Recyclable overwater float-type pier scouring monitoring system and method

Abstract

The invention relates to the technical field of pier scouring monitoring, and discloses a recoverable overwater float type pier scouring monitoring system and method, and the core is to realize convenient recovery and reuse of monitoring equipment. The system comprises a buoy platform of a streamline arrow structure, a sonar terrain scanning module installed on a tail truss of the buoy platform, a high-precision satellite positioning module, a shore-based video monitoring unit and a coiling mechanism. The buoy platform is connected with a shore base through a composite mooring rope, and a driving motor in the winding mechanism can wind and unwind the mooring rope, so that the buoy is controlled to be released and recovered in water. And the control unit intelligently triggers the release or recovery action according to the video information, the positioning data and the state information fed back by the cable gravity sensor. Through shore-based power supply and controllable retraction and release, the buoy can be quickly retracted to the shore after a task is finished or in danger, automatic repeated monitoring is realized, the equipment safety, the use economy and the deployment flexibility are improved, and the device is suitable for circular and long-term monitoring of the bridge pier.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of pier scour monitoring, in particular to a recyclable water floating buoy type pier scour monitoring system and method. BACKGROUND

[0002] Local scour of piers is a hidden disaster that directly threatens the safety of bridge foundations. Developing an efficient, reliable and sustainable monitoring technology is a long-term challenge in the field of engineering safety. The existing technical solutions have systematic defects in measurement principle, deployment method and long-term reliability. First, in the measurement end, the mainstream technology is trapped in a dilemma: contact-type measurement devices, such as sensors fixed in the riverbed, will change the local flow field by their installation foundation itself, forming a paradox of "observer interfering with observed target", and are easily damaged during flood season, with low reliability and high maintenance cost; while non-contact measurement on the shore, such as monocular video or radar, is limited by distance, weather and viewing angle, especially cannot accurately penetrate water surface fluctuations to obtain real riverbed topography data, and has insufficient accuracy and high false alarm rate in judging the three-dimensional position of reference objects, especially the elevation.

[0003] The more prominent bottleneck is the flexibility and sustainability of system deployment. Most existing monitoring solutions use a "one-time" fixed installation mode, with devices permanently bound to specific piers, which cannot be recycled, relocated or reused, resulting in high costs and difficulty in large-scale promotion. In addition, most water monitoring devices rely on built-in batteries for power supply, and limited power supply seriously restricts their long-term and continuous working ability, while frequent battery replacement brings huge maintenance burden and safety risks. The system also lacks intelligence and safety: the traditional single-point trigger alarm mechanism cannot effectively distinguish between real scour and accidental events such as device entanglement or collision by floating objects, lacks cross-validation ability of multi-source information fusion, and also lacks an intelligent recycling mechanism to actively protect expensive monitoring devices from impact or loss under extreme hydrological conditions. Therefore, there is an urgent need for a recyclable water floating buoy type pier scour monitoring system and method to solve the above problems. SUMMARY

[0004] To solve the above problems, the present application provides a recyclable water floating buoy type pier scour monitoring system and method, which can minimize measurement interference, achieve accurate spatiotemporal data collection, have intelligent discrimination ability, and fundamentally solve the problems of power supply, recyclable reuse and device safety. The present application is implemented as follows:

[0005] A recyclable water floating buoy type pier scour monitoring system, comprising:

[0006] A buoy platform (1) is a streamlined arrow structure with a sharp bow and a wide stern, comprising a sealed main cabin (11) and an open truss structure (12) arranged laterally downward at the tail of the main cabin;

[0007] A terrain scanning module (2) is a sonar detection device, comprising an underwater unit (21) fixedly installed on the open truss structure (12) and a signal processing unit (22) arranged in the sealed cabin of the main cabin (11); the underwater unit (21) comprises a sonar sensor array (221), a motion sensor (222), a surface sound velocity probe (223) and a compass (224), wherein the sonar sensor array (221) faces underwater; the underwater unit (21) is communicatively connected with the signal processing unit (22) through a watertight cable;

[0008] A high-precision satellite positioning module (3) is used to receive satellite signals and differential correction data to output real-time absolute geographic coordinates of the buoy platform (1) with centimeter-level precision, and its antenna (31) is fixedly installed on the top of the main cabin (11);

[0009] A video monitoring unit (4) is fixedly installed on a preset first anchoring point of a shore base, comprising a camera (41) and an image processing module (42), wherein the image processing module (42) is communicatively connected with the signal processing unit (22), and the camera (41) is a binocular video head or a three-eyed video head;

