / c).

[0049] The target's echo and transmitted wave are sent to the mixer at the same time. The difference f can be calculated using a frequency selector at the output of the mixer, and the distance R value can be obtained, and the three-dimensional coordinates (X, Y, Z) of the target object relative to the sonar probe can be obtained.

[0050] The specific steps for obtaining the three-dimensional coordinates are as follows: After sound velocity correction, the slant distance r under the actual working conditions can be obtained.

[0051] Furthermore, combining the probe's rotation angle θ around the X-axis and the rotation angle φ around the Z-axis, and the slant distance r after sound velocity correction, the coordinates of the sampling point in the scanning sonar 3 probe coordinate system can be calculated according to the following formula:

[0052] x = r·sinθ·cosφ;

[0053] y = r·sinθ·sinφ;

[0054] z = r·cosθ;

[0055] Then, according to the geographic coordinates (x0, y0, z0) and attitude (heading, pitch, roll) of the scanning sonar 3 probe, the geographic coordinates (x i ,y i , z i ).

[0056] Specific workflow:

[0057] (1) Based on the value obtained by the sound velocity meter 31, the sound velocity correction is performed to obtain the distance r of the sampling point relative to the center of the scanning sonar 3 probe.

[0058] (2) Based on the value of the inclinometer 32 and the horizontal angle α and vertical angle β obtained by the XZ-axis driver 2, the incident angle of the sampling point relative to the center of the scanning sonar 3 probe is obtained.

[0059] (3) Through polar coordinate conversion, the three-dimensional coordinates (x, y, z) of the sampling point in the scanning sonar 3 probe coordinate system are obtained.

[0060] (4) According to the geographic coordinates (x0, y0, z0) and attitude (heading, pitch, roll) of the scanning sonar 3 probe measured by the total station and tide gauge 33, the geographic coordinates (x i ,y i , z i ).

[0061] (5) As each XZ-axis driver 2 carries the scanning sonar 3 to complete a 360-degree horizontal rotation and a 100-degree vertical rotation, each scanning sonar 3 completes a hemispherical scanning process;

[0062] (6) The hemispherical scanning data of the two scanning sonars 3 are spliced ​​together to form a set of three-dimensional images of the seabed topography and the bridge pier surface.

[0063] (7) By generating a set of three-dimensional images of the seabed topography and the bridge pier surface every day, the dynamic monitoring of the evolution of the entire process of bridge pier scouring can be realized, and the complete process of seabed scouring, silting, etc. can be recorded.

[0064] The data processing flow for converting three-dimensional polar coordinates into geographic coordinates is as follows:

[0065] (1) Data reception: The data processing and analysis system receives raw data in the form of an ASCII character string. The data content includes slant distance L0, horizontal angle Azimuth, and vertical angle Tilt.

[0066] (2) Slant distance correction: Based on the equipment sound speed S0 and the measured sound speed S, the slant distance is corrected according to the formula:

[0067] L=L0*(S / S0)

[0068] (3) 3D polar coordinate conversion: The original data is parsed into 3D polar coordinates / spherical polar coordinates (r, φ, θ) with the probe center as the sphere center, where r = L, φ = Azimuth, and θ = Tilt;

[0069] (4) Three-dimensional rectangular coordinate conversion: Convert the three-dimensional polar coordinates (r, φ, θ) into three-dimensional rectangular coordinates (x, y, z) according to the following formula. The origin of the three-dimensional rectangular coordinates is the center of the probe;

[0070] x=r* Cosθ*Sinφ;

[0071] y=r*Cosθ*Cosφ;

[0072] z=r*Sinθ;

[0073] (5) Position and attitude calibration: According to the installation position calibration parameters (a, b, c) and attitude calibration parameters (γ, α, β) of the equipment, the three-dimensional rectangular coordinates (x, y, z) with the center of the probe as the origin are transformed into the three-dimensional rectangular coordinates (x1, y1, z1) of the reference position.

[0074]

[0075] (6) Geographic coordinate transformation: According to the geographic coordinate offset (x offset ,y offset , z offset ), transform the three-dimensional rectangular coordinates (x1, y1, z1) of the reference position into the three-dimensional coordinates (x2, y2, z2) in the geographic coordinate system.

[0076]

[0077] The advantages of the monitoring device are: it overcomes the defects of other monitoring methods such as multi-beam systems, such as non-intuitive and untimely data, obtains full-coverage surface seabed topography data at specified time intervals, and conducts real-time scour monitoring of the seabed foundation around the bridge piers. It can provide calculation parameters and result verification for further revealing the evolution law of bridge pier scour through mathematical models, physical models and other means.

