Sea-crossing underwater pier settlement measurement system and method

Abstract

The invention relates to a system and a method for measuring settlement of a bridge pier in sea-crossing water. The bottom of an unmanned aerial vehicle is in magnetic attraction connection with a first steel tray of an airborne electronic level gauge device through a first magnetic attraction device; a level leveling assembly and a second camera are arranged on the first steel tray, and the level leveling assembly is connected with a second magnetic suction device through a rotary adjusting assembly; before settlement observation and during settlement observation, the central controller controls the unmanned aerial vehicle to sequentially carry the airborne electronic level gauge devices to the metal measurement platforms of the corresponding piers for observation according to odd numbers, and the initial adjustment elevation and the observation adjustment elevation of each pier are obtained according to multiple sets of observation information so as to calculate the settlement value of each pier; only the unmanned aerial vehicle is used for placing the airborne electronic level gauge device on the odd-numbered bridge piers in the observation process, the observation steps are saved, the adjacent front and back bridge piers of the odd-numbered bridge piers are observed every time, and the problems that the underwater piers of the cross-sea high-speed rail bridge need to be manually and repeatedly up and down and the measurement operation precision is difficult to guarantee due to the too large number of the piers are solved.

Description

Technical Field

[0001] This application relates to the field of bridge construction, and particularly to a settlement measurement system and method for offshore underwater bridge piers. Background Art

[0002] The offshore high-speed rail underwater bridge piers are grand in scale, spanning thousands or even tens of thousands of meters across the water surface. The underwater bridge piers are far from the coast and numerous in number. During the construction of high-speed railways, it is required to conduct multiple settlement observations on each bridge pier for up to half a year to evaluate the stability of the bridge piers. At the same time, during the construction, the construction of the bridge piers is often completed in segments due to the influence of construction progress, geological conditions, construction environment, etc., and the settlement measurement workload is huge.

[0003] In related technologies, generally, the settlement of bridge piers is measured by manual leveling method, and the settlement of each bridge pier is measured one by one in sequence. It is necessary to manually go up and down the bridge pier repeatedly for measurement. However, due to cost control requirements for offshore high-speed rail underwater bridge piers, after the construction of each bridge pier is completed, the construction platform is reused to other bridge piers to be constructed, making it difficult for settlement measurement personnel to go up and down the bridge piers, and the measurement efficiency is extremely low. Therefore, the manual leveling method is not suitable for the settlement measurement of offshore high-speed rail underwater bridge piers. In related technologies, there is also a measurement method of using "GNSS station pier + total station measuring point pier" manually for the absolute settlement of long offshore bridges, that is, using manual GNSS to measure the elevations of several station piers, and then using a total station to conduct single total station differential trigonometric leveling measurement on the measuring point piers to obtain their settlements. This measurement method, first, for single total station differential trigonometric leveling measurement, as the length of the measurement line of sight increases, the accuracy decreases rapidly, and it is impossible to ensure the accuracy requirements for the settlement measurement of high-speed rail bridge piers. Second, for the measurement of "GNSS station pier + total station measuring point pier" manually, it is necessary to repeatedly go up and down the bridge pier for measurement, and the measurement efficiency is low. It can be seen that the related technologies have defects of being inapplicable to the settlement measurement of offshore high-speed rail underwater bridge piers, low measurement accuracy, and low efficiency. Summary of the Invention

[0004] The embodiments of this application provide a settlement measurement system and method for offshore underwater bridge piers to solve the problem in related technologies that for single total station differential trigonometric leveling measurement, as the length of the measurement line of sight increases, the accuracy decreases rapidly, and it is impossible to ensure the accuracy requirements for the measurement of a large number of underwater piers of offshore high-speed rail bridges.

[0005] In a first aspect, a settlement measurement system for offshore underwater bridge piers is provided, which includes:

[0006] An unmanned aerial vehicle (UAV), with a first magnetic attraction device and a first camera connected to its bottom;

[0007] An airborne electronic level device, which includes a first steel tray and a level adjustment component fixedly connected up and down. A second camera is provided on the level adjustment component; the bottom of the level adjustment component is connected with a second magnetic attraction device through a rotation adjustment component;

[0008] A central controller, which is used to control the magnetic connection between the first magnetic attraction device and the first steel tray, and is used to control the drone to sequentially carry the airborne electronic level device to the metal measurement platform of the corresponding pier according to odd numbers, and then control the first camera, the leveling component and the second magnetic attraction device to assist in alignment and leveling; control the leveling component, the second camera and the rotation adjustment component to conduct observations.

[0009] In some embodiments, the first magnetic attraction device includes a first circular tube, the bottom of the first circular tube is connected with a first electric control suction disk, and a first electric control switch signal-connected to the central controller is arranged on the first electric control suction disk; the number of the first cameras is multiple and they are distributed around the first circular tube;

[0010] The leveling component includes a second circular tube, the top of the second circular tube is connected with the bottom of the first steel tray, the bottom is connected with a first electronic level, and the bottom of the first electronic level is connected with a first numerical control leveler; the first electronic level has a telescope for reading the barcode ruler sticker of the pier, and the second camera is arranged on the first electronic level and directly below the telescope;

[0011] The second magnetic attraction device includes a second electric control suction disk fixedly connected with a numerical control motor, and a second electric control switch signal-connected to the central controller is arranged on the second electric control suction disk;

[0012] The rotation adjustment component includes a rotating shaft, the top of the rotating shaft is fixedly connected with the bottom of the first numerical control leveler, and the bottom is rotatably connected with the top of the second electric control suction disk; a disk gear is fixedly connected concentrically on the rotating shaft; the disk gear is engaged with a driving rod, and the bottom of the driving rod is connected with a numerical control motor.

[0013] In some embodiments, the cross-sea underwater pier settlement measurement system further includes an onshore Beidou receiver and two airborne Beidou receiver devices; the two airborne Beidou receiver devices are respectively carried to the metal measurement platforms of the starting pier and the terminal pier by drones;

[0014] The airborne Beidou receiver device includes a third electric control suction disk, a third electric control switch and a second numerical control leveler are arranged on the third electric control suction disk; a pier Beidou receiver and two second steel trays are arranged on the top of the second numerical control leveler, and the pier Beidou receiver has a second electronic level; the second steel trays are distributed on both sides of the pier Beidou receiver in the longitudinal direction of the bridge.

[0015] In a second aspect, a cross-sea underwater pier settlement measurement method is provided, which includes:

[0016] Provide a cross-sea underwater pier settlement measurement system;

[0017] Before the settlement observation, obtain the known initial elevations of the metal measurement platforms of the starting pier and the terminal pier, and number each target pier; use the central controller to control the drone to sequentially carry the airborne electronic level device to the metal measurement platforms of the corresponding piers according to the odd numbers for successive observations to obtain multiple groups of observation information; use the multiple groups of observation information and the known initial elevations to obtain the initial adjusted elevations of each target pier; the target piers include the piers between the starting pier and the terminal pier.

[0018] During the settlement observation, obtain the newly observed known initial elevations of the starting pier and the terminal pier; obtain the corresponding multiple groups of observation information during the settlement observation according to the steps of obtaining multiple groups of observation information before the settlement observation; use the multiple groups of observation information and the newly observed known initial elevations to obtain the observed adjusted elevations of each target pier.

[0019] Calculate the difference between the observed adjusted elevation and the initial adjusted elevation of each target pier, and calculate the difference between the known initial elevation and the newly observed known elevation of the starting pier and the terminal pier to obtain the settlement values of each pier.

[0020] In some embodiments, the steps of obtaining the initial adjusted elevation and the steps of obtaining the observed adjusted elevation are the same; the steps of obtaining the initial adjusted elevation specifically include the following steps:

[0021] Use the central controller to control the drone to fly above the airborne electronic level device; control the movement of the drone by checking the alignment situation with the first camera so that the first magnetic attraction device and the first steel tray are aligned, and after alignment, make the first magnetic attraction device and the first steel tray magnetically attracted.

