Pile foundation scouring monitoring and image acquisition integrated device

Abstract

The invention relates to the technical field of offshore wind power engineering structure safety monitoring, in particular to an offshore wind power generator pile foundation scouring detection device integrating single-beam detection, an unmanned photographic submersible, turbidity self-adaptive illumination adjustment, modular rapid deployment and automatic cleaning functions. The system is especially suitable for an integrated monitoring system for accurate measurement of pile foundation scouring depth and high-definition acquisition of scouring pit images in a complex marine environment. The device comprises a pile foundation, a fast-assembly modular platform structure and monitoring equipment. The fast-assembly type modular platform structure is composed of an equipment bearing module and a pile body fixing module, the pile body fixing module is held tightly on a pile foundation in a self-adaptive mode, the equipment bearing module is loaded with a lifting device, and an unmanned submersible is installed at the tail end of a lifting rope. The monitoring equipment comprises a turbidity sensor, a camera and a single-beam detector, the single-beam detector scans in the circumferential direction of the pile foundation to obtain initial scouring depth data, the unmanned submersible dives to shoot a high-definition image, and a scouring pit form analysis report is generated after data fusion.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of offshore wind power engineering structure safety monitoring, in particular to a kind of offshore wind turbine pile foundation scour detection device integrated single-beam surveying, unmanned camera submersible, turbidity self-adaptive light adjustment, modularization rapid deployment and automatic cleaning function. BACKGROUND

[0002] With the transformation of global energy structure to clean and low carbon, as an important part of renewable energy, the development of offshore wind power has gradually expanded to deep sea and open sea areas. As the core foundation supporting the entire wind turbine structure, the offshore wind turbine pile foundation is subjected to the action of current, wave, tide and other loads for a long time in a complex marine dynamic environment. In this process, the sediment around the pile will be continuously lost due to water flow scouring, forming a scour pit around the pile, which leads to a decrease in pile embedment depth and a significant decrease in foundation bearing capacity, thereby threatening the long-term stability and safety of the wind turbine structure and becoming one of the key hidden dangers inducing safety accidents of offshore wind power projects. Therefore, accurately obtaining pile scour depth data and scour pit shape characteristics is the core basis for evaluating the safety state of pile foundation structure, developing scientific maintenance and reinforcement strategies, and is also an urgent need to ensure the safe operation of offshore wind farms throughout their life cycle.

[0003] Currently, offshore wind power pile foundation scour monitoring and image acquisition mainly rely on traditional technical means, but in actual engineering applications, many limitations have been exposed, which are difficult to meet the needs of precision and high efficiency monitoring in complex marine environments. The specific problems are as follows: Firstly, in terms of image acquisition quality, traditional underwater camera equipment generally uses fixed light mode without considering the differences in water turbidity in different sea areas. When the monitoring area is in a high turbidity sea area, the light under fixed light is easy to scatter, resulting in serious blurring of the photographed scour pit image and loss of texture information. At the same time, the existing equipment lacks a linkage mechanism between water quality parameters and light adjustment, and cannot dynamically adjust the light intensity and spectral type according to real-time turbidity changes. It is difficult to achieve high-definition imaging in a wide range of turbidity from 0 to 50 NTU, which seriously affects the accuracy of subsequent scour pit shape analysis; Secondly, in terms of equipment deployment efficiency, the existing detection platform is mostly a customized structure designed for a specific pile diameter. When different diameters of pile foundations need to be monitored, the platform needs to be redesigned to adapt to the structure, resulting in poor equipment versatility. The installation process is complicated and time-consuming for a single deployment, which seriously affects the monitoring efficiency. Thirdly, in terms of equipment maintenance, silt, plankton and marine attached organisms in the underwater environment are easy to deposit or attach on the lens and sensor probe of the submersible, which will cause image acquisition obstruction and sensor measurement accuracy decline if not cleaned in time. The existing technology mainly relies on manual diving or hoisting equipment to land for cleaning, which not only has high maintenance cost and long cycle, but also greatly reduces the effective working time of the equipment, making it difficult to guarantee the continuity and integrity of the monitoring data.

[0004] Fourthly, in terms of equipment stability, the coupling of the existing detection device and the pile foundation mainly adopts simple binding or gravity fixing method, which is easy to sway or displace in strong ocean current environment, leading to increased measurement depth deviation of single-beam sounding instrument and difficulty of the submersible to accurately dive to the target scouring area, further affecting the reliability of the monitoring data.