[0010] A winding mechanism (5) is fixedly installed on a preset second anchoring point of a shore base, comprising a driving motor (51), a winding drum (52), a composite cable (53) and a gravity sensor (54); one end of the composite cable (53) is wound on the winding drum (52), and the other end is connected with the main cabin (11) of the buoy platform (1) through a universal joint (55); the gravity sensor (54) is arranged on the composite cable (53) between the universal joint (55) and the winding drum (52);

[0011] The installation position of the winding mechanism (5) and the measured pier maintain a working distance (L) in the horizontal direction, and the working distance (L) is 8-15 meters;

[0012] A low-voltage power supply wire is embedded in the composite cable (53), one end of which is used to connect an external power supply on the shore base, and the other end passes through the universal joint (55) and is connected to the sealed cabin of the main cabin (11);

[0013] A control unit (6) is arranged in the sealed cabin of the main cabin body (11), which comprises an embedded processor (61) and a winding drive circuit (62); the signal input end of the embedded processor (61) is in communication connection with the high-precision satellite positioning module (3), and the control output end of the embedded processor (61) is electrically connected with the winding mechanism (5) through the winding drive circuit (62); the embedded processor (61) is also configured to be in communication connection with the terrain scanning module (2);

[0014] Among them, the power input ends of the terrain scanning module (2), the high-precision satellite positioning module (3) and the control unit (6) are electrically connected to the low-voltage power supply wire and are powered by the low-voltage power supply wire; the signal processing unit (22) is in communication connection with the control unit (6).

[0015] Further, a data communication cable is also embedded in the composite cable (53), which is an optical fiber or a shielded twisted pair, one end of which is connected to the sealed cabin of the main cabin body (11) and connected with the data port of the control unit (6), and the other end is provided with a communication interface for connecting an external data receiving terminal.

[0016] Further, the embedded processor (61) is configured to receive the real-time coordinates fed back by the high-precision satellite positioning module (3) and the riverbed profile data fed back by the terrain scanning module (2), and to perform timestamp synchronization and data binding to generate a three-dimensional terrain data package with geographic markers.

[0017] Further, the winding mechanism (5) further comprises a protective box body, and the driving motor (51), the winding drum (52) and the gravity sensor (54) are all accommodated in the protective box body.

[0018] Further, the center of gravity of the streamlined arrow-shaped buoy platform (1) is close to the bow, and a counterweight (13) is installed at the bottom thereof to ensure that it always maintains a stable posture with the tail towards the pier when drifting.

[0019] Further, the image processing module (42) of the video monitoring unit (4) is integrated with an AI recognition algorithm, which is trained to identify ships, large floating objects and abnormal water flow eddies.

[0020] Further, a backup storage battery is also arranged in the sealed cabin of the main cabin body (11), which is connected in parallel with the low-voltage power supply wire to form an uninterruptible power supply system.

[0021] A recyclable water buoy type pier scour monitoring method, using the above system, comprising the following steps:

[0022] S1: Monitoring readiness and trigger judgment

[0023] The control unit (6) receives the river flow regime safety signal from the video monitoring unit (4) in real time, and judges whether the predetermined operation trigger condition is reached; the operation trigger condition is any one or more of the following:

[0024] a) receiving a remote start instruction issued by the signal processing unit (22);

[0025] b) the system clock reaches the preset daily timing monitoring time point;

[0026] c) the video monitoring unit (4) judges that the river flow regime is safe and the water level is in the preset suitable monitoring range;

[0027] S2: Release and fall into water

[0028] When the operation trigger condition is met, the control unit (6) controls the driving motor (51) of the winding mechanism (5) to release the composite cable (53), and the buoy platform (1) is suspended and lowered into the water;

[0029] In this release stage, the first control strategy is adopted, that is, the control unit (6) controls the release action according to the feedback of the gravity sensor (54): when the detected tension value is greater than the first threshold value (weight state), continue to release; when the tension value suddenly drops, it is determined that the buoy platform (1) has touched the water, and then the driving motor (51) is controlled to continue to release a preset length of cable and then stop;

[0030] S3: Natural drift scanning and data acquisition

[0031] After the buoy platform (1) enters the water, it automatically adjusts to a stable drifting posture by virtue of its streamlined arrow structure, so that its terrain scanning module (2) is aligned with the direction of the pier;

[0032] The control unit (6) starts the terrain scanning module (2) and the high-precision satellite positioning module (3), and starts to synchronously collect riverbed terrain data and corresponding absolute geographic coordinates during the drifting process;