[0022] Control the drone to sequentially carry the airborne electronic level device on the metal measurement platforms of the odd-numbered piers in ascending order of the numbers.

[0023] During the transportation process, use a group of observation information obtained from the metal measurement platform of the first odd-numbered pier and the known initial elevation HN0 of the metal measurement platform of the starting pier to calculate the initial elevation HN of the metal measurement platform of the current odd-numbered pier i，i＝1 , and the initial elevation HN of the metal measurement platform of the even-numbered pier immediately following the current odd-numbered pier in the transportation direction i+1，i＝1 ;

[0024] Then carry the airborne electronic level device to the metal measurement platform of the second odd-numbered pier and obtain a group of observation information again; use a group of observation information obtained from the metal measurement platform of the second odd-numbered pier and the initial elevation HN of the metal measurement platform of the even-numbered pier immediately preceding the current odd-numbered pier in the transportation direction i-1，i＝3 , and calculate the initial elevation HN of the metal measurement platform of the current odd-numbered pier i，i＝3, and the initial elevation HN of the metal measurement platform of the even pier immediately following the current odd pier in the conveying direction i+1，i＝3 ;

[0025] Using multiple groups of observation information of the metal measurement platforms of odd piers obtained from subsequent observations, the initial elevation HN of each remaining pier between the starting pier and the end pier is sequentially obtained according to the above steps i，i＝5、7、9、11...m ;

[0026] Based on the initial elevations corresponding to the starting pier and the end pier, and the initial elevations of each target pier, the initial adjusted elevation of each target pier is calculated.

[0027] In some embodiments, the leveling assembly includes a second round tube, the top of the second round tube is connected to the bottom of the first steel tray, and the bottom is connected with a first electronic level. The bottom of the first electronic level is connected with a first numerical control leveler; the first electronic level has a telescope for reading the pier bar code sticker, and on the first electronic level, and directly below the telescope is provided the second camera;

[0028] Using a set of observation information obtained from the metal measurement platform of the first odd pier and the known initial elevation HN0 of the metal measurement platform of the starting pier, the initial elevation HN of the metal measurement platform of the current odd pier is calculated i，i＝1 , and the initial elevation HN of the metal measurement platform of the even pier immediately following the current odd pier in the conveying direction i+1，i＝1 , specifically including the following steps:

[0029] Using the central controller to control the second magnetic attraction device to be magnetically attracted to the top surface of the metal measurement platform;

[0030] The central controller controls the rotation adjustment assembly to drive the leveling assembly and the second camera to rotate towards the starting pier; during the rotation process, the auxiliary leveling assembly is controlled to aim at and autofocus on the pier bar code sticker of the starting pier;

[0031] Controlling the first numerical control leveler to level, and after leveling, recording the first height value hN from the bottom of the first numerical control leveler to the center of the telescope of the first electronic level i，i＝ , and the second height value hN from the bottom of the second magnetic attraction device to the bottom of the first numerical control leveler i，i＝, meanwhile, control the first electronic level to read the back sight height reading hN of the pier bar code sticker on the starting pier; the central controller controls the rotation adjustment component to drive the level adjustment component and the second camera to rotate towards the first even pier adjacent to the starting pier, and during the rotation, control the auxiliary level adjustment component to aim at and autofocus on the pier bar code sticker of the first even pier adjacent to the starting pier; then control the first electronic level to read the front sight height reading h3N of the pier bar code sticker of the first even pier adjacent to the starting pier i+1，i＝1 , so as to obtain a set of the observation information;

[0032] According to formula one HN i，i＝1 = HN0 + h3N0 - (h1N i，i＝1 + h2N i，i＝1 ), calculate the initial elevation HN of the metal measurement platform of the current odd pier i，i＝1；

[0033] According to formula two HN i+1，i＝1 = HN0 + h3N0 - h3N i+1，i＝1 , calculate the initial elevation of the metal measurement platform of the even pier immediately following the current odd pier in the carrying direction.

[0034] In some embodiments, use a set of observation information obtained from the metal measurement platform of the second odd pier and the initial elevation HN of the metal measurement platform of the even pier immediately preceding the previous odd pier in the carrying direction i-1，i＝3 , calculate the initial elevation HN of the metal measurement platform of the current odd pier i，i＝3 , and the initial elevation HN of the metal measurement platform of the even pier immediately following the current odd pier in the carrying direction i+1，i＝3 , specifically including the following steps:

[0035] Use the central controller to control the second magnetic attraction device to magnetically connect with the top surface of the metal measurement platform;

[0036] The central controller controls the rotation adjustment component to drive the level adjustment component and the second camera to rotate towards the even pier immediately preceding the previous odd pier; during the rotation, control the auxiliary level adjustment component to aim at and autofocus on the pier bar code sticker of the even pier immediately preceding the previous odd pier;

[0037] Control the first numerical control leveler to level, and after leveling, record the first height value h1N from the bottom of the first numerical control leveler to the telescope center of the first electronic level i，i＝3 , and the second height value h2N from the bottom of the second magnetic attraction device to the bottom of the first numerical control leveler i，i＝3 , meanwhile, control the first electronic level to read the back sight height reading h3N of the pier bar code sticker of the even pier immediately preceding the previous odd pieri-1，i＝3 ; The central controller controls the rotation adjustment component to drive the level adjustment component and the second camera to rotate towards the even-numbered pier immediately following the current odd-numbered pier. During the rotation process, it controls the auxiliary level adjustment component to aim at and automatically focus on the pier barcode sticker of the even-numbered pier immediately following the current odd-numbered pier; then controls the first electronic level to read the foresight height reading h3N of the pier barcode sticker of the even-numbered pier immediately following the current odd-numbered pier i+1，i＝3 , so as to obtain a set of the observation information;

[0038] According to formula three HN i，i＝3 = HN i-1，i＝3 + h3N i-1，i＝3 -(h1N i，i＝3 + h2N i，i＝3 ), calculate the initial elevation HN of the metal measurement platform of the current odd-numbered pier i，i＝3；

[0039] According to formula four HN i+1，i＝3 = HN i-1，i＝3 + h3N i-1，i＝3 - h3N i+1，i＝3 , calculate the initial elevation HN of the metal measurement platform of the even-numbered pier immediately following the current odd-numbered pier in the carrying direction i+1，i＝3 .

[0040] In some embodiments, based on the initial elevations corresponding to the starting pier and the terminal pier, as well as the initial elevations of each target pier, calculate the initial adjusted elevations of each target pier, which specifically includes the following steps:

[0041] Calculate the elevation closure difference between the known elevation corresponding to the terminal pier and the known elevation corresponding to the starting pier;

[0042] Average the elevation closure difference and distribute it into the initial elevations corresponding to each target pier to obtain the initial adjusted elevations of each target pier.