[0005] In summary, the existing offshore wind power pile scouring monitoring technology has obvious deficiencies in high-definition imaging adaptability, rapid deployment capability, automatic maintenance level and stable coupling performance, and it is urgent to develop an integrated monitoring device that can collect high-definition images in a wide turbidity range, rapidly deploy multiple diameter pile foundations, automatically clean the equipment and have strong environmental stability, so as to solve the technical problems in current engineering practice and ensure the safety of offshore wind power structures. SUMMARY

[0006] In view of the problems in the existing offshore wind power pile scouring detection, such as great influence of turbidity on image quality, low equipment deployment efficiency and difficulty in cleaning and maintaining the submersible, the present application provides a pile scouring monitoring and image acquisition integrated device.

[0007] The technical problem of the present application is solved by the following solution: a pile scouring monitoring and image acquisition integrated device, comprising a pile foundation, a quick-mounting modular platform structure and a monitoring equipment, characterized in that the quick-mounting modular platform structure is composed of an equipment carrying module and a pile body fixing module, the pile body fixing module is self-adaptively clamped on the pile foundation, and the equipment carrying module is arranged outside the pile body fixing module and loaded with a hoisting device, the tail end of the hoisting rope of the hoisting device is installed with an unmanned submersible, the monitoring equipment comprises a turbidity sensor, a panoramic camera and a single-beam detector, the turbidity sensor and the panoramic camera are installed on the unmanned submersible, a high-pressure flushing device is arranged on the equipment carrying module, the position of the high-pressure flushing device corresponds to the hoisting position of the unmanned submersible, and when the unmanned submersible returns after completing shooting, the cleaning program of the high-pressure flushing device is automatically triggered to automatically flush the monitoring equipment on the unmanned submersible. It also includes a rotating mechanism, which is rotatably mounted on the equipment bearing module. The lifting device, unmanned submersible, high-pressure flushing device and single-beam detector are all mounted on the rotating mechanism. The single-beam detector scans along the circumference of the pile foundation through the rotating mechanism to obtain the initial scour depth distribution data. Then, the unmanned submersible descends to the target depth according to the single-beam data, takes high-definition images of the scour pit, and fuses them with the single-beam depth data to generate a scour pit morphology analysis report.

[0008] Furthermore, the equipment support module consists of two fixed arc seats, which are joined and fixed together by quick-release bolts to form a complete ring seat. Rotary support platforms are symmetrically arranged at the upper and lower ends of the fixed arc seats, and a rotating track is provided on the outer wall of the rotating support platform. When the two fixed arc seats are joined and fixed together, the two sets of rotating support platforms and rotating tracks on them are seamlessly connected.

[0009] Furthermore, the rotating mechanism includes a rotating seat, a sliding sleeve fixed on the inner side of the rotating seat, the rotating seat being slidably mounted on the rotating track via the sliding sleeve, a motor being mounted on the rotating seat, a gear being fixedly fitted at the output end of the motor, and a gear ring being provided on the periphery of the rotating support platform, with the gear meshing with the gear ring.

[0010] Furthermore, the pile fixing module includes two retractable arc-shaped clamping arms symmetrically arranged within the equipment bearing module. The retractable arc-shaped clamping arms are fixed to the fixed arc seat of the equipment bearing module by an automatic telescopic component, and the retractable arc-shaped clamping arms and the fixed arc seat are coaxially arranged.

[0011] Furthermore, the high-pressure flushing device includes a flushing hood and an air pump. The flushing hood is fixed on the rotating mechanism and located outside the lifting position of the unmanned submersible. The flushing hood has a hollow structure inside, and its inner wall is evenly distributed with high-pressure spray holes. The air pump is connected to the flushing hood through an air pipe.

[0012] Furthermore, the lifting device includes a crane mounted and fixed on a rotating mechanism, with the end of a lifting rope matched on the crane connected to an unmanned submersible, and guide wheels installed on the crane for guiding the lifting rope.

[0013] Furthermore, the unmanned submersible is equipped with supplementary lighting, which uses a multi-spectral LED array.

[0014] Furthermore, it also includes a turbidity-light control system and a data transmission unit. The turbidity-light control system uses a turbidity sensor to monitor the turbidity of the water in real time, and uses a PLC control system to adjust the multispectral LED array on the unmanned submersible: when the turbidity is ≤10 NTU, white light mode is activated; when the turbidity is between 10-30 NTU, it switches to blue-white composite light; when the turbidity is ≥30 NTU, a more penetrating 450nm monochromatic blue light mode is activated, and the light intensity is linearly adjusted according to the turbidity value to ensure that the texture resolution of the scour pit image is ≥500 dpi under different water qualities; the data transmission unit is used to transmit the data monitored and collected by the device to the terminal of the shore-based personnel.

[0015] The beneficial effects of this invention are: The device integrates dual monitoring methods to ensure data integrity and accuracy: A single-beam detector and a panoramic camera from an unmanned underwater vehicle (UUV) are combined. First, a rotating mechanism drives the single-beam detector to scan 360° around the pile foundation, acquiring initial scour depth distribution data to provide the UUV with a precise target for its descent. The UUV then collects high-definition images of the scour pit based on the depth data, achieving bidirectional fusion of depth data and morphological images. Compared to traditional single-monitoring methods, this approach avoids the limitations of single-beam detectors that only measure depth and cannot reveal the pit's morphology, and also solves the problem of missed measurements caused by the UUV's blind descent. The resulting scour pit morphology analysis report is more comprehensive, providing complete data support for pile foundation bearing capacity assessment and risk warning. Turbidity-adaptive illumination adjustment ensures high-definition imaging quality: A turbidity sensor monitors water turbidity in real time, and a PLC control system links multispectral LED supplementary lighting to achieve dynamic adaptation of illumination mode and intensity. This design overcomes the problems of blurred images and texture loss in high-turbidity water under traditional fixed illumination, ensuring that the texture resolution of scour pit images is ≥500 dpi across a wide turbidity range of 0-50 NTU, providing a clear image foundation for subsequent morphological analysis. Modular, quick-assembly structure shortens deployment time: The equipment's load-bearing module uses two fixed arc seats that are joined together with quick-release bolts, eliminating the need for complex hoisting equipment and requiring only a small number of personnel for offshore assembly; the pile fixing module uses an automatic telescopic component to drive a retractable arc-shaped clamping arm, which can adaptively clamp according to the pile diameter, eliminating the need for customized structures for specific piles. Compared to the cumbersome process of designing each pile individually using traditional customized platforms, this device significantly reduces deployment time per operation, greatly improving the efficiency of batch monitoring operations in wind farms. Automatic high-pressure cleaning avoids the drawbacks of manual maintenance: After the unmanned submersible is recovered, the device automatically triggers the high-pressure flushing system. The air pump sprays high-pressure air columns through the evenly distributed high-pressure nozzles on the inner wall of the flushing hood, impacting the surface of the submersible and quickly removing mud, plankton, and other attached substances. Compared to traditional manual underwater cleaning or hoisting to land for maintenance, this design shortens the time required for a single cleaning cycle and avoids monitoring interruptions caused by equipment downtime for maintenance. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the integrated device of the present invention and its connection with the pile foundation. Figure 2 This is a three-dimensional structural diagram of the present invention; Figure 3 This is a front view structural diagram of the present invention; Figure 4 This is a top view of the structure of the present invention; Figure 5 This is an exploded view of the present invention; Figure 6 This is a schematic diagram of the high-pressure flushing device and the unmanned submersible of the present invention; Figure 7 This is a schematic diagram of the unmanned submersible structure of the present invention.

[0017] In the diagram: 1. Pile foundation; 2. Equipment bearing module; 201. Fixed arc seat; 202. Rotating support platform; 203. Rotating track; 3. Pile fixing module; 301. Automatic telescopic component; 302. Telescopic arc-shaped clamp arm; 4. High-pressure flushing device; 401. Flushing hood; 402. High-pressure nozzle; 403. Air pump; 404. Air pipe; 5. Unmanned underwater vehicle; 6. Lifting device; 601. Crane; 602. Lifting rope; 603. Guide wheel; 7. Rotating mechanism; 701. Rotating seat; 702. Sliding sleeve; 703. Motor; 704. Gear; 705. Gear ring; 8. Turbidity sensor; 9. Panoramic camera; 10. Supplemental lighting; 11. Single beam detector; 12. Quick-release bolt. Detailed Implementation

[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0019] Please see Figures 1-7 This invention provides a technical solution for an integrated device for monitoring and acquiring pile foundation scour: Example

[0020] like Figures 1-5As shown, the core support structure of this device is a quick-assembly modular platform structure. This structure is composed of the equipment carrying module 2 and the pile fixing module 3, which work together to achieve stable coupling between the device and the pile foundation 1 and orderly mounting of various monitoring components. The equipment carrying module 2 adopts a split design, consisting of two symmetrical fixed arc seats 201. The two fixed arc seats 201 can be quickly assembled and fixed using quick-release bolts 12 to form a complete ring seat that fits the outer perimeter of the pile foundation 1. This split design combined with quick-release connection significantly simplifies the assembly process of the equipment in offshore operation scenarios, avoiding the problems of difficult transportation and inconvenient installation associated with traditional integral platforms, thus laying the foundation for rapid deployment. At the upper and lower ends of the fixed arc seats 201, symmetrically arranged arc-shaped rotating support platforms 202 are provided, and the outer wall of the rotating support platforms 202 is machined with continuous rotating tracks 203. When the two fixed arc seats 201 are assembled using quick-release bolts 12, the upper and lower sets of rotating support platforms 202 and rotating tracks 203 can achieve seamless connection, ensuring the stability of the subsequent operation of the rotating mechanism 7.

[0021] The pile fixing module 3, serving as the core connection between the device and the pile foundation 1, includes two retractable arc-shaped clamping arms 302 symmetrically arranged inside the equipment bearing module 2. These arms are fixedly connected to the fixed arc seat 201 via an automatic telescopic component 301, ensuring that the center of the retractable arc-shaped clamping arm 302 coincides with the center of the fixed arc seat 201, thus guaranteeing that the clamping force is evenly applied to the outer periphery of the pile foundation 1. During operation, the automatic telescopic component 301 adaptively adjusts its telescopic range according to the actual diameter of the pile foundation 1, causing the retractable arc-shaped clamping arms 302 to move closer to and clamp the pile foundation 1. This adaptive clamping structure eliminates the need to redesign adaptable components for pile foundations of different diameters, effectively broadening the device's applicability. Simultaneously, the clamping force generated during clamping ensures that the device does not sway or shift in strong ocean currents, solving the problems of poor stability and susceptibility to water flow impact in traditional binding-type fixing methods, thus providing structural assurance for the accuracy of subsequent monitoring data.

[0022] The rotating mechanism 7 is installed on the rotating support platform 202 of the equipment carrier module 2. Its specific structure includes a U-shaped rotating seat 701. Sliding sleeves 702 matching the rotating track 203 are fixed at the upper and lower ends of the inner side of the rotating seat 701. The rotating seat 701 can make circular motion along the outer periphery of the rotating support platform 202 through the sliding engagement of the sliding sleeves 702 and the rotating track 203. In order to drive the rotating seat 701 to rotate stably, a motor 703 is fixedly installed on the rotating seat 701. A gear 704 is fitted on the output end of the motor 703. Correspondingly, a gear ring 705 that meshes with the gear 704 is machined on the periphery of the rotating support platform 202. When the motor 703 starts, the gear 704 rotates around the gear ring 705, thereby driving the rotating seat 701 and the components installed on it to rotate synchronously. The rotation angle can be precisely controlled, which provides a guarantee for the uniform sampling of the single beam detector 11.

[0023] The lifting device 6, single-beam detector 11, and unmanned submersible 5 are integrated and installed on the rotating base 701 of the rotating mechanism 7. The lifting device 6 includes a crane 601 and a lifting rope 602. The crane 601 is fixed to the rotating base 701. One end of the lifting rope 602 is wound around the drum of the crane 601, and the other end is connected to the unmanned submersible 5. A guide wheel 603 is installed at the output end of the crane 601. The guide wheel 603 can guide the movement direction of the lifting rope 602 to prevent the lifting rope 602 from deviating or tangling during the release and retrieval process, and ensure that the unmanned submersible 5 descends and is recovered smoothly. The unmanned underwater vehicle 5 is equipped with a panoramic camera 9 and a turbidity sensor 8. The panoramic camera 9 is used to collect image information of the scour pit, and the turbidity sensor 8 is used to monitor the turbidity data of the water in real time, providing parameter basis for subsequent image acquisition quality optimization. The single beam detector 11 is fixed below the rotating base 701 and rotates synchronously with the rotating base 701, and can perform 360° scanning along the circumference of the pile foundation 1.

[0024] The workflow of this embodiment is as follows: First, in the deployment phase, two fixed arc seats 201 are transported to the target pile foundation 1 and assembled using quick-release bolts 12 to form a complete equipment bearing module 2. Then, the automatic telescopic component 301 is activated, driving the telescopic arc-shaped clamping arm 302 to grip the pile foundation 1. After the device is fixed, the cables of each module are connected and a self-test program is started to ensure that each component is operating normally. After the self-test is passed, the scanning phase begins. The motor 703 is started, and the rotating seat 701 is driven to rotate through the transmission of gear 704 and gear ring 705. The single-beam detector 11 rotates synchronously with the rotating seat 701, collecting scour depth data along the circumference of the pile foundation 1 to facilitate the precