Air-water-shore cooperative overwater float type pier scouring monitoring system and method

Abstract

The invention relates to the technical field of bridge pier scour monitoring, discloses an air-water-shore cooperative overwater float type bridge pier scour monitoring system, and belongs to the technical field of bridge safety monitoring. According to the system, an integrated framework is formed by a buoy platform, a shore-based cooperative monitoring station and a cloud monitoring platform. The buoy platform is fixed to a pier through a mooring lead, the underwater sonar module of the buoy platform can scan the terrain of a riverbed at multiple angles, and the overwater module integrates high-precision positioning and video monitoring. The shore-based station is provided with a laser scanner and a high-definition camera to monitor the overwater structure and the macroscopic environment of the pier. The cloud platform serves as a control center, converges the multi-source data of the buoys and the shore stations through a communication network, carries out time sequence correlation and fusion analysis, and dynamically evaluates the scour pit development and the bridge pier structure state. According to the invention, the limitation of a single monitoring mode is broken through, collaborative acquisition and intelligent fusion of air, water and shore data are realized, the comprehensiveness, accuracy and early warning capability of monitoring are remarkably improved, and reliable guarantee is provided for safe operation of bridges.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of pier scour monitoring, and in particular to an air-water-shore coordinated water-floating buoy type pier scour monitoring system and method. BACKGROUND

[0002] As the hub of modern transportation network, the safe operation of bridge is directly related to the national economic lifeline and people's life and property safety. The pier, as the main load-bearing structure of the bridge, is subjected to long-term scour of water flow, resulting in loss of riverbed soil and formation of local scour pits. The continuous development of scour pits will significantly weaken the carrying capacity and stability of the pier, which is a major hidden danger threatening the safety of the bridge and even causing structural collapse. Therefore, continuous and high-precision monitoring of the riverbed topography around the pier is the core task of the safety maintenance of the bridge in the operation period.

[0003] There have been many researches and attempts on the monitoring technology for pier scour, but the monitoring technology has obvious limitations: single-point contact measurement is difficult to reflect the overall situation of the scour pit and is easy to damage; waterborne measurement cannot be continuously operated and has high cost and interference to navigation; fixed underwater monitoring has visual blind area and maintenance difficulty. Although the single buoy monitoring appeared in recent years realizes fixed-point deployment, its function is isolated and only focuses on underwater topography, which cannot synchronously obtain key environmental data such as water flow and ship navigation, making it difficult to analyze the causes of scour; at the same time, it lacks verification of data and buoy state from other perspectives, and the local data processing capacity is limited, making it difficult to perform in-depth correlation analysis.

[0004] In summary, the existing technology cannot cooperatively analyze underwater scour, water surface environment and bridge structure response. Therefore, it is urgent to develop an integrated monitoring system that can realize multi-dimensional information cooperative collection and intelligent fusion to comprehensively improve the reliability and intelligent level of monitoring. SUMMARY

[0005] To solve the above problems, the present application provides an air-water-shore coordinated water-floating buoy type pier scour monitoring system, which is implemented as follows:

[0006] An air-water-shore coordinated water-floating buoy type pier scour monitoring system, comprising a buoy platform (1), a shore-based cooperative monitoring station (4) and a cloud monitoring platform (5), forming an air-water-shore integrated cooperative monitoring architecture;

[0007] The buoy platform (1) comprises a sealed main cabin (11) and an open truss structure (12) arranged below the main cabin;

[0008] The buoy platform (1) is provided with a topographic scanning module (2), a water monitoring module (3) and a control unit (6), wherein:

[0009] The terrain scanning module (2) is a sonar detection device, comprising an underwater unit (21) fixed to the open truss structure (12) and a signal processing unit (22) arranged in the main cabin body (11); the underwater unit (21) comprises a sonar sensor (211), a motion sensor (212), a surface sound velocity probe (213) and a compass (214), and the sonar sensor (211) is configured to cover the underwater terrain around the pier through a multi-angle scanning mode;