[0043] In some embodiments, the cross-sea underwater pier settlement measurement system further includes an onshore Beidou receiver and two airborne Beidou receiver devices; the two airborne Beidou receiver devices are respectively carried to the metal measurement platforms of the starting pier and the terminal pier by drones; the airborne Beidou receiver device includes a third electric control suction disk, and a third electric control switch and a second numerical control leveler are arranged on the third electric control suction disk; a pier Beidou receiver and two second steel trays are arranged on the top of the second numerical control leveler, the pier Beidou receiver has a second electronic level, and the second steel trays are distributed on both sides of the pier Beidou receiver in the longitudinal direction of the bridge

[0044] Obtain the known initial elevations of the metal measurement platforms of the starting pier and the terminal pier, which specifically includes the following steps:

[0045] Use the central controller to control the first magnetic attraction device and the second steel tray magnetic attraction; then transport the two airborne Beidou receiver devices to the metal measurement platforms of the starting pier and the terminal pier respectively, and observe the alignment of the third electric control suction disk and the metal measurement platform through the first camera; after the alignment is completed, use the third electric control switch to magnetically connect the third electric control suction disk to the metal measurement platform, and then use the central controller to control the separation of the first magnetic attraction device and the second steel tray;

[0046] Use the central controller to control the second numerical control leveler of the two airborne Beidou receiver devices to level, and then use the second electronic level to record the height values HN from the bottom of the second numerical control leveler on the starting pier and the terminal pier to the antenna center of the pier Beidou receiver 0，0 and HN m+1，0 ; then use the two pier Beidou receivers and the onshore Beidou receiver to synchronously measure to obtain the antenna center elevation HN of the pier Beidou receiver on the top surface of the metal measurement platforms of the starting pier and the terminal pier 0，1 and HN m+1，1 as well as the heights HN of the two third electric control suction disks on the starting pier and the terminal pier 0，2 and HN m+1，2 ;

[0047] According to formula five HN0 = HN 0，1 -HN 0，0 -HN 0，2 , calculate the initial elevation HN0 of the starting pier;

[0048] According to formula six HN m+1 = HN m+1,1 -HN m+1，0 -HN m+1，2 , calculate the initial elevation HN of the terminal pier m+1 .

[0049] In some embodiments, when the known initial elevations of the metal measurement platforms of the starting pier and the terminal pier before and during the settlement observation are the first assumed value and the second assumed value, during the settlement observation, multiple periods of observations are carried out, and then the difference between the observed adjusted elevation of each target pier and its initial adjusted elevation is calculated, and the difference between the known initial elevation and the newly observed known observed elevation of the starting pier and the terminal pier is calculated. Finally, the steps of obtaining the settlement values of each pier are replaced by:

[0050] For each period of observation, calculate the difference between the observed adjusted elevation of each target pier and its initial adjusted elevation to obtain the relative settlement value of each target pier for each period;

[0051] Calculate the average value of the relative settlement values of each target pier after multiple - period observations, and then calculate the deviation between the average values of the relative settlement values of each target pier;

[0052] When the deviation between the average values of the relative settlement values of each target pier is less than the set value in the national settlement measurement specification, evaluate the stability of the pier settlement value based on the average value of the relative settlement values of each target pier after multiple - period observations; for the target piers with relative settlement values greater than the average value of their corresponding relative settlement values, increase the settlement observation frequency for settlement measurement until the relative settlement value corresponding to the target pier continuously is less than the average value of its corresponding relative settlement value.

[0053] The beneficial effects brought by the technical solution provided in this application include:

[0054] The embodiment of this application provides a cross - sea underwater pier settlement measurement system and method. Since the bottom of the unmanned aerial vehicle (UAV) is magnetically attracted to the first steel tray of the airborne electronic level device by the first magnetic attraction device; the first steel tray of the airborne electronic level device is connected to the level adjustment assembly, and a second camera is provided on the level adjustment assembly; the bottom of the level adjustment assembly is connected to the second magnetic attraction device through the rotation adjustment assembly; before and during the settlement observation, the central controller controls the UAV to sequentially transport the airborne electronic level device to the metal measurement platform of the corresponding pier according to odd numbers, and then controls the first camera, the level adjustment assembly and the second magnetic attraction device to assist in alignment and leveling; controls the level adjustment assembly, the second camera, and the rotation adjustment assembly to conduct observations; thereby obtaining the initial adjusted elevation and the observed adjusted elevation of each pier; respectively comparing the difference between the observed adjusted elevation and the initial adjusted elevation of each pier to obtain the settlement value of each pier; during the observation process, only need to place the airborne electronic level device on the odd - numbered piers, without placing it on each pier for observation, saving the observation steps; in addition, each time an odd - numbered pier observes its adjacent piers before and after, solving the problems that the traditional underwater pier settlement measurement requires manual repeated up - and - down of the underwater piers of the cross - sea high - speed railway bridge and it is difficult to ensure the measurement accuracy when the number of piers is extremely large. Description of the Drawings

[0055] In order to more clearly illustrate the technical solutions in the embodiments of this application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of this application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0056] Figure 1 It is a schematic diagram of the connection between the UAV and the airborne electronic level device provided by the embodiment of this application;

[0057] Figure 2Schematic structural diagram of the airborne electronic level device provided by the embodiment of the present application;

[0058] Figure 3 Schematic structural diagram of the airborne Beidou receiver device provided by the embodiment of the present application;

[0059] Figure 4 Schematic diagram after numbering multiple bridge piers provided by the embodiment of the present application;

[0060] Figure 5 Schematic flow diagram of the cross-sea underwater bridge pier settlement measurement method provided by the embodiment of the present application.

[0061] In the figure: 1, unmanned aerial vehicle; 2, first magnetic attraction device; 200, first round tube; 201, first electric control suction disk; 202, first electric control switch; 3, first camera; 4, first steel tray; 5, level adjustment assembly; 500, second round tube; 501, first electronic level; 502, first numerical control leveler; 503, telescope; 6, second camera; 7, rotation adjustment assembly; 700, rotating shaft; 701, disk gear; 702, driving rod; 703, numerical control motor; 8, second magnetic attraction device; 800, second electric control suction disk; 801, second electric control switch; 9, metal measurement platform; 10, airborne Beidou receiver device; 1000, three-electric control suction disk; 1001, third electric control switch; 1002, second numerical control leveler; 1003, second steel tray; 1004, bridge pier Beidou receiver. Specific implementation manners

[0062] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Apparently, the described embodiments are some but not all of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application.

[0063] The embodiment of the present application provides a cross-sea underwater bridge pier settlement measurement system and method to solve the problem in the related art that in single total station differential trigonometric leveling, as the measurement line-of-sight length increases, the accuracy decreases sharply, and it is impossible to ensure the measurement accuracy requirements when the number of underwater piers of a cross-sea high-speed railway bridge is extremely large.

[0064] In the first aspect, referring to Figure 1 and Figure 2 , a cross-sea underwater bridge pier settlement measurement system is first proposed for the above problems, which includes:

[0065] An unmanned aerial vehicle 1, with a first magnetic attraction device 2 and a first camera 3 connected to its bottom;

[0066] An airborne electronic level device, which includes a first steel tray 4 and a level adjustment component 5 fixedly connected up and down. A second camera 6 is provided on the level adjustment component 5; the bottom of the level adjustment component 5 is connected to a second magnetic attraction device 8 through a rotation adjustment component 7;

[0067] A central controller, which is used to control the magnetic attraction connection between the first magnetic attraction device 2 and the first steel tray 4, and is used to control the unmanned aerial vehicle 1 to carry the airborne electronic level device to the metal measurement platform 9 of the corresponding pier in sequence according to odd numbers, and then control the first camera 3, the level adjustment component 5 and the second magnetic attraction device 8 to assist in alignment and leveling; control the level adjustment component 5, the second camera 6, and the rotation adjustment component 7 to conduct observations.

[0068] Before and during the settlement observation, the central controller controls the unmanned aerial vehicle 1 to carry the airborne electronic level device to the metal measurement platform 9 of the corresponding pier in sequence according to odd numbers through the above system, and then controls the first camera 3, the level adjustment component 5 and the second magnetic attraction device 8 to assist in alignment and leveling; controls the level adjustment component 5, the second camera 6, and the rotation adjustment component 7 to conduct observations; thereby obtaining the initial adjusted elevation and the observed adjusted elevation of each pier; respectively comparing the difference between the observed adjusted elevation and the initial adjusted elevation of each pier to obtain the settlement value of each pier; during the observation process, only the airborne electronic level device needs to be placed on the odd-numbered piers, and it is not necessary to place it on each pier for observation, saving the observation steps; in addition, each time an odd-numbered pier corresponds to observing the adjacent piers before and after it, solving the problems that traditional settlement measurement of underwater piers requires manual repeated up and down of underwater piers of cross-sea high-speed railway bridges, and it is difficult to ensure the measurement accuracy due to a large number of piers.