[0033] In this drifting scanning stage, the second control strategy is adopted, that is, the control unit (6) controls the driving motor (51) to stop running, so that the buoy platform (1) freely drifts with the water flow under the fixed cable length; the gravity sensor (54) continuously monitors the composite cable tension, and its purpose is to judge the recovery opportunity;

[0034] S4: Recovery trigger and execution

[0035] When the following recovery trigger condition is met, the control unit (6) controls the driving motor (51) to reverse, recovers the composite cable (53), and retracts the buoy platform (1) from the water surface to the shore base;

[0036] The recovery trigger condition is any one or more of the following:

[0037] a) When the gravity sensor (54) detects that the cable tension continuously increases from a state below the second threshold (floating state) and exceeds a set third threshold;

[0038] b) When the video monitoring unit (4) identifies an abnormal situation such as a ship or large floating object in the river channel;

[0039] c) When the single scan duration reaches a preset upper limit;

[0040] S5: Data return and cycle interval

[0041] After the buoy platform (1) is recovered, the control unit (6) returns the three-dimensional terrain data package collected this time with geographic markers to the external data terminal through its wireless communication function;

[0042] Thereafter, the system enters an idle waiting state until the next operation trigger condition is met, and steps S1 to S4 are executed again, thereby realizing periodic automatic monitoring.

[0043] Further, the recovery trigger condition further includes:

[0044] The high-precision satellite positioning module (3) detects that the drifting position of the buoy platform (1) has reached a preset maximum scanning boundary with the winding mechanism (5) as the center and the maximum length of the composite cable (53) as the radius.

[0045] Further, in step S5, after the return to the external data terminal, a further step is included:

[0046] S5a: The external data terminal performs time series comparison on the three-dimensional terrain data package obtained by multiple cycle monitoring, generates a three-dimensional evolution model of the pier scour pit and a scour rate report.

[0047] Compared with the prior art, the beneficial effects of the present application are:

[0048] Firstly, the present application combines the streamlined arrow design with the rigid truss at the tail, ensuring the stability of the buoy in complex water flow, fixing the sonar sensor at a position far away from the pier disturbance area, realizing minimum disturbance measurement of natural scour terrain, and obtaining stable and reliable riverbed terrain data, providing reliable basis for accurate judgment of scour pit development;

[0049] Secondly, the application combines shore-based AI video, high-precision satellite positioning and cable gravity feedback to build a multi-dimensional cross-verification intelligent triggering mechanism, which can intelligently distinguish real scouring from interference such as equipment entanglement and wave fluctuation, and an AI decision mode of multi-sensor information fusion fundamentally overcomes the defect of high false alarm rate of traditional single parameter threshold method, and ensures the high reliability of early warning signals.

[0050] Thirdly, by relying on shore-based power supply and controllable winding mechanism, the battery endurance limit is eliminated, and active recovery can be realized according to instructions or danger, thereby realizing the beneficial effects of long-term sustainable operation, active safety protection and convenient recyclable reuse. BRIEF DESCRIPTION OF DRAWINGS

[0051] In order to more clearly illustrate the technical solutions in the application examples or the prior art or the descriptions in the prior art, it is obvious that for ordinary skilled persons in the art, other drawings can also be obtained without creative labor on the basis of these drawings. Figure 1 FIG. 1 is a schematic diagram of the overall structure of a recyclable water floating buoy type bridge pier scour monitoring system according to the application; Figure 2 FIG. 2 is a front view of the recyclable water floating buoy type bridge pier scour monitoring system according to the application; Figure 3 FIG. 3 is a bottom view of the recyclable water floating buoy type bridge pier scour monitoring system according to the application; Figure 4 FIG. 4 is a right view of the recyclable water floating buoy type bridge pier scour monitoring system according to the application; Figure 5 FIG. 5 is a schematic diagram of a winding mechanism structure according to an embodiment of the application; Figure 6 FIG. 6 is a schematic diagram of the structure of the recyclable water floating buoy type bridge pier scour monitoring system according to the application; Figure 7 FIG. 7 is a component architecture diagram of a terrain scanning module according to an embodiment of the application. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solutions and advantages of the embodiments of the application clearer, the technical solutions in the embodiments of the application will be described clearly and completely below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are part of the embodiments of the application, rather than all the embodiments of the application. Therefore, the following detailed description of the embodiments of the application provided in the drawings is not intended to limit the scope of the claimed application, but only represents selected embodiments of the application.

[0053] A recyclable water buoy type bridge pier scour monitoring system, comprising a buoy platform, a terrain scanning module, a high-precision satellite positioning module, a video monitoring unit, a winding mechanism and a control unit.