[0078] The data wireless transmission equipment transmits the raw data including slant distance, horizontal angle and vertical angle to the data processing and analysis system through the 4G network. The data processing and analysis system converts the raw data into three-dimensional polar coordinates, and then converts the three-dimensional polar coordinates into geographic coordinates based on the installation position and attitude calibration parameters of the equipment.

[0079] The early warning system is used to issue an alarm, and the power supply system is used to supply power to the aforementioned equipment.

[0080] (Second embodiment)

[0081] Due to the obstruction of the bridge pier itself, there will be blind spots on the left and right sides of the bridge pier. In order to solve this problem, this embodiment provides another dynamic monitoring device for the evolution of the whole process of bridge pier scouring based on sonar scanning. Figure 5 .

[0082] The monitoring device includes an equipment installation platform 1, a suspension, an XZ-axis driver 2 and a scanning sonar 3. Two equipment installation platforms 1 are respectively arranged on the side of the two bridge piers close to each other. The suspension spans the two equipment installation platforms 1 and is suspended above the water surface. The upstream and downstream sides of the suspension are respectively connected to two XZ-axis drivers 2. Each XZ-axis driver 2 is connected to a scanning sonar 3. The scanning sonar emits sound pulses into the water and uses the echoes generated by these pulses to measure the distance, locate and identify underwater targets. The XZ-axis driver 2 is used to drive the scanning sonar 3 to rotate around the horizontal and vertical axes, thereby collecting the geographic coordinates of the bridge pier surface.

[0083] Furthermore, the suspension includes two steel cables 4 and a sling perpendicular to the steel cables 4 and suspended below the steel cables 4. The two ends of the two steel cables 4 are respectively connected to the two equipment installation platforms 1, and the two XZ-axis drives 2 are both connected to the sling.

[0084] The steel cable 4 is inexpensive to manufacture, and the straightened steel cable 4 has good bearing capacity, which can support the XZ-axis driver 2 and the scanning sonar 3 to monitor the scouring conditions of the pier on the left and right sides of the pier, thereby eliminating blind spots.

[0085] Further, refer to Figure 5 、 Figure 6 、 Figure 7and Figure 8 Each steel cable 4 is connected to the two equipment installation platforms 1 through two pulleys 41 or winches, so that each steel cable 4 can perform a circular motion between the two equipment installation platforms 1, or be wound and released between the two equipment installation platforms 1, so that the sling connected to the steel cable 4 can move following the movement of the steel cable 4.

[0086] Shown in the figure are a pulley 41 and a motor 42 that drives the pulley 41 to rotate. The steel cable 4 wraps around the two pulleys 41 to form a closed loop. As the motor 42 drives the pulley 41 to rotate, the steel cable 4 performs a circular motion, thereby driving one end of the sling connected to the steel cable 4 to move accordingly. When the two steel cables 4 move in the same direction, the sling translates between the two bridge piers. When the two steel cables 4 move in opposite directions, the sling rotates between the two bridge piers.

[0087] This design allows workers to assemble the sling, XZ-axis drive 2 and scanning sonar 3 on the equipment installation platform 1 of a bridge pier, then move it between two bridge piers, and correct the distance between the scanning sonar 3 and the two bridge piers, as well as the angle between the arrangement direction of the two scanning sonars 3 and the direction of the water flow.

[0088] Furthermore, the sling includes two hanging parts 5 and a first telescopic rod 6. The two hanging parts 5 are fixedly connected to the two steel cables 4 respectively. The two telescopic ends of the first telescopic rod 6 are respectively connected to the two hanging parts 5. The first telescopic rod 6 is used to adaptively extend when the sling rotates, thereby adapting to the change in the horizontal distance between the two hanging parts 5.

[0089] Further, refer to Figure 5 and Figure 10 The hanging member 5 includes a sliding member 51 and a rotating member 52. The sliding member 51 can be slidably connected to the steel cable 4, and the rotating member 52 can be rotatably connected to the sliding member 51 around a vertical axis. The rotating member 52 is fixedly connected to the first telescopic rod 6, and a socket 524 for connecting to the first telescopic rod 6 is provided at the bottom of the rotating member 52.