[0069] In addition, each time an odd-numbered pier corresponds to observing the adjacent piers before and after it. This sentence can be understood as: the unmanned aerial vehicle 1 measures the odd-numbered piers in sequence. Taking the elevation of the previous pier as a reference, through the back sight level reading and the forward sight level reading, the elevations of the current odd-numbered pier and the next even-numbered pier are deduced.

[0070] In some preferred embodiments, the above device is described in detail:

[0071] The first magnetic attraction device 2 includes a first circular tube 200. The bottom of the first circular tube 200 is connected to a first electric control magnetic disk 201. A first electric control switch 202 signal-connected to the central controller is provided on the first electric control magnetic disk 201; the number of the first cameras 3 is multiple and they are distributed around the first circular tube 200; the first electric control switch 202 controls the magnetic attraction of the first electric control magnetic disk 201;

[0072] The level adjustment assembly 5 includes a second round tube 500. The top of the second round tube 500 is connected to the bottom of the first steel tray 4, and a first electronic level 501 is connected to the bottom. The bottom of the first electronic level 501 is connected to a first numerical control leveler 502. The first electronic level 501 has a telescope 503 for reading the pier bar code sticker. On the first electronic level 501 and directly below the telescope 503, there is a second camera 6. The second camera 6 is used to assist the first electronic level 501 in aiming and automatically focusing on the pier bar code sticker through the central processor.

[0073] The rotation adjustment assembly 7 includes a rotating shaft 700. The top of the rotating shaft 700 is fixedly connected to the bottom of the first numerical control leveler 502, and the bottom is rotatably connected to the top of the second electric control suction disk 800. A disk gear 701 is fixedly connected concentrically on the rotating shaft 700. The disk gear 701 meshes with a driving rod 702, and the bottom of the driving rod 702 is connected to a numerical control motor 703. The numerical control motor 703 can be used to rotate the level adjustment assembly 5 for front and back readings.

[0074] The second magnetic attraction device 8 includes a second electric control suction disk 800 fixedly connected to the numerical control motor 703. A second electric control switch 801 signal - connected to the central controller is provided on the second electric control suction disk 800. The second electric control switch 801 controls the magnetic attraction of the second electric control suction disk.

[0075] The first camera 3 is used to observe the alignment situation between the airborne electronic level device and the metal measurement platform 9, that is, the alignment situation between the second magnetic attraction device 8 and the metal measurement platform 9, and the alignment situation of the first steel tray 4 of the first magnetic attraction device 2.

[0076] In some preferred embodiments, refer to Figure 3 and Figure 4 , the cross - sea underwater pier settlement measurement system further includes an on - shore Beidou receiver and two airborne Beidou receiver devices 10. The two airborne Beidou receiver devices 10 are respectively transported to the metal measurement platforms 9 of the starting pier and the terminal pier by the unmanned aerial vehicle 1.

[0077] The airborne Beidou receiver device 10 includes a third electrically controlled suction disk 1000, on which there is a third electrically controlled switch 1001 and a second numerically controlled leveler 1002; on the top of the second numerically controlled leveler 1002, there are a pier Beidou receiver 1004 and two second steel trays 1003. The pier Beidou receiver 1004 has a second electronic level; the second steel trays 1003 are distributed on both sides of the pier Beidou receiver 1004 in the longitudinal direction of the bridge; the first camera 3 is also used to observe the alignment of the first magnetic attraction device 2 with the two second steel trays 1003; the Beidou receiver cooperates with the onshore Beidou receivers arranged at the known control points on both banks, and the onshore Beidou receivers and the two airborne Beidou receiver devices 10 cooperate with each other to obtain the known elevations of the starting pier N and the terminal pier. The specific steps for this acquisition are common steps and are well-known to those skilled in the art, so there is no need to elaborate further here.

[0078] The two second steel trays 1003 are slightly higher than the top of the Beidou receiver antenna, and the maximum distance between the outer edges of the two second steel trays 1003 is less than the diameter of the first magnetic attraction device 2 of the unmanned aerial vehicle device, which is convenient for the unmanned aerial vehicle device to hoist the airborne Beidou receiver device. The third electrically controlled switch 1001 is communicatively connected to the central processor and is used to magnetically attract the airborne Beidou receiver device to the metal measurement platform 9 according to the instructions of the central controller.

[0079] In addition, for a clear understanding of the solution of this application, the following introduction is provided:

[0080] The metal measurement platform 9 includes a platform and a support rod. The metal measurement platform 9 is horizontally installed on the same side of the cross-bridge direction of each pier, and its top surface serves as the measurement point for pier settlement measurement; the pier bar code scale sticker is vertically pasted on the side of the pier above the metal measurement platform 9 of each pier, and the lower end of the pier bar code scale sticker is at the same elevation as the top surface of the corresponding metal measurement platform 9; the central controller is communicatively connected to each electric and electronic component and each module of the unmanned aerial vehicle 1, the airborne electronic level device, and the airborne Beidou receiver device 10, receives and processes measurement data, and navigates, observes, hoists, and controls the operations of the unmanned aerial vehicle 1, the airborne electronic level device, and the airborne Beidou receiver device 10.

[0081] In the second aspect, referring to Figure 5 , a method for measuring the settlement of cross-sea underwater piers is provided, which includes the following steps:

[0082] Provide the above-mentioned cross-sea underwater pier settlement measurement system;

[0083] S1. Before the settlement observation, obtain the known initial elevations of the metal measurement platforms 9 of the starting pier and the terminal pier, and number each target pier; use the central controller to control the drone 1 to successively carry the on-board electronic level device to the metal measurement platforms 9 of the corresponding piers according to the odd numbers for successive observations to obtain multiple groups of observation information; use the multiple groups of observation information and the known initial elevations to obtain the initial adjusted elevations of each target pier; the target piers include the piers between the starting pier and the terminal pier; the numbering of each target pier can refer to Figure 4 the numbering description shown in m+1 ;

[0084] S2. During the settlement observation, obtain the newly observed known initial elevations of the starting pier and the terminal pier; obtain the corresponding multiple groups of observation information during the settlement observation according to the steps of obtaining multiple groups of observation information before the settlement observation; use the multiple groups of observation information and the newly observed known initial elevations to obtain the observed adjusted elevations of each target pier;

[0085] S3. Calculate the difference between the observed adjusted elevation and the initial adjusted elevation of each target pier, and calculate the difference between the known initial elevation and the newly observed known elevation of the starting pier and the terminal pier to obtain the settlement value of each pier.

[0086] In some preferred embodiments, the steps of obtaining the initial adjusted elevation and the steps of obtaining the observed adjusted elevation are the same; the steps of obtaining the initial adjusted elevation specifically include the following steps:

[0087] S11. Use the central controller to control the drone 1 to fly above the on-board electronic level device; control the movement of the drone 1 by checking the alignment situation with the first camera 3 to align the first magnetic attraction device 2 and the first steel tray 4, and after alignment, make the first magnetic attraction device 2 and the first steel tray 4 magnetically attracted; control the drone 1 to successively carry the on-board electronic level device on the metal measurement platforms 9 of the odd piers in ascending order of the numbers;

[0088] S12. During the transportation process, use a group of observation information obtained from the metal measurement platform 9 of the first odd pier and the known initial elevation HN0 of the metal measurement platform 9 of the starting pier to calculate the initial elevation HN of the metal measurement platform 9 of the current odd pier i，i＝1 , and the initial elevation HN of the metal measurement platform 9 of the even pier immediately following the current odd pier in the transportation direction i+1，i＝1 ;

[0089] S13. Then, transport the airborne electronic level device to the metal measurement platform 9 of the second odd-numbered pier, and obtain a set of observation information again; use a set of observation information obtained on the metal measurement platform 9 of the second odd-numbered pier and the initial elevation HN of the metal measurement platform 9 of the even-numbered pier immediately preceding the odd-numbered pier in the transport direction i-1，i＝3 , calculate the initial elevation HN of the metal measurement platform 9 of the current odd-numbered pier i，i＝3 , and the initial elevation HN of the metal measurement platform 9 of the even-numbered pier immediately following the current odd-numbered pier in the transport direction i+1，i＝3 ;

[0090] S14. Use multiple sets of observation information of the metal measurement platforms 9 of the odd-numbered piers obtained from subsequent observations to sequentially obtain the initial elevation HN of each remaining pier between the starting pier and the terminal pier according to the above steps i，i＝5、7、9、11...m ;

[0091] S15. Based on the initial elevations corresponding to the starting pier and the terminal pier, and the initial elevations of each target pier, calculate the initial adjusted elevation of each target pier.