[0054] The buoy platform (1) is a streamlined arrow structure with a sharp bow and a wide tail, preferably made of corrosion-resistant and high-strength glass steel (FRP) or aluminum alloy by one-time mold pressing or welding forming. Its interior is a sealed main cabin body (11) for accommodating precision electronic equipment. The tail of the main cabin body (11) is rigidly connected to an open truss structure (12) by bolts, which can be made of 316L stainless steel and has very high structural stiffness, which can effectively prevent the underwater unit (21) from vibrating or deforming due to water flow impact. The hatch cover of the main cabin body (11) is pressed by a rubber sealing ring to ensure that its protection level reaches IP67 or above, which can effectively prevent water vapor from entering.

[0055] To ensure that the buoy always maintains the ideal posture of the tail towards the pier in the flowing water, the center of gravity is carefully matched. Specifically, the center of gravity of the streamlined arrow structure of the buoy platform (1) is close to its bow, and a counterweight (13) is installed at its bottom to ensure that it always maintains a stable posture with the tail towards the pier when drifting.

[0056] The terrain scanning module (2) is a sonar detection device, which includes an underwater unit (21) fixedly installed on the open truss structure (12) and a signal processing unit (22) arranged in the sealed cabin of the main cabin body (11).

[0057] The underwater unit (21) can be rigidly fixed to the truss structure (12) by a stainless steel clamp, including a sonar sensor array (221), a motion sensor (222), a surface sound velocity probe (223) and a compass (224), wherein the sonar sensor array (221) faces underwater.

[0058] Among them, the sonar sensor array (221) is a multi-beam sonar sensor array, which adopts a high-frequency working frequency to realize high-resolution terrain mapping. To compensate for sonar data, the motion sensor (222) can use a tactical level MEMS inertial measurement unit to measure the pitch, roll and heave data of the sonar head in real time; the surface sound velocity probe (223) measures the sound velocity of the surface layer of the water body in real time, which is used to correct the sound wave propagation path; the compass (224) provides true north direction, which corrects the heading error caused by the yaw of the buoy.

[0059] The underwater unit (21) is in communication connection with the signal processing unit (22) in the main cabin body (11) through a water-tight cable. The signal processing unit (22) is an embedded industrial computer responsible for collecting raw data from various sensors and performing real-time attitude compensation and data fusion.

[0060] The high-precision satellite positioning module (3) is used for receiving satellite signals and differential correction data to output real-time absolute geographic coordinates of the buoy platform (1) with centimeter-level precision, and its antenna (31) is fixedly installed on the top of the main cabin body (11); by receiving ground-based or satellite-based differential signals, the buoy absolute geographic coordinates with higher planar precision and height precision can be provided, and the real-time absolute geographic coordinates are bound with terrain data to form a three-dimensional terrain data package with geographic markers.

[0061] The video monitoring unit (4) is fixedly installed on a preset first anchoring point of the shore base, and includes a camera (41) and an image processing module (42), the image processing module (42) is in communication connection with the signal processing unit (22), and the camera (41) is a binocular video head or a three-eye video head; the camera (41) is preferably a binocular vision system, includes two high-resolution, low-illumination CMOS sensors, and is equipped with an anti-shake lens cover. The image processing module (42) is integrated with an AI recognition algorithm, which is trained based on a deep learning framework and can identify ships, large floating objects (such as branches) and abnormal water flow eddies near the pier in real time, thereby providing a visual basis for intelligent triggering.

[0062] The winding mechanism (5) is fixedly installed on a preset second anchoring point of the shore base, and includes a driving motor (51), a winding drum (52), a composite cable (53) and a gravity sensor (54); one end of the composite cable (53) is wound on the winding drum (52), and the other end is connected with the main cabin body (11) of the buoy platform (1) through a universal swivel (55); the gravity sensor (54) is arranged on the composite cable (53) between the universal swivel (55) and the winding drum (52); wherein the driving motor (51) is a waterproof servo motor, and the capacity of the winding drum (52) needs to meet the maximum pay-off length (such as 30 meters). The entire mechanism is packaged in a protective box, the box is made of stainless steel, and the protection level is IP65, so as to protect the internal mechanism from sun and rain. The gravity sensor (54) is essentially a high-precision tension sensor for monitoring the tension state of the cable in real time. The installation position of the winding mechanism (5) and the to-be-measured pier maintain a working distance (L) in the horizontal direction, and the working distance (L) is 8-15 meters.

[0063] The composite cable (53) is a key connection and lifeline component of the system, and is designed in an integrated composite manner to realize the functions of power transmission, data communication and physical traction. The specific implementation manner is as follows:

[0064] The composite cable (53) is structurally a high-strength aramid fiber or galvanized steel wire rope as a load-bearing core, which provides the main tensile strength. The outer synchronous packaging of the load-bearing core has low-voltage power supply wires and data communication cables, and finally wraps the outermost layer of wear-resistant, weather-resistant polyurethane or high-density polyethylene sheath, making the whole cable flexible, anti-kinking and anti-UV aging.

[0065] In terms of power transmission, the low-voltage power supply wire is preferably a flame-retardant soft copper wire. One end of the wire is connected to an AC / DC conversion power supply through a waterproof junction box at the shore-based end to convert the mains power into stable direct current. The other end passes through a special wire hole in the universal swivel (55) and connects to a waterproof navigation plug in the sealed cabin of the main cabin body (11), providing continuous and stable power to the electronic modules inside the cabin (terrain scanning module, high-precision satellite positioning module, control unit, etc.).

[0066] In terms of data communication, the data communication cable can use optical fiber or shielded twisted pair. Single-mode optical fiber has the advantages of high bandwidth, long transmission distance, and complete immunity to electromagnetic interference, making it particularly suitable for long-distance lossless transmission of large-capacity data such as sonar point cloud and video data. The two ends of the cable need to be fused with small, reinforced optical fiber terminal boxes, and then connected to the equipment through optical modules.

[0067] If shielded twisted pair is used, Category 6A and above can be selected, which is suitable for short transmission distance scenarios. The metal shielding layer can effectively suppress signal interference, and shielded RJ45 connectors are required at both ends with good grounding of the shielding layer.

[0068] One end of the data communication cable is connected to the data port of the control unit (6) in the sealed cabin of the main cabin body (11), and the other end is provided with a communication interface for connecting an external data receiving terminal, realizing bidirectional communication of data.

[0069] Further, the inner wall of the universal swivel (55) is designed with a smooth surface and embedded with an anti-wear bushing to ensure that the internal cables are not damaged by twisting when the cable rotates with the buoy. Rubber sheaths are provided at the entrances and exits of the cable, the universal swivel (55), and the reel (52) to prevent the cable from breaking due to frequent bending.

[0070] The control unit (6) is arranged in the sealed cabin of the main cabin body (11) and includes an embedded processor (61) and a winding drive circuit (62). The signal input end of the embedded processor (61) is in communication connection with the high-precision satellite positioning module (3), and the control output end of the embedded processor (61) is electrically connected with the winding mechanism (5) through the winding drive circuit (62). The embedded processor (61) is also configured to be in communication connection with the terrain scanning module (2).

[0071] The power input ends of the terrain scanning module (2), the high-precision satellite positioning module (3) and the control unit (6) are electrically connected to the low-voltage power supply wire and are powered by the low-voltage power supply wire; the signal processing unit (22) is in communication connection with the control unit (6).

[0072] Further, the embedded processor (61) is configured to receive the real-time coordinates fed back by the high-precision satellite positioning module (3) and the riverbed profile data fed back by the terrain scanning module (2), and to perform time stamp synchronization and data binding to generate a three-dimensional terrain data package with geographic markers. That is, the embedded processor (61) is responsible for executing the core control logic: periodically collecting positioning, terrain, video AI result, cable tension data; performing multi-source information fusion judgment through a preset algorithm; when determining a dangerous situation or receiving a remote instruction, controlling the winding mechanism to act through the winding drive circuit.

[0073] Further, a backup battery is arranged in the sealed cabin of the main cabin body (11), and the backup battery is connected in parallel with the low-voltage power supply wire to form an uninterruptible power supply system, thereby ensuring that the system can continue to work and be safely recovered when shore power is temporarily interrupted.

[0074] A recyclable water floating buoy type pier scour monitoring method adopts the system, coordinates the cooperative work of various components of the system according to a preloaded control logic program, and the core of the flow of the method includes five stages of monitoring readiness and trigger judgment, releasing into water, data collection, intelligent recovery and data return. The specific implementation is as follows:

[0075] S1: Monitoring readiness and trigger judgment

[0076] In this stage, the system is in a low-power standby state, the buoy platform (1) is lifted off the water surface by the winding mechanism (5) and is suspended on the shore base. The control unit (6) receives the river flow state safety signal from the video monitoring unit (4) in real time, continuously monitors three kinds of operation trigger signals, forms an "or" logical relationship, and starts the monitoring cycle when any condition is met:

[0077] a) receiving a remote start instruction issued through the signal processing unit (22); that is, receiving a remote start instruction from the monitoring center through the wireless communication module integrated in the system. This is the highest priority trigger mode, which is used for emergency monitoring of sudden hydrological events (such as before the flood peak passes).