[0010] The overwater monitoring module (3) comprises a high-precision satellite positioning unit (31) and a video acquisition unit (32), and the antenna (311) and the camera (321) are arranged on the top of the main cabin body (11);

[0011] The control unit (6) is a local control center of the buoy platform (1), and the signal input end is connected with the terrain scanning module (2) and the overwater monitoring module (3);

[0012] The shore-based cooperative monitoring station (4) is arranged on the shore and comprises a high-definition video monitoring camera (41) with a field of view angle covering the pier, the channel and the buoy platform (1), and a laser scanner (42) with a scanning range covering the overwater structure of the pier;

[0013] The cloud monitoring platform (5) is a system-level control and data processing center, and is in communication connection with the control unit (6) of the buoy platform (1) and the shore-based cooperative monitoring station (4) through a communication network;

[0014] Further comprising a mooring lead (7) which is a composite cable, one end of which is fixed to the pier (100) or the shore through an anchoring member (71), and the other end is connected with the buoy platform (1) through a universal joint (72); the mooring lead (7) is embedded with a low-voltage power supply wire (73) for supplying power to each power module on the buoy platform (1);

[0015] The cloud monitoring platform (5) is configured to receive and fuse multi-source data from the buoy platform (1) and the shore-based cooperative monitoring station (4), and perform time sequence correlation analysis on the fused data to evaluate the pier scouring state and the overall structure change of the bridge.

[0016] Further, the sonar sensor (211) is a multi-probe array, comprising at least two sonar probes installed at different fixed angles, the angles being in the range of 15° to 60° relative to the vertical direction, and the sonar probes at different angles having different working frequencies, so as to realize terrain coverage at different distances and accuracies.

[0017] Furthermore, the sonar sensor (211) is mounted on the open truss structure (12) via an electric rotating mechanism (215). The control unit (6) is driven and connected to the electric rotating mechanism (215) and is configured to control the sonar sensor (211) to perform periodic oscillating scanning in the vertical plane within a preset angle range.

[0018] Furthermore, the sonar sensor (211) has a cylindrical acoustic channel structure for transmitting transducers, with its sound wave emitting surface located at one end of a cylindrical acoustic barrier structure. The inner wall of the acoustic barrier structure is covered with sound-absorbing material to suppress multipath interference and improve the signal-to-noise ratio.

[0019] Furthermore, the cloud monitoring platform (5) also connects to external environmental data sources, including real-time tidal water level data; the cloud monitoring platform (5) is further configured to: before the time-series correlation analysis, use the tidal water level data to dynamically correct and unify the elevation benchmark of the terrain data and the elevation benchmark of the laser scanning data.

[0020] Furthermore, the control unit (6) is communicatively connected to the cloud monitoring platform (5) and is configured to receive the optimal scanning time window instruction calculated based on astronomical tide forecast data from the cloud monitoring platform (5), and automatically start the terrain scanning module (2) to perform scanning operations within this time window.

[0021] Furthermore, the video acquisition unit (32) is a binocular vision camera used to acquire stereoscopic images of the area near the waterline of the bridge pier; the high-precision satellite positioning unit (31) is a Beidou differential positioning module, whose positioning data is used to compensate for the error caused by the displacement of the buoy platform to the underwater topographic measurement.

[0022] A method for monitoring bridge pier scour and bridge condition through a coordinated air-water-shore approach, based on the monitoring system described above, includes the following steps:

[0023] S1: Collaborative Task Planning and Triggering

[0024] Based on astronomical tide forecast data, the cloud monitoring platform (5) predicts the time window when the water flow is stable and conducive to scanning measurement, and sends a collaborative scanning task instruction to the control unit (6) of the buoy platform (1) and the shore-based collaborative monitoring station (4);

[0025] S2: Synchronous acquisition of multi-source data from air, water, and shore.