[0092] That is to say, the UAV measures the odd-numbered piers in sequence. Taking the elevation of the pier immediately preceding the current odd-numbered pier as the reference, the elevation of the current odd-numbered pier and the next even-numbered pier is deduced through the back sight reading and the forward sight reading until all target piers are covered.

[0093] Furthermore, the steps included in S12 for observing on the first odd-numbered pier and calculating the initial elevation of the first odd-numbered pier and the initial elevation of the first even-numbered pier are described in detail:

[0094] The level adjustment component 5 includes a second round tube 500. The top of the second round tube 500 is connected to the bottom of the first steel tray 4, and a first electronic level 501 is connected to the bottom. The bottom of the first electronic level 501 is connected to a first numerical control leveler 502; the first electronic level 501 has a telescope 503 for reading the pier barcode sticker. On the first electronic level 501, and directly below the telescope 503, there is a second camera 6;

[0095] Use a set of observation information obtained on the metal measurement platform 9 of the first odd-numbered pier and the known initial elevation HN0 of the metal measurement platform 9 of the starting pier to calculate the initial elevation HN of the metal measurement platform 9 of the current odd-numbered pier i，i＝1 , and the initial elevation HN of the metal measurement platform 9 of the even-numbered pier immediately following the current odd-numbered pier in the transport direction i+1，i＝1 , specifically including the following steps:

[0096] The central controller is used to control the magnetic connection between the second magnetic attraction device 8 and the top surface of the metal measurement platform 9;

[0097] The central controller controls the rotation adjustment assembly 7 to drive the level adjustment assembly 5 and the second camera 6 to rotate towards the starting pier; during the rotation process, it controls the auxiliary level adjustment assembly 5 to aim at and autofocus on the pier barcode sticker of the starting pier;

[0098] Control the first numerical control leveler 502 to level, and record the first height value h1N from the bottom of the first numerical control leveler 502 to the center of the telescope 503 of the first electronic level 501 after leveling i，i＝1 , and the second height value h2N from the bottom of the second magnetic attraction device 8 to the bottom of the first numerical control leveler 502 i，i＝1 , and at the same time control the first electronic level 501 to read the backsight height reading h3N0 of the pier barcode sticker of the starting pier; the central controller controls the rotation adjustment assembly 7 to drive the level adjustment assembly 5 and the second camera 6 to rotate towards the first even pier adjacent to the starting pier, and controls the auxiliary level adjustment assembly 5 to aim at and autofocus on the pier barcode sticker of the first even pier adjacent to the starting pier during the rotation process; then control the first electronic level 501 to read the foresight height reading h3N of the pier barcode sticker of the first even pier adjacent to the starting pier i+1，i＝1 , so as to obtain a set of observation information;

[0099] According to formula one HN i，i＝1 = HN0 + h3N0 - h1N i，i＝1 + h2N i，i＝1 , calculate the initial elevation HN of the metal measurement platform 9 of the current odd pier i，i＝1；

[0100] According to formula two HN i+1，i＝1 = HN0 + h3N0 - h3N i+1，i＝1 , calculate the initial elevation of the metal measurement platform 9 of the even pier immediately following the current odd pier in the carrying direction.

[0101] Furthermore, step S13 includes a detailed description of the steps of observing on the second odd pier, calculating the initial elevation of the second odd pier, and the initial elevation of the second even pier:

[0102] Using a set of observation information obtained from the metal measurement platform 9 of the second odd pier and the initial elevation HN of the metal measurement platform 9 of the even pier immediately preceding the current odd pier in the carrying direction i-1，i＝3 , calculate the initial elevation HN of the metal measurement platform 9 of the current odd pier i，i＝3, and the initial elevation HN of the metal measurement platform 9 of the even pier immediately following the current odd pier in the carrying direction i+1，i＝3 , specifically including the following steps:

[0103] Use the central controller to control the second magnetic attraction device 8 to magnetically connect with the top surface of the metal measurement platform 9;

[0104] The central controller controls the rotation adjustment component 7 to drive the level adjustment component 5 and the second camera 6 to rotate towards the even pier immediately preceding the previous odd pier; during the rotation, control the auxiliary level adjustment component 5 to aim at and autofocus on the pier barcode sticker of the even pier immediately preceding the previous odd pier;

[0105] Control the first numerical control leveler 502 to level, and record the first height value h1N from the bottom of the first numerical control leveler 502 to the center of the telescope 503 of the first electronic level 501 after leveling i，i＝3 , and the second height value h2N from the bottom of the second magnetic attraction device 8 to the bottom of the first numerical control leveler 502 i，i＝3 , and at the same time control the first electronic level 501 to read the back sight height reading h3N of the pier barcode sticker of the even pier immediately preceding the previous odd pier i-1，i＝3 ; The central controller controls the rotation adjustment component 7 to drive the level adjustment component 5 and the second camera 6 to rotate towards the even pier immediately following the current odd pier, and during the rotation, control the auxiliary level adjustment component 5 to aim at and autofocus on the pier barcode sticker of the even pier immediately following the current odd pier; then control the first electronic level 501 to read the front sight height reading h3N of the pier barcode sticker of the even pier immediately following the current odd pier i+1，i＝3 , to obtain a set of observation information;

[0106] According to formula three HN i，i＝3 = HN i-1，i＝3 + h3N i-1，i＝3 - h1N i，i＝3 + h2N i，i＝3 , calculate the initial elevation HN of the metal measurement platform 9 of the current odd pier i，i＝3；

[0107] According to formula four HN i+1，i＝3 = HN i-1，i＝3 + h3N i-1，i＝3 - h3N i+1，i＝3 , calculate the initial elevation HN of the metal measurement platform 9 of the even pier immediately following the current odd pier in the carrying direction i+1，i＝3 .

[0108] If the above pier N m belongs to an even pier, pier N mThe initial elevation is obtained according to Formula 4, but note that at this time i＝m ;

[0109] If the terminal pier N m belongs to an odd pier, the initial elevation of pier N m is obtained according to Formula 3, but note that at this time i＝m .

[0110] The steps for obtaining the initial elevations of the above-mentioned target piers can be understood as follows:

[0111] For the initial elevations of the second pier N2 and other subsequent even piers, the airborne electronic level device measures and calculates them using the leveling method. That is, the airborne electronic level device set up on the metal measuring platform 9 of the first pier N1 takes the reading of the pier bar code sticker of the starting pier N0 as the backsight. According to the known initial elevation of the top surface of the metal measuring platform 9 of the starting pier N0, plus the reading of the pier bar code sticker of the starting pier N0 as the backsight, the backsight line of sight height of the first electronic level is obtained. Rotate the instrument to take the front sight of the pier bar code sticker of the second pier N2 and read the reading of the pier bar code sticker of the second pier N2. Use it to determine the backsight line of sight height of the first electronic level; then subtract the reading of the bar code sticker of the second pier N2 to obtain the initial elevation of the top surface of the metal measuring platform 9 of the second pier N2; then the airborne electronic level device set up on the metal measuring platform 9 of the third pier N3 takes the reading of the pier bar code sticker of the second pier N2 as the backsight. According to the initial elevation already obtained of the metal measuring 9 of the second pier N2, plus the reading of the pier bar code sticker of the second pier N2 as the backsight, the backsight line of sight height of the first electronic level is obtained. Rotate the instrument to take the front sight of the pier bar code sticker of the fourth pier N4 and read the reading of the pier bar code sticker of the fourth pier N4; use the backsight line of sight height of the first electronic level to subtract the reading of the pier bar code sticker of the fourth pier N4 to obtain the initial elevation of the top surface of the metal measuring platform 9 of the fourth pier N4; then set up at other odd piers in turn, take the even piers as the backsight in sequence, and obtain the initial elevations of the top surfaces of other even measuring platforms.