[0078] b) the system clock reaches the preset daily timing monitoring time point; the built-in real-time clock in the system reaches the preset monitoring time point (such as the period when the water flow is most stable in the early morning). This is the core of realizing periodic unattended automatic monitoring.

[0079] c) The video monitoring unit (4) determines that the river flow pattern is safe and the water level is in the preset suitable monitoring range; Specifically: the AI algorithm of the shore-based video monitoring unit (4) continuously analyzes the river picture, and when the following conditions are met at the same time, it sends a "flow pattern safe" signal to the control unit (6): a) no ships or large floating objects are identified; b) the current water level is determined to be within the preset suitable monitoring range by visual water level gauge or reference object. This mechanism ensures the safety of the monitoring operation environment.

[0080] S2: Release and fall into the water

[0081] When the operation trigger condition is met, the control unit (6) controls the drive motor (51) of the winding mechanism (5) to release the composite cable (53), and the buoy platform (1) is suspended and lowered into the water;

[0082] In this release phase, the first control strategy is adopted, that is, the control unit (6) controls the release action according to the feedback of the gravity sensor (54), to ensure that the floating platform enters the water smoothly and safely. Specifically:

[0083] The drive motor (51) starts to release the composite cable (53) at a low speed, and the gravity sensor (54) feedbacks the cable tension value in real time.

[0084] When it is detected that the tension value is greater than the first threshold (heavy state), it indicates that the buoy may be stuck or not completely separated from the shore-based obstacles, and the control unit (6) instructs the motor to continue releasing to overcome the temporary jam, and then continues to release;

[0085] When a sudden drop in tension value is detected, it is determined that the buoy platform (1) has touched the water, and the buoyancy causes the tension on the cable to decrease instantaneously. Then the drive motor (51) is controlled to continue releasing a preset length of cable and then stop; Let the buoy float completely on the water surface and have enough free space to avoid the cable being straightened, which affects its natural drifting posture. After releasing the preset length of cable, the drive motor (51) stops.

[0086] S3: Natural drifting scanning and data acquisition

[0087] After the buoy platform (1) enters the water, it automatically adjusts to a stable drifting posture by virtue of its streamlined arrow structure, so that its terrain scanning module (2) is aligned in the direction of the pier;

[0088] The control unit (6) starts the terrain scanning module (2) and the high-precision satellite positioning module (3), and starts to synchronously collect riverbed terrain data and corresponding absolute geographic coordinates during drifting;

[0089] In this drift scanning phase, a second control strategy is adopted, i.e. the control unit (6) controls the driving motor (51) to stop running, so that the buoy platform (1) freely drifts with the water flow under the fixed cable length, achieving scanning coverage of the fan-shaped area around the pier; the monitoring purpose of the gravity sensor (54) changes from control release to safety monitoring, and the continuously monitored tension value is one of the important bases for judging whether to trigger recovery;

[0090] S4: Recovery triggering and execution

[0091] When the following recovery triggering conditions are met, the control unit (6) controls the driving motor (51) to reverse, recovers the composite cable (53), and lifts the buoy platform (1) off the water surface and rolls it onto the shore base.

[0092] The recovery triggering condition is any one or more of the following:

[0093] a) When the gravity sensor (54) detects that the cable tension starts to continuously increase from a state below the second threshold value (drifting state) and exceeds a set third threshold value;

[0094] That is: the state of the cable changes from "drifting state" to "tensioning", if the cable tension is detected from a state below the second threshold value, it means that the cable is slack and the buoy may be out of control. If the tension continues to increase and exceeds the third threshold value, it means that the buoy has drifted to the maximum length of the cable and is tensioned, in order to avoid equipment damage or invalid scanning area, immediate recovery is triggered.

[0095] b) The video monitoring unit (4) identifies that a ship is entering the monitoring area or a large floating object may hit the buoy in the river, etc. Abnormal situation, in order to avoid equipment damage, immediately send a signal to trigger emergency recovery;

[0096] c) The duration of a single scan reaches the preset upper limit; the duration of a single scan reaches the preset upper limit, ensuring sufficient data volume and not excessive resource consumption, and then normally recovering.

[0097] S5: Data return and cycle interval

[0098] After the buoy platform (1) is recovered, the control unit (6) returns the three-dimensional terrain data package collected this time with geographic markers to the external data terminal through its wireless communication function; it can also be returned to the external data terminal through the data communication cable in the composite cable (53).