[0026] Within the time window, the topographic scanning module (2) of the buoy platform (1) and the water monitoring module (3), and the laser scanner (42) and high-definition video monitoring camera (41) of the shore-based cooperative monitoring station (4) are synchronously triggered; all collected data are attached with unified time and space reference marks by the cloud monitoring platform (5);

[0027] S3: data fusion and dynamic reference correction

[0028] The cloud monitoring platform (5) accesses real-time tidal level data, and uses the water level data to dynamically correct and unify the elevation reference of the underwater topographic data and the vertical reference of the laser three-dimensional scanning data collected in step S2, so as to eliminate the influence of tidal level changes on the measurement data and realize data fusion of the water and underwater integrated three-dimensional model under a unified reference;

[0029] S4: time sequence comparison and change amount analysis

[0030] The cloud monitoring platform (5) performs time sequence comparison on the corrected underwater topographic three-dimensional data and the laser three-dimensional scanning data collected at different time periods;

[0031] Based on the time sequence comparison, the depth change amount, volume change amount and morphological evolution parameters of the pier foundation scour pit are calculated, and the displacement amount and deformation amount of the pier body and superstructure are calculated;

[0032] S5: comprehensive safety state evaluation and early warning

[0033] Based on the scour pit change amount and structure displacement deformation amount obtained in S4, the video information of the channel ship and water flow state recorded by the high-definition video monitoring camera (41) and the video acquisition unit (32) is associated and analyzed;

[0034] When the change amount or deformation amount exceeds the preset threshold, the cloud monitoring platform (5) automatically generates a comprehensive safety state evaluation report and sends a warning information.

[0035] Compared with the prior art, the beneficial effects of the present application are:

[0036] Firstly, the present application fundamentally solves the "data island" problem existing in the prior art by constructing an integrated architecture of a buoy platform, a shore-based station and a cloud platform. The system can synchronously collect multi-dimensional information such as underwater topography, water surface environment and pier structure state, realize panoramic collaborative perception of the scouring process and its influencing factors, and break through the limitations of single technical perspective, providing a comprehensive data basis for accurate analysis of scouring causes.

[0037] II. Relying on the data fusion and intelligent analysis capability of the cloud platform, the system realizes the leap from simple data collection to deep intelligent decision-making. The cloud platform performs time series correlation and trend analysis on multi-source heterogeneous data, can realize dynamic early warning and risk assessment of scour pit development, and can improve the monitoring mode from passive recording to active early warning, greatly enhance the predictability and scientificity of bridge safety management, and realize unmanned continuous monitoring, which significantly reduces the long-term operation and maintenance cost. BRIEF DESCRIPTION OF DRAWINGS

[0038] 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 other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings. Figure 1 A schematic diagram of a buoy platform structure according to an embodiment of the application; Figure 2 A front view of a buoy platform according to an embodiment of the application; Figure 3 A schematic diagram of a water-buoy-type bridge pier scour monitoring system according to an embodiment of the application; Figure 4 A schematic diagram of a terrain scanning module according to an embodiment of the application. Explanation of reference numerals in the drawings: 1 - buoy platform, 11 - main cabin body, 12 - open truss structure; 2 - terrain scanning module, 21 - underwater unit, 211 - sonar sensor, 212 - motion sensor, 213 - surface sound velocity probe, 214 - compass, 215 - electric rotating mechanism, 22 - signal processing unit; 3 - water monitoring module, 31 - satellite positioning unit, 311 - antenna, 32 - video acquisition unit, 321 - camera; 4 - shore-based cooperative monitoring station, 41 - high-definition video monitoring camera, 42 - laser scanner; 5 - cloud monitoring platform; 6 - control unit; 7 - mooring lead, 71 - anchor, 72 - universal swivel, 73 - low-voltage power supply lead. DETAILED DESCRIPTION

[0039] In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application.

[0040] An air-water-land coordinated water buoy type pier scour monitoring system, comprising a buoy platform (1), a land-based coordinated monitoring station (4) and a cloud monitoring platform (5), forming an air-water-land integrated coordinated monitoring architecture.