[0112] Furthermore, to explain step S15, based on the initial elevations corresponding to the starting pier and the terminal pier, and the initial elevations of each target pier, calculate the initial adjusted elevations of each target pier, which specifically includes the following steps:

[0113] Calculate the elevation closure difference between the known elevation corresponding to the terminal pier and the known elevation corresponding to the starting pier;

[0114] Average the elevation closure difference and distribute it to the initial elevations corresponding to each target pier to obtain the initial adjusted elevations of each target pier.

[0115] In some preferred embodiments, the steps of obtaining the known initial elevations of the new observations of the metal measurement platforms 9 of the starting pier and the ending pier are the same as the steps of obtaining the known initial elevations of the metal measurement platforms 9 of the starting pier and the ending pier, which will be explained below and specifically include the following steps:

[0116] The cross-sea underwater pier settlement measurement system further includes an onshore Beidou receiver and two airborne Beidou receiver devices 10; the two airborne Beidou receiver devices 10 are respectively carried to the metal measurement platforms 9 of the starting pier and the ending pier by the unmanned aerial vehicle 1; the airborne Beidou receiver device 10 includes a third electric control suction disk 1000, and a third electric control switch 1001 and a second numerical control leveler 1002 are arranged on the third electric control suction disk 1000; a pier Beidou receiver 1004 and two second steel trays 1003 are arranged on the top of the second numerical control leveler 1002, the pier Beidou receiver 1004 has a second electronic level, and the second steel trays 1003 are distributed on both sides of the pier Beidou receiver 1004 in the longitudinal direction of the bridge pier;

[0117] To obtain the known initial elevations of the metal measurement platforms 9 of the starting pier and the ending pier, it specifically includes the following steps:

[0118] Use the central controller to control the magnetic attraction of the first magnetic attraction device 2 and the second steel tray 1003; then carry the two airborne Beidou receiver devices 10 to the metal measurement platforms 9 of the starting pier and the ending pier respectively, and observe the alignment situation between the third electric control suction disk 1000 and the metal measurement platform 9 through the first camera 3; after the alignment is completed, use the third electric control switch 1001 to magnetically connect the third electric control suction disk 1000 to the metal measurement platform 9, and then use the central controller to control the separation of the first magnetic attraction device 2 and the second steel tray 1003;

[0119] Use the central controller to control the second numerical control levelers 1002 of the two airborne Beidou receiver devices 10 to level, and then use the second electronic level to record the height value HN from the bottom of the second numerical control leveler 1002 on the starting pier and the ending pier to the antenna center of the pier Beidou receiver 1004 0，0 and HN m+1，0 ; then use the two pier Beidou receivers 1004 and the onshore Beidou receiver to synchronously measure to obtain the antenna center elevation HN 0，1 and HN m+1，1 of the pier Beidou receiver 1004 on the top surface of the metal measurement platforms 9 of the starting pier and the ending pier, as well as the height HN 0，2 and HN m+1，2 of the two third electric control suction disks 1000 on the starting pier and the ending pier;

[0120] According to formula five HN0 = HN 0，1 -HN 0，0-HN 0，2 , calculate the initial elevation HN0 of the starting pier;

[0121] According to formula six HN m+1 = HN m+1,1 -HN m+1，0 -HN m+1，2 , calculate the initial elevation HN m+1 of the terminal pier.

[0122] In some preferred embodiments, in the case where the known initial elevation of the top surface of the metal measurement platform 9 of the starting pier N0 and the terminal pier N m+1 at both ends is not obtained and their newly observed known observation elevations, it is possible to assume the known initial elevation of the top surface of the metal measurement platform 9 of the starting pier N0 and the terminal pier N m+1 . The specific steps are as follows:

[0123] When the known initial elevations of the metal measurement platforms 9 of the starting pier and the terminal pier before and during the settlement observation are the first assumed value and the second assumed value, multiple observations are carried out during the settlement observation. Then, the steps of calculating the difference between the observed adjusted elevation and the initial adjusted elevation of each target pier, calculating the difference between the known initial elevation and the newly observed known observation elevation of the starting pier and the terminal pier, and finally obtaining the settlement value of each pier are replaced by:

[0124] For each observation period, calculate the difference between the observed adjusted elevation and the initial adjusted elevation of each target pier to obtain the relative settlement value of each target pier in each observation period;

[0125] Calculate the average value of the relative settlement values of each target pier after multiple observations, and then calculate the deviation between the average values of the relative settlement values of each target pier;

[0126] When the deviation between the average values of the relative settlement values of each target pier is less than the set value of the national settlement measurement specification, based on the average value of the relative settlement values of each target pier after multiple observations, evaluate the stability of the pier settlement value; for the target pier with a relative settlement value greater than the average value of its corresponding relative settlement value, increase the settlement observation frequency for settlement measurement until the relative settlement value corresponding to the target pier is continuously less than the average value of its corresponding relative settlement value.

[0127] Advantages of the present application:

[0128] (1) The present application makes full use of the cross-sea bridge pier settlement measurement system to observe the settlement value of the cross-sea high-speed rail bridge piers in water, solves the problem of the traditional settlement measurement of piers in water that requires manual repeated up and down measurement operations on a large number of piers in the cross-sea high-speed rail, and has high observation efficiency and low safety risk.

[0129] (2) This application uses an airborne electronic level device to optimize the leveling measurement method as "measuring the height of the even-numbered bridge piers by themselves + leveling measurement of the odd-numbered bridge piers", quickly and precisely obtaining the leveling height difference between each bridge pier, greatly improving the settlement measurement accuracy. The relative settlement values of each bridge pier can be obtained preferentially based on the leveling height difference between each bridge pier, which is conducive to the assessment of the settlement stability of the underwater bridge piers of the cross-sea high-speed railway. Assisting the elevation measurement of the Beidou receiver, the absolute settlement amount of the bridge pier can be obtained.

[0130] (3) This application uses a settlement measurement method of "leveling measurement + Beidou receiver". Compared with the related technology of "GNSS station pier + total station measurement pier", it is not restricted by the sight distance of the total station trigonometric leveling measurement. It is applicable to the overall integrated settlement measurement of all underwater piers of a cross-sea high-speed railway bridge dozens of kilometers long, without the need to measure each section of the overall bridge segment by segment. It is also applicable to the settlement measurement of each pier within each local underwater pier section, including sections several kilometers or even dozens of kilometers long, after the construction of each local underwater pier section, including sections several kilometers or even dozens of kilometers long, is completed.

[0131] (4) This application uses an airborne measurement device to achieve less manpower operation and unmanned on-site measurement operations. Without the need for manual contact with the measurement platform of the bridge pier, the settlement measurement can be completed, meeting the requirements of the settlement measurement of the underwater bridge piers of the cross-sea high-speed railway.

[0132] In the description of this application, it should be noted that the orientation or positional relationship indicated by terms such as "upper" and "lower" is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to this application. Unless otherwise clearly specified and defined, the terms "installation", "connection", and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0133] It should be noted that in this application, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variation thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising said element.

[0134] The above are only specific embodiments of the present application, enabling those skilled in the art to understand or implement the present application. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but rather to the broadest scope consistent with the principles and novel features claimed herein.