[0099] After that, the system enters an idle waiting state until the next operation triggering condition is met, and steps S1 to S4 are executed again, thereby realizing periodic automatic monitoring.

[0100] Further, the recovery triggering condition further includes:

[0101] The high-precision satellite positioning module (3) detects that the drifting position of the buoy platform (1) has reached the preset maximum scanning boundary with the winding mechanism (5) as the center and the maximum length of the composite cable (53) as the radius. Continuing to drift will likely cause repeated scanning of the scanning area or excessive stress on the cable, triggering the recovery program. This condition forms a double insurance of software and hardware with the recovery trigger condition (a), improving the reliability of the recovery judgment.

[0102] Further, in step S5, after being transmitted back to the external data terminal, a step of:

[0103] S5a: The external data terminal performs time sequence comparison on the three-dimensional terrain data packets obtained by multiple cycles of monitoring, generates a three-dimensional evolution model of the pier scour pit and a scour rate report. Based on high-precision geographic coordinates, point cloud registration algorithms such as iterative closest point are used to accurately align the three-dimensional terrain data collected at different time points to the same coordinate system. Through digital elevation model difference calculation, the sediment deposition and erosion volume change in a specific area, such as around the pier, is accurately quantified, and a three-dimensional evolution model of the pier scour pit (including showing the development process of the shape and depth of the scour pit over time, etc.) and a quantitative scour rate report (such as daily scour depth, scour pit expansion speed, etc.) are automatically generated, converting discrete monitoring data into decision support information that can be directly used for bridge safety assessment and early warning, realizing data acquisition and intelligent diagnosis.

[0104] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A recyclable, above-water buoyant bridge pier scour monitoring system, characterized by, Comprise: A buoy platform (1) which is a streamlined arrow structure with a sharp bow and a wide stern, comprising a sealed main cabin body (11) and an open truss structure (12) arranged laterally downward at the tail of the main cabin body; A terrain scanning module (2) which is a sonar detection device, comprising an underwater unit (21) fixedly installed on the open truss structure (12) and a signal processing unit (22) arranged in the sealed cabin of the main cabin body (11); the underwater unit (21) comprises a sonar sensor array (221), a motion sensor (222), a surface sound velocity probe (223) and a compass (224), wherein the sonar sensor array (221) faces underwater; the underwater unit (21) is communicatively connected with the signal processing unit (22) through a water-tight cable; A high-precision satellite positioning module (3) for receiving satellite signals and differential correction data to output real-time absolute geographic coordinates of the buoy platform (1) with centimeter-level precision, whose antenna (31) is fixedly installed on the top of the main cabin body (11); A video monitoring unit (4) fixedly installed on a preset first anchoring point of the shore base, comprising a camera (41) and an image processing module (42), the image processing module (42) is communicatively connected with the signal processing unit (22), and the camera (41) is a binocular video head or a three-eyed video head; A winding mechanism (5) fixedly installed on a preset second anchoring point of the shore base, comprising a driving motor (51), a winding drum (52), a composite cable (53) and a gravity sensor (54); one end of the composite cable (53) is wound on the winding drum (52), and the other end is connected with the main cabin body (11) of the buoy platform (1) through a universal joint (55); the gravity sensor (54) is arranged on the composite cable (53) between the universal joint (55) and the winding drum (52); The installation position of the winding mechanism (5) and the measured pier maintain a working distance (L) in the horizontal direction, and the working distance (L) is 8-15 meters; A low-voltage power supply wire is embedded in the composite cable (53), one end of the low-voltage power supply wire is used to connect an external power supply on the shore base, and the other end passes through the universal joint (55) and accesses the sealed cabin of the main cabin body (11); A control unit (6) arranged in the sealed cabin of the main cabin body (11), comprising an embedded processor (61) and a winding drive circuit (62); the signal input end of the embedded processor (61) is communicatively connected with the high-precision satellite positioning module (3), and the control output end of the embedded processor (61) is electrically connected with the winding mechanism (5) through the winding drive circuit (62); the embedded processor (61) is also configured to be communicatively connected with the terrain scanning module (2); The power input ends of the terrain scanning module (2), the high-precision satellite positioning module (3) and the control unit (6) are electrically connected to the low-voltage power supply wire and powered by the low-voltage power supply wire; the signal processing unit (22) is in communication connection with the control unit (6).

2. The system of claim 1, wherein, The composite cable (53) further embeds a data communication cable inside, the data communication cable is an optical fiber or a shielded twisted pair, one end of the data communication cable is connected into a sealed cabin of the main cabin body (11) and connected with a data port of the control unit (6), and the other end is provided with a communication interface for connecting an external data receiving terminal.