[0041] The buoy platform (1) comprises a sealed main cabin body (11) and an open truss structure (12) arranged below the main cabin body; the main cabin body is a sealed cylindrical cabin body made of aluminum alloy processing and welding process, the surface of the cabin body is subjected to anodic oxidation treatment to enhance corrosion resistance, and the inside of the cabin body is coated with a waterproof layer to ensure that the internal electronic equipment is absolutely dry during long-term underwater operation. The cabin wall is designed with reinforcing ribs to withstand water flow impact. The bottom is rigidly connected with the open truss structure (12) through a flange. The tetrahedron or frame structure is made of stainless steel, connected with the bottom flange of the main cabin body through bolts and the welding bead is polished to reduce turbulent flow and vortex-induced vibration.

[0042] The buoy platform (1) is provided with a terrain scanning module (2), a water monitoring module (3) and a control unit (6), wherein:

[0043] The terrain scanning module (2) is a sonar detection device, comprising an underwater unit (21) fixed on the open truss structure (12) and a signal processing unit (22) arranged in the main cabin body (11);

[0044] The underwater unit (21) comprises a sonar sensor (211), a motion sensor (212), a surface sound velocity probe (213) and a compass (214), the sonar sensor (211) is configured to cover the underwater terrain around the pier through a multi-angle scanning mode;

[0045] The sonar sensor (211) is a multi-probe array, comprising at least two sonar probes installed at different fixed angles, the angle is in the range of 15° to 60° relative to the vertical direction, and the working frequencies of the sonar probes at different angles are different from each other, so as to realize terrain coverage at different distances and accuracies.

[0046] Further, the sonar sensor (211) is installed on the open truss structure (12) through an electric rotating mechanism (215), the control unit (6) is drivingly connected with the electric rotating mechanism (215) and is configured to control the sonar sensor (211) to periodically swing and scan in a preset angle range in a vertical plane.

[0047] In the embodiment, the high-frequency narrow-beam probe corresponds to an inclination angle of 30°, is used for high-precision scanning of the near-wall region of the pier, the medium-frequency probe corresponds to an inclination angle of 45°, is used for scanning of the main scour pit, and the low-frequency wide-beam probe corresponds to an inclination angle of 15°, is used for covering the far-field region. Multi-scale terrain coverage from the pier wall surface to the surrounding riverbed is achieved, and the requirements of near-field high precision and far-field wide range are met.

[0048] Further, the transmitting transducer of the sonar sensor (211) is a cylindrical sound channel structure, the sound wave transmitting surface of which is located at one end of a cylindrical sound barrier structure, the inner wall of the sound barrier structure is coated with sound-absorbing material, effectively constraining the main beam direction of the sound wave, absorbing lateral reflection and reverberation in the cylinder, significantly suppressing multipath interference, and obtaining a higher signal-to-noise ratio in a complex underwater acoustic environment.

[0049] The water monitoring module (3) includes a high-precision satellite positioning unit (31) and a video acquisition unit (32), and the antenna (311) and the camera (321) thereof are arranged on the top of the main cabin body (11). The high-precision satellite positioning unit (31) adopts a domestic Beidou third-generation high-precision positioning module, supports real-time differential technology, receives ground-based enhancement signals through a network, realizes high-precision plane positioning, and simultaneously serves as a reference for motion compensation, so that the influence of the shaking and drifting of the buoy itself on underwater terrain measurement can be accurately deducted. The video acquisition unit (32) adopts a high-pixel binocular stereo vision camera, a baseline distance is reasonably set, a three-dimensional point cloud of the region near the waterline of the pier is obtained through a stereo matching algorithm, and the water level change, wave impact and ship approaching and the like are observed.

[0050] The control unit (6) serves as a local control center of the buoy platform (1), a signal input end of the control unit (6) is connected with the terrain scanning module (2) and the water monitoring module (3), and the control unit (6) schedules the working time sequence, data temporary storage and preprocessing of all sensors on the buoy.