Claims

1. A cross-sea underwater bridge pier settlement measurement system, characterized in that, It includes: An unmanned aerial vehicle (1) with a first magnetic attraction device (2) and a first camera (3) connected to its bottom; An on-board electronic level device, which includes a first steel tray (4) and a level adjustment component (5) fixedly connected up and down. A second camera (6) is provided on the level adjustment component (5); the bottom of the level adjustment component (5) is connected to a second magnetic attraction device (8) through a rotation adjustment component (7); A central controller, which is used to control the magnetic attraction connection between the first magnetic attraction device (2) and the first steel tray (4), and is used to control the unmanned aerial vehicle (1) to sequentially transport the on-board electronic level device to the metal measurement platform (9) of the corresponding bridge pier according to odd numbers, and then control the first camera (3), the level adjustment component (5) and the second magnetic attraction device (8) to assist in alignment and leveling; control the level adjustment component (5), the second camera (6) and the rotation adjustment component (7) to conduct observations.

2. The cross-sea underwater bridge pier settlement measurement system according to claim 1, wherein: The first magnetic attraction device (2) includes a first circular tube (200), the bottom of the first circular tube (200) is connected with a first electric control suction disc (201), and a first electric control switch (202) signal-connected to the central controller is provided on the first electric control suction disc (201); the number of the first cameras (3) is multiple and they are distributed around the first circular tube (200); The level adjustment component (5) includes a second circular tube (500), the top of the second circular tube (500) is connected to the bottom of the first steel tray (4), the bottom is connected with a first electronic level (501), and the bottom of the first electronic level (501) is connected with a first numerical control leveler (502); the first electronic level (501) has a telescope (503) for reading the barcode ruler sticker of the bridge pier. On the first electronic level (501) and directly below the telescope (503), the second camera (6) is provided; The second magnetic attraction device (8) includes a second electric control suction disc (800) fixedly connected to a numerical control motor (703), and a second electric control switch (801) signal-connected to the central controller is provided on the second electric control suction disc (800); The rotation adjustment component (7) includes a rotating shaft (700), the top of the rotating shaft (700) is fixedly connected to the bottom of the first numerical control leveler (502), and the bottom is rotatably connected to the top of the second electric control suction disc (800); a disc gear (701) is fixedly connected concentrically on the rotating shaft (700); the disc gear (701) meshes with a driving rod (702), and the bottom of the driving rod (702) is connected with a numerical control motor (703).

3. The cross-sea underwater bridge pier settlement measurement system according to claim 1, wherein: The cross-sea underwater bridge pier settlement measurement system further includes a shore-based Beidou receiver and two on-board Beidou receiver devices (10); the two on-board Beidou receiver devices (10) are respectively transported to the metal measurement platforms (9) of the starting bridge pier and the terminal bridge pier by the unmanned aerial vehicle (1); The airborne Beidou receiver device (10) includes a third electrically controlled suction disk (1000), on which a third electrically controlled switch (1001) and a second numerically controlled leveler (1002) are provided; on the top of the second numerically controlled leveler (1002), there are a pier Beidou receiver (1004) and two second steel trays (1003), and the pier Beidou receiver (1004) has a second electronic level; the second steel trays (1003) are distributed on both sides of the pier Beidou receiver (1004) in the longitudinal direction of the bridge pier.

4. A method for measuring the settlement of a cross-sea water pier, characterized in that: Provide the cross-sea water pier settlement measurement system as described in claim 1; Before the settlement observation, obtain the known initial elevations of the metal measurement platforms (9) of the starting pier and the terminal pier, and number each target pier; use the central controller to control the drone (1) to successively transport the airborne electronic level device to the metal measurement platforms (9) of the corresponding piers according to the odd numbers for successive observations to obtain multiple groups of observation information; Use the multiple groups of observation information and the known initial elevations to obtain the initial adjusted elevations of each target pier; the target piers include the piers between the starting pier and the terminal pier; During the settlement observation, obtain the newly observed known initial elevations of the starting pier and the terminal pier; obtain the corresponding multiple groups of observation information during the settlement observation according to the steps of obtaining multiple groups of observation information before the settlement observation; Use the multiple groups of observation information and the newly observed known initial elevations to obtain the observed adjusted elevations of each target pier; Calculate the difference between the observed adjusted elevation and the initial adjusted elevation of each target pier, and calculate the difference between the known initial elevation and the newly observed known observed elevation of the starting pier and the terminal pier to obtain the settlement value of each pier.

5. The method for measuring the settlement of a cross-sea water pier as described in claim 4, characterized in that: The steps of obtaining the initial adjusted elevation and the steps of obtaining the observed adjusted elevation are the same; the steps of obtaining the initial adjusted elevation specifically include the following steps: Use the central controller to control the drone (1) to fly above the airborne electronic level device; use the alignment situation checked by the first camera (3) to control the movement of the drone (1) so that the first magnetic attraction device (2) and the first steel tray (4) are aligned, and after alignment, make the first magnetic attraction device (2) and the first steel tray (4) magnetically attracted; Control the drone (1) to successively transport the airborne electronic level device onto the metal measurement platforms (9) of the odd-numbered piers in ascending order of the numbers; During the transportation process, using a set of observation information obtained from the metal measurement platform (9) of the first odd pier and the known initial elevation HN0 of the metal measurement platform (9) of the starting pier, the initial elevation HN of the metal measurement platform (9) of the current odd pier is calculated i，i＝1 , and the initial elevation HN of the metal measurement platform (9) of the even pier immediately following the current odd pier in the transportation direction i+1，i＝1 ; Then, the airborne electronic level device is transported to the metal measurement platform (9) of the second odd-numbered pier, and a set of observation information is obtained again; using a set of observation information obtained on the metal measurement platform (9) of the second odd-numbered pier and the initial elevation HN of the metal measurement platform (9) of the even-numbered pier immediately preceding the odd-numbered pier in the transport direction i-1，i＝3 , the initial elevation HN of the metal measurement platform (9) of the current odd-numbered pier is calculated i，i＝3 , and the initial elevation HN of the metal measurement platform (9) of the even-numbered pier immediately following the current odd-numbered pier in the transport direction i+1，i＝3 ; The initial elevation HN of each remaining pier between the starting pier and the terminal pier is obtained in sequence according to the above steps by using multiple groups of observation information of the metal measurement platform (9) of the odd-numbered piers obtained from subsequent observations i，i＝5、7、9、11...m ; Based on the initial elevations corresponding to the starting pier and the terminal pier, and the initial elevations of each target pier, calculate the initial adjusted elevations of each target pier.

6. The method for measuring the settlement of a cross-sea water pier as described in claim 5, characterized in that: The leveling component (5) includes a second circular tube (500). The top of the second circular tube (500) is connected to the bottom of the first steel tray (4), and a first electronic level (501) is connected to the bottom. A first numerical control leveler (502) is connected to the bottom of the first electronic level (501); the first electronic level (501) has a telescope (503) for reading the pier bar code sticker. On the first electronic level (501), and directly below the telescope (503), there is the second camera (6); Using a set of observation information obtained from the metal measurement platform (9) of the first odd pier and the known initial elevation HN0 of the metal measurement platform (9) of the starting pier, calculate the initial elevation HN of the metal measurement platform (9) of the current odd pier i，i＝1 , and the initial elevation HN of the metal measurement platform (9) of the even pier immediately following the current odd pier in the carrying direction i+1，i＝1 , specifically including the following steps: The central controller is used to control the second magnetic attraction device (8) to magnetically connect with the top surface of the metal measurement platform (9); The central controller controls the rotation adjustment component (7) to drive the leveling component (5) and the second camera (6) to rotate towards the starting pier; during the rotation process, it controls the auxiliary leveling component (5) to aim at and autofocus on the pier bar code sticker of the starting pier; Control the first numerically controlled leveler (502) to level, and record the first height value h1N from the bottom of the first numerically controlled leveler (502) to the center of the telescope (503) of the first electronic level (501) after leveling i，i＝1 , and the second height value h2N from the bottom of the second magnetic attraction device (8) to the bottom of the first numerically controlled leveler (502) i，i＝1 , at the same time, control the first electronic level (501) to read the back sight height reading h3N0 of the pier bar code sticker of the starting pier; the central controller controls the rotation adjustment component (7) to drive the level leveling component (5) and the second camera (6) to rotate towards the first even pier adjacent to the starting pier, and during the rotation, control the auxiliary level leveling component (5) to aim at and automatically focus on the pier bar code sticker of the first even pier adjacent to the starting pier; then control the first electronic level (501) to read the forward sight height reading h3N of the pier bar code sticker of the first even pier adjacent to the starting pier i+1，i＝1 , so as to obtain a set of the observation information According to Formula 1 HN i，i＝1 = HN0 + h3N0 - (h1N i，i＝1 + h2N i，i＝1 ), the initial elevation HN of the metal measurement platform (9) of the current odd-numbered pier is calculated i，i＝1； According to Formula 2 HN i+1，i＝1 = HN0 + h3N0 - h3N i+1，i＝1 , the initial elevation of the metal measurement platform (9) of the even pier immediately following the current odd pier in the conveying direction is calculated.