3. The system of claim 1 or 2, wherein, The embedded processor (61) is configured to receive real-time coordinates fed back by the high-precision satellite positioning module (3) and riverbed profile data fed back by the terrain scanning module (2), and to perform time stamp synchronization and data binding to generate a three-dimensional terrain data packet with geographic markers.

4. The system of claim 1, wherein, The wire winding mechanism (5) further comprises a protective box, and the driving motor (51), the winding drum (52) and the gravity sensor (54) are all accommodated in the protective box.

5. The system of claim 1, wherein, The center of gravity of the buoy platform (1) with the streamlined arrow structure is close to the bow, and a counterweight (13) is installed at the bottom to ensure that it always maintains a stable posture with the tail towards the pier when drifting.

6. The system of claim 1, wherein, The image processing module (42) of the video monitoring unit (4) is integrated with an AI recognition algorithm, which is trained to identify ships, large floating objects and abnormal water flow eddies.

7. The system of claim 1, wherein, A backup battery is further arranged in the sealed cabin of the main cabin body (11), and the backup battery is connected in parallel with the low-voltage power supply wire to form an uninterruptible power supply system.

8. A method of monitoring scour around a bridge pier using a waterborne buoy, the method comprising the steps of: providing a system according to any one of claims 1 to 7; and monitoring the system to determine the scour around the bridge pier. The method comprises the following steps: S1: monitoring readiness and trigger judgment The control unit (6) receives the river flow safety signal from the video monitoring unit (4) in real time, and judges whether the predetermined operation trigger condition is reached; the operation trigger condition is any one or more of the following: a) receiving a remote start instruction issued through the signal processing unit (22); b) the system clock reaches the preset daily timing monitoring time point; c) the video monitoring unit (4) judges that the river flow state is continuously safe and the water level is in the preset suitable monitoring range; S2: release and submersion When the operation trigger condition is met, the control unit (6) controls the driving motor (51) of the wire winding mechanism (5) to release the composite cable (53), and the buoy platform (1) is suspended and lowered into the water; In this release stage, a first control strategy is adopted, that is, the control unit (6) controls the release action according to the feedback of the gravity sensor (54): when the detected tension value is greater than the first threshold value (heavy state), the release continues; when the tension value suddenly drops, it is determined that the buoy platform (1) has touched the water, and then the driving motor (51) is controlled to continue to release a preset length of cable and then stop; S3: natural drifting scanning and data acquisition After the buoy platform (1) enters the water, it automatically adjusts to a stable drifting posture by virtue of its streamlined arrow structure, so that its terrain scanning module (2) is aligned in the direction of the pier. The control unit (6) starts the terrain scanning module (2) and the high-precision satellite positioning module (3) to simultaneously collect riverbed terrain data and corresponding absolute geographic coordinates during the drifting process; In this drifting scanning phase, a second control strategy is adopted, i.e., the control unit (6) controls the driving motor (51) to stop running, so that the buoy platform (1) freely drifts with the water flow under the fixed length of the cable; the gravity sensor (54) continuously monitors the composite cable tension, and its purpose is to determine the recovery time; S4: Recovery triggering and execution When the following recovery triggering conditions are met, the control unit (6) controls the driving motor (51) to reverse and recover the composite cable (53), and the buoy platform (1) is lifted off the water surface and rolled onto the shore base; The recovery triggering conditions are any one or more of the following: a) When the gravity sensor (54) detects that the cable tension starts to continuously increase from a state below the second threshold (floating state) and exceeds a set third threshold; b) The video monitoring unit (4) identifies that there are abnormal situations such as ships or large floating objects in the river channel; c) The duration of a single scan reaches a preset upper limit; S5: Data return and cycle interval After the buoy platform (1) is recovered, the control unit (6) returns the three-dimensional terrain data package collected this time with geographic markers to the external data terminal through its wireless communication function; After that, the system enters an idle waiting state until the next operation triggering condition is met, and steps S1 to S4 are executed again, thereby realizing periodic automatic monitoring.

9. The monitoring method according to claim 8, characterized in that, The recovery triggering conditions also include: The high-precision satellite positioning module (3) detects that the drifting position of the buoy platform (1) has reached the preset maximum scanning boundary with the winding mechanism (5) as the center and the maximum length of the composite cable (53) as the radius.

10. The monitoring method according to claim 8, characterized in that, In step S5, after the return to the external data terminal, a step is further included: S5a: The external data terminal performs time sequence comparison on the three-dimensional terrain data package obtained through multiple cycle monitoring to generate a three-dimensional evolution model of the pier scour pit and a scour rate report.

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