[0051] The shore-based cooperative monitoring station (4) is arranged on the shore and comprises a high-definition video monitoring camera (41) and a laser scanner (42). The field of view of the high-definition video monitoring camera (41) covers the pier, the channel and the buoy platform (1). The high-definition video monitoring camera (41) can automatically rotate around the pier, the buoy and the channel by setting a preset position. The scanning range of the laser scanner (42) covers the water structure of the pier. The laser scanner (42) can generate a high-precision three-dimensional model by regularly scanning the water part of the pier. The high-precision three-dimensional model can be compared with a historical model to monitor the millimeter-level inclination or settlement of the pier.

[0052] The cloud monitoring platform (5) is communicatively connected to the control unit (6) of the buoy platform (1) and the shore-based cooperative monitoring station (4) through a communication network and serves as a system-level control and data processing center.

[0053] The cloud monitoring platform (5) is configured to receive and fuse multi-source data from the buoy platform (1) and the shore-based cooperative monitoring station (4), and perform time-series correlation analysis on the fused data to evaluate the pier scouring state and the overall structural change of the bridge.

[0054] In this embodiment, the cloud monitoring platform architecture adopts a distributed micro-service architecture based on cloud-native technology and is deployed in a cloud computing data center with high availability. The hardware foundation includes multiple high-performance servers. Specifically, the buoy platform (1) and the shore-based cooperative monitoring station (4) can be connected to the cloud monitoring platform (5) through a VPN dedicated line and a 4G / 5G wireless network to establish a safe and stable two-way communication link. Different databases are established to store and manage detection data. For example, a time-series database is used to efficiently store the stream data (such as GPS coordinates and water level data) continuously uploaded by sensors; a relational database is used to store structured data such as device information, scanning tasks and analysis results; and an object storage service is used to manage massive three-dimensional point cloud data. Multi-core CPUs and high-performance GPU cards are configured to run complex data fusion algorithms, three-dimensional modeling and machine learning models to undertake core computing tasks.

[0055] Further, the cloud monitoring platform (5) also accesses external environmental data sources, and the external environmental data includes real-time tidal water level data. The cloud monitoring platform (5) is further configured to dynamically correct and unify the elevation reference of the terrain data and the elevation reference of the laser scanning data by using the tidal water level data before the time-series correlation analysis.

[0056] The control unit (6) is communicatively connected to the cloud monitoring platform (5) and is configured to receive an optimal scanning time window instruction calculated based on astronomical tide prediction data from the cloud monitoring platform (5) and automatically start the terrain scanning module (2) to perform scanning operations within the time window.

[0057] By accessing astronomical tide prediction data, the predicted tidal level and tidal current velocity every hour in the future days are obtained, and the time window with the highest one or more'scanning quality indexes' in a fixed time period is calculated as the optimal scanning opportunity. The 'environment-based adaptive monitoring' is realized, which ensures that data acquisition is carried out under the best hydrological conditions, and significantly improves the data quality and system energy efficiency ratio.

[0058] Further, the monitoring system also comprises a mooring lead (7), which is a composite cable, one end of which is fixed to the pier (100) or the shore base through an anchoring member (71), and the other end is connected with the buoy platform (1) through a universal swivel (72); the mooring lead (7) is embedded with a low-voltage power supply wire (73) for supplying power to each power module on the buoy platform (1). The mooring lead (7) is a key component for connecting the buoy platform (1) and the pier (100) or the shore base in the monitoring system, which not only bears the physical mooring function, but also is the lifeline of energy transmission and information transmission. Specifically, the composite cable has a high-modulus aramid fiber made tensile core, the low-voltage power supply wire is tightly twisted and embedded around the tensile core, and a sheath is arranged on the outermost layer to form a multi-layer composite. The universal swivel ensures that the buoy can follow the current without breaking the cable. The mooring lead realizes the stable and safe mooring of the buoy and stable power supply.

[0059] The application also discloses a bridge pier scouring and bridge state monitoring method based on air-water-land cooperation, which is based on the monitoring system and comprises the following steps:

[0060] S1: cooperative task planning and triggering

[0061] The cloud monitoring platform (5) predicts the time window with stable water flow and favorable scanning measurement based on astronomical tide prediction data, and issues a cooperative scanning task instruction to the control unit (6) of the buoy platform (1) and the land-based cooperative monitoring station (4);

[0062] S2: air-water-land multi-source data synchronous acquisition

[0063] In the time window, the terrain scanning module (2) and the water monitoring module (3) of the buoy platform (1), and the laser scanner (42) and the high-definition video monitoring camera (41) of the land-based cooperative monitoring station (4) are synchronously triggered; all the collected data are attached with unified time and space reference marks by the cloud monitoring platform (5);

[0064] S3: data fusion and dynamic reference correction

[0065] The cloud monitoring platform (5) accesses real-time tidal water level data, and uses the water level data to dynamically correct and unify the elevation datum of the underwater topographic data collected in step S2 and the vertical datum of the laser three-dimensional scanning data, so as to eliminate the influence of tidal level changes on the measurement data and realize data fusion of the integrated three-dimensional model on the water and underwater under a unified datum;

[0066] S4: Time sequence comparison and change amount analysis

[0067] The cloud monitoring platform (5) performs time sequence comparison on the corrected underwater topographic three-dimensional data and the laser three-dimensional scanning data collected at different time periods;

[0068] Based on the time sequence comparison, the depth change amount, the volume change amount and the morphological evolution parameters of the pier foundation scour pit are calculated, and the displacement amount and the deformation amount of the pier body and the superstructure are calculated;

[0069] S5: Comprehensive safety state evaluation and early warning

[0070] Based on the scour pit change amount and the structure displacement and deformation amount obtained in S4, the video information of the channel ship and the flow state recorded by the high-definition video monitoring camera (41) and the video acquisition unit (32) is associated and analyzed;

[0071] When the change amount or the deformation amount exceeds the preset threshold value, the cloud monitoring platform (5) automatically generates a comprehensive safety state evaluation report and sends a warning information.

[0072] The above only describes the preferred embodiments of the present application and is not used 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. within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. An air-water-shore coordinated water-floating buoy type pier scour monitoring system, characterized in that, The application relates to a water-air-land integrated collaborative monitoring architecture which comprises a buoy platform (1), a shore-based collaborative monitoring station (4) and a cloud monitoring platform (5). The buoy platform (1) comprises a sealed main cabin body (11) and an open truss structure (12) arranged below the main cabin body. The buoy platform (1) is provided with a terrain scanning module (2), a water monitoring module (3) and a control unit (6), wherein: The terrain scanning module (2) is a sonar detection device which comprises an underwater unit (21) fixed to the open truss structure (12) and a signal processing unit (22) arranged in the main cabin body (11); the underwater unit (21) comprises a sonar sensor (211), a motion sensor (212), a surface sound velocity probe (213) and a compass (214), and the sonar sensor (211) is configured to cover the underwater terrain around the pier through a multi-angle scanning mode. The water monitoring module (3) comprises a high-precision satellite positioning unit (31) and a video acquisition unit (32), and the antenna (311) and the camera (321) are arranged on the top of the main cabin body (11). The control unit (6) is a local control center of the buoy platform (1), and the signal input end is connected with the terrain scanning module (2) and the water monitoring module (3). The shore-based collaborative monitoring station (4) is arranged on the shore and comprises a high-definition video monitoring camera (41) with a field of view angle covering the pier, the channel and the buoy platform (1) and a laser scanner (42) with a scanning range covering the water structure of the pier. The cloud monitoring platform (5) is a system-level control and data processing center which is in communication connection with the control unit (6) of the buoy platform (1) and the shore-based collaborative monitoring station (4) through a communication network. The application further comprises a mooring lead (7) which is a composite cable, one end of which is fixed to the pier (100) or the shore through an anchoring piece (71), and the other end of which is connected with the buoy platform (1) through a universal swivel (72); the mooring lead (7) is embedded with a low-voltage power supply wire (73) for supplying power to various electric modules on the buoy platform (1). The cloud monitoring platform (5) is configured to receive and fuse multi-source data from the buoy platform (1) and the shore-based collaborative monitoring station (4), and perform time sequence correlation analysis on the fused data to evaluate the pier scouring state and the overall structure change of the bridge.

2. The system of claim 1, wherein, The sonar sensor (211) is a multi-probe array which comprises at least two sonar probes installed at different fixed angles, the angles are in the range of 15-60 degrees relative to the vertical direction, and the working frequencies of the sonar probes with different angles are different, so that the terrain at different distances and accuracies can be covered.

3. The system of claim 1, wherein, The sonar sensor (211) is installed on the open truss structure (12) through a motor-driven rotating mechanism (215), the control unit (6) is in driving connection with the motor-driven rotating mechanism (215), and is configured to control the sonar sensor (211) to periodically swing and scan in a preset angle range in the vertical plane.

4. The system of claim 2 or 3, wherein, The transmitting transducer of the sonar sensor (211) is a cylindrical sound channel structure, and the sound wave transmitting surface is located at one end of a cylindrical sound barrier structure, the inner wall of the sound barrier structure is coated with sound absorbing material, which is used to suppress multipath interference and improve signal-to-noise ratio.

5. The system of claim 1, wherein, The cloud monitoring platform (5) also accesses external environment data sources, and the external environment data includes real-time tidal level data; the cloud monitoring platform (5) is further configured to: before the time sequence correlation analysis, first use the tidal level data to dynamically correct and unify the elevation reference of the terrain data and the elevation reference of the laser scanning data.

6. The system of claim 5, wherein, The control unit (6) is in communication connection with the cloud monitoring platform (5), and is configured to: receive the optimal scanning time window instruction calculated based on the astronomical tide prediction data from the cloud monitoring platform (5), and automatically start the terrain scanning module (2) for scanning operation within the time window.

7. The system of claim 1, wherein, The video acquisition unit (32) is a binocular vision camera, which is used to acquire stereoscopic images of the area near the water line of the pier; and the high-precision satellite positioning unit (31) is a Beidou differential positioning module, and the positioning data is used to compensate the error caused by the displacement of the buoy platform to the underwater terrain measurement.

8. An air-water-land coordinated pier scour and bridge condition monitoring method based on the monitoring system of any one of claims 1-7, characterized in that, The method comprises the following steps: S1: collaborative task planning and triggering The cloud monitoring platform (5) predicts the time window in which the water flow is stable and conducive to scanning measurement based on astronomical tide prediction data, and issues a collaborative scanning task instruction to the control unit (6) of the buoy platform (1) and the shore-based collaborative monitoring station (4); S2: synchronous acquisition of air-water-land multi-source data Within the time window, the terrain scanning module (2) and the water monitoring module (3) of the buoy platform (1), and the laser scanner (42) and the high-definition video monitoring camera (41) of the shore-based collaborative monitoring station (4) are synchronously triggered; all the collected data are attached with unified time and space reference marks by the cloud monitoring platform (5); S3: data fusion and dynamic reference correction The cloud monitoring platform (5) accesses real-time tidal level data, and uses the level data to dynamically correct and unify the elevation reference of the underwater terrain data and the vertical reference of the laser three-dimensional scanning data collected in step S2, so as to eliminate the influence of tidal level change on the measurement data and realize the data fusion of the water and underwater integrated three-dimensional model under the unified reference; S4: time sequence comparison and change amount analysis The cloud monitoring platform (5) compares the corrected underwater terrain three-dimensional data collected at different time periods with the laser three-dimensional scanning data in time sequence; Based on the time sequence comparison, the depth change amount, volume change amount and morphological evolution parameters of the pier foundation scour pit are calculated, and the displacement and deformation amount of the pier main body and superstructure are also calculated; S5: comprehensive safety state evaluation and early warning Based on the change amount and deformation amount obtained in S4, the video information of the channel ships and water flow state recorded by the high-definition video monitoring camera (41) and the video acquisition unit (32) is analyzed in association; When the change amount or deformation amount exceeds the preset threshold, the cloud monitoring platform (5) automatically generates a comprehensive safety state evaluation report and issues a warning information.

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