7. The method for measuring the settlement of a pier in cross-sea water as described in claim 6, wherein Using a set of observation information obtained from the metal measurement platform (9) of the second odd pier and the initial elevation HN of the metal measurement platform (9) of the even pier immediately preceding the odd pier in the conveying direction i-1，i＝3 , the initial elevation HN of the metal measurement platform (9) of the current odd pier is calculated i，i＝3 , and the initial elevation HN of the metal measurement platform (9) of the even pier immediately following the current odd pier in the conveying direction i+1，i＝3 , specifically including the following steps: The central controller is used to control the second magnetic attraction device (8) to magnetically connect with the top surface of the metal measurement platform (9); The central controller controls the rotation adjustment component (7) to drive the leveling component (5) and the second camera (6) to rotate towards the even pier immediately following the previous odd pier; during the rotation process, it controls the auxiliary leveling component (5) to aim at and autofocus on the pier bar code sticker of the even pier immediately following the previous odd pier; Control the first numerically controlled leveler (502) to level, and record the first height value h1N from the bottom of the first numerically controlled leveler (502) to the center of the telescope (503) of the first electronic level (501) after leveling i，i＝3 , and the second height value h2N from the bottom of the second magnetic attraction device (8) to the bottom of the first numerically controlled leveler (502) i，i＝3 , and at the same time control the first electronic level (501) to read the back sight height reading h3N of the pier bar code sticker of the even-numbered pier immediately preceding the odd-numbered pier i-1，i＝3 ; The central controller controls the rotation adjustment component (7) to drive the level adjustment component (5) and the second camera (6) to rotate towards the even-numbered pier immediately following the current odd-numbered pier, and controls the auxiliary level adjustment component (5) to aim at and autofocus on the pier bar code sticker of the even-numbered pier immediately following the current odd-numbered pier during the rotation; then control the first electronic level (501) to read the forward sight height reading h3N of the pier bar code sticker of the even-numbered pier immediately following the current odd-numbered pier i+1，i＝3 , so as to obtain a set of the observation information; According to formula three HN i，i＝3 = HN i-1，i＝3 + h3N i-1，i＝3 - (h1N i，i＝3 + h2N i，i＝3 ), the initial elevation HN of the metal measuring platform (9) of the current odd-numbered pier is calculated i，i＝3； According to formula four HN i+1，i＝3 = HN i-1，i＝3 + h3N i-1，i＝3 - h3N i+1，i＝3 , the initial elevation HN of the metal measurement platform (9) of the even pier immediately following the current odd pier in the carrying direction is calculated i+1，i＝3 .

8. The method for measuring the settlement of a bridge pier in the sea as claimed in claim 7, wherein, Based on the initial elevations corresponding to the starting pier and the terminal pier, as well as the initial elevations of each target pier, the initial adjusted elevation of each target pier is calculated, which specifically includes the following steps: Calculate the elevation closing error between the known elevation corresponding to the terminal pier and the known elevation corresponding to the starting pier; Evenly distribute the elevation closing error into the initial elevations corresponding to each target pier to obtain the initial adjusted elevation of each target pier.

9. The cross-sea underwater pier settlement measurement method according to claim 4, characterized in that: The cross-sea underwater pier settlement measurement system further includes an onshore Beidou receiver and two airborne Beidou receiver devices (10); the two airborne Beidou receiver devices (10) are respectively transported to the metal measurement platforms (9) of the starting pier and the terminal pier by the unmanned aerial vehicle (1); the airborne Beidou receiver device (10) includes a third electric control suction disk (1000), and a third electric control switch (1001) and a second numerical control leveler (1002) are arranged on the third electric control suction disk (1000); on the top of the second numerical control leveler (1002), there are a pier Beidou receiver (1004) and two second steel trays (1003). The pier Beidou receiver (1004) has a second electronic level, and the second steel trays (1003) are distributed on both sides of the pier Beidou receiver (1004) in the longitudinal direction of the bridge; Obtain the known initial elevations of the metal measurement platforms (9) of the starting pier and the terminal pier, which specifically includes the following steps: Use the central controller to control the magnetic attraction between the first magnetic attraction device (2) and the second steel tray (1003); then transport the two airborne Beidou receiver devices (10) to the metal measurement platforms (9) of the starting pier and the terminal pier respectively, and observe the alignment situation between the third electric control suction plate (1000) and the metal measurement platform (9) through the first camera (3); after the alignment is completed, use the third electric control switch (1001) to magnetically connect the third electric control suction plate (1000) to the metal measurement platform (9), and then use the central controller to control the separation of the first magnetic attraction device (2) and the second steel tray (1003); The second numerical control leveler (1002) of two airborne Beidou receiver devices (10) is controlled by a central controller for leveling. Then, the second electronic level is used to record the height values HN from the bottom of the second numerical control leveler (1002) to the antenna center of the pier Beidou receiver (1004) on the starting pier and the terminal pier. 0，0 and HN m+1，0 Then, synchronous measurements are carried out using the two pier Beidou receivers (1004) and the onshore Beidou receiver to obtain the antenna center elevation HN of the pier Beidou receiver (1004) on the top surface of the metal measurement platforms (9) of the starting pier and the terminal pier. 0，1 and HN m+1，1 , as well as the heights HN of the two third electrically controlled suction disks (1000) on the starting pier and the terminal pier. 0，2 and HN m+1，2 ; According to Formula Five HN0 = HN 0，1 - HN 0，0 - HN 0，2 , calculate the initial elevation HN0 of the starting pier; According to Formula VI HN m+1 = HN m+1,1 - HN m+1，0 - HN m+1，2 , calculate the initial elevation HN of the terminal pier m+1 .

10. The cross-sea underwater pier settlement measurement method according to claim 8, wherein: When the known initial elevations of the metal measurement platforms (9) of the starting pier and the terminal pier before and during the settlement observation are the first assumed value and the second assumed value, perform multi-period observations during the settlement observation, and then calculate the difference between the observed adjusted elevation and the initial adjusted elevation of each target pier, and calculate the difference between the known initial elevation and the newly observed known observed elevation of the starting pier and the terminal pier, and finally obtain the settlement value of each pier by replacing the steps with: For each period of observation, calculate the difference between the observed adjusted elevation and the initial adjusted elevation of each target pier to obtain the relative settlement value of each target pier in each period; Calculate the average value of the relative settlement values of each target pier after multi-period observations, and then calculate the deviation between the average values of the relative settlement values of each target pier; When the deviation between the average values of the relative settlement values of each target pier is less than the set value of the national settlement measurement specification, evaluate the stability of the pier settlement value based on the average value of the relative settlement values of each target pier after multi-period observations; for the target pier with a relative settlement value greater than the average value of its corresponding relative settlement value, increase the settlement observation frequency for settlement measurement until the relative settlement value corresponding to the target pier is continuously less than the average value of its corresponding relative settlement value.

Images