[0090] Specifically, refer to Figure 10 The sliding member 51 is provided with a through hole 511 for the steel cable 4 to pass through. The sliding member 51 is also provided with a top screw 512 that passes through the sliding member 51 and can extend into the interior of the through hole 511 to press against the steel cable 4 to prevent the sliding member 51 from moving. A vertical rotating shaft 513 is provided at the bottom of the sliding member 51, and a radially outward extending annular flange 514 is provided at the bottom of the rotating shaft 513.

[0091] The interior of the rotating member 52 is provided with a rotating groove 521 in which the annular flange 514 can rotate, and the top of the rotating groove 521 is provided with a first slot 522 in which the rotating shaft 513 can be horizontally inserted, and the side of the rotating groove 521 is provided with a second slot 523 in which the annular flange 514 can be horizontally inserted into the rotating groove 521. The height of the second slot 523 in the vertical direction is equal to the height of the annular flange 514, and the height of the rotating groove 521 in the vertical direction is greater than the height of the annular flange 514, and the top of the rotating groove 521 is higher than the top of the second slot 523.

[0092] This design allows the staff to plug the sliding member 51 and the rotating member 52 in the horizontal direction, and the rotating member 52 can move downward under the action of gravity, so that the annular flange 514 is stuck in the part of the rotating groove 521 that is higher than the second slot 523, and then, when there is no external force, the sliding member 51 and the rotating member 52 can rotate relative to each other and cannot be separated.

[0093] Further, refer to Figure 5 In order to prevent the hanging member 5 from swinging and causing the first telescopic rod 6 to rotate, the sling also includes four hanging members 5, a second telescopic rod 7 and a balance rod 8.

[0094] The first telescopic rod 6, the second telescopic rod 7 and the balance rod 8 are parallel to each other. The second telescopic rod 7 is also connected to the two steel cables 4 through two hangers 5. The two ends of the balance rod 8 are respectively connected to the first telescopic rod 6 and the second telescopic rod 7 through two hangers 5.

[0095] The two steel cables 4, the first telescopic rod 6, the second telescopic rod 7 and the balance rod 8 respectively constitute two parallelogram mechanisms, thereby ensuring that the first telescopic rod 6 and the second telescopic rod 7 are always parallel, and the second telescopic rod 7 can prevent the first telescopic rod 6 from rotating, thereby preventing each hanging member 5 from swinging.

[0096] Further, refer to Figure 9 , both ends of the first telescopic rod 6 are equipped with lifting and lowering mounting rods 61, and the XZ-axis driver 2 is connected to the bottom end of the mounting rod 61. This design allows the staff to adjust the height of each XZ-axis driver 2, thereby adjusting the probe height of the scanning sonar 3.

[0097] The above embodiments are merely exemplary embodiments of the present invention and are not intended to limit the scope of the present invention. The scope of protection of the present invention is defined by the claims. Those skilled in the art may make various modifications or equivalent substitutions to the present invention within the spirit and scope of protection of the present invention, and such modifications or equivalent substitutions shall also be deemed to fall within the scope of protection of the embodiments of the present invention.

Claims

1. A dynamic monitoring device for the evolution of the entire process of bridge pier scour based on sonar scanning, characterized in that: It includes an equipment installation platform (1), an XZ axis driver (2), a scanning sonar (3), a total station, a data wireless transmission device, and a data processing and analysis system; Two XZ-axis drivers (2) are respectively provided on the water-facing side and the water-receiving side of the bridge pier, and the XZ-axis drivers (2) are connected to the bridge pier via the equipment installation platform (1). Each XZ-axis driver (2) is connected to a scanning sonar (3). The scanning sonar (3) emits acoustic pulses into the water, and measures the distance, locates, and identifies underwater targets through the echoes generated by these pulses. The XZ-axis driver (2) is used to drive the scanning sonar (3) to rotate around horizontal and vertical axes, thereby collecting geographic coordinates of the seabed and the surface of the bridge pier; The total station is used to accurately measure the installation position, attitude and elevation of the probe of the scanning sonar (3); the data wireless transmission device is used to transmit the original data including the slant distance, horizontal angle and vertical angle to the data processing and analysis system; the data processing and analysis system is used to convert the original data into three-dimensional polar coordinates, and then convert the three-dimensional polar coordinates into geographic coordinates in combination with the installation position and attitude calibration parameters of the device; It also includes a suspension, which spans the two bridge pier equipment installation platforms (1) and is suspended above the water surface. The suspension is connected to the sides of the two bridge piers close to each other through the equipment installation platforms (1), and the two XZ-axis drivers (2) are respectively arranged on the water-facing side and the water-receiving side of the suspension; The suspension comprises two steel cables (4) and a sling perpendicular to the steel cables (4) and suspended below the steel cables (4), the two ends of the two steel cables (4) are respectively connected to the two equipment installation platforms (1), and the two XZ-axis drives (2) are both connected to the sling.

2. The device for dynamic monitoring of the entire evolution of bridge pier scour based on sonar scanning according to claim 1 is characterized in that: The XZ-axis driver (2) includes an actuator capable of rotating around the Z-axis and the X-axis, the Z-axis is vertical, and the X-axis is horizontal. The range of the rotation angle of the actuator of the XZ-axis driver (2) around the Z-axis is -180° to +180°, and the range of the rotation angle around the X-axis is -90° to +10°.

3. The device for dynamic monitoring of the entire evolution of bridge pier scour based on sonar scanning according to claim 1 is characterized in that: A protective sleeve is installed on the outside of the scanning sonar (3).

4. The device for dynamic monitoring of the entire evolution of bridge pier scour based on sonar scanning according to claim 1 is characterized in that: It also includes a sonic velocity meter (31), an inclinometer (32), and a tide gauge (33). The sonic velocity meter (31) is used for correcting the sound velocity of the water depth, the inclinometer (32) is used for calibrating the installation attitude of the scanning sonar (3), and the tide gauge (33) is used for correcting tide level data.

5. The device for dynamic monitoring of the entire evolution of bridge pier scour based on sonar scanning according to claim 1 is characterized in that: Each of the steel cables (4) is connected to the two equipment installation platforms (1) via two pulleys (41), and the steel cables (4) pass around the two pulleys (41) to form a closed loop. The pulleys (41) are driven to rotate by a motor (42), so that each of the steel cables (4) can perform a cyclic motion between the two equipment installation platforms (1), and further, the sling connected to the steel cables (4) can move following the movement of the steel cables (4).

6. The device for dynamic monitoring of the entire evolution of bridge pier scour based on sonar scanning according to claim 5 is characterized in that: The sling comprises two hanging parts (5) and a first telescopic rod (6), the two hanging parts (5) are respectively fixedly connected to the two steel cables (4), the two telescopic ends of the first telescopic rod (6) are respectively connected to the two hanging parts (5), and the first telescopic rod (6) is used to adaptively extend when the sling rotates, thereby adapting to the change of the horizontal distance between the two hanging parts (5).

7. The device for dynamic monitoring of the entire evolution of bridge pier scour based on sonar scanning according to claim 6 is characterized in that: The hanging member (5) includes a sliding member (51) and a rotating member (52), wherein the sliding member (51) is slidably connected to the steel cable (4), and the rotating member (52) is rotatably connected to the sliding member (51) around a vertical axis, and the rotating member (52) is fixedly connected to the first telescopic rod (6); The sliding member (51) is provided with a through hole (511) for the steel cable (4) to pass through, and the sliding member (51) is also provided with a top screw (512) that passes through the sliding member (51) and can extend into the interior of the through hole (511) to press against the steel cable (4) to prevent the sliding member (51) from moving. The bottom of the sliding member (51) is provided with a vertical rotating shaft (513), and the bottom of the rotating shaft (513) is provided with an annular flange (514) extending radially outward. The rotating member (52) is provided with a rotating groove (521) inside which the annular flange (514) can rotate, and the top of the rotating groove (521) is provided with a first slot (522) into which the rotating shaft (513) can be horizontally inserted, and the side of the rotating groove (521) is provided with a second slot (523) into which the annular flange (514) can be horizontally inserted, the height of the second slot (523) in the vertical direction is equal to the height of the annular flange (514), the height of the rotating groove (521) in the vertical direction is greater than the height of the annular flange (514), and the top of the rotating groove (521) is higher than the top of the second slot (523).

8. The device for dynamic monitoring of the entire evolution of bridge pier scour based on sonar scanning according to claim 6 is characterized in that: The sling further comprises four hanging members (5), a second telescopic rod (7) and a balance rod (8), wherein the first telescopic rod (6), the second telescopic rod (7) and the balance rod (8) are parallel to each other, and the second telescopic rod (7) is also connected to the two steel cables (4) through the two hanging members (5), and the two ends of the balance rod (8) are respectively connected to the first telescopic rod (6) and the second telescopic rod (7) through the two hanging members (5), and the two steel cables (4), the first telescopic rod (6), the second telescopic rod (7) and the balance rod (8) respectively constitute two parallelogram mechanisms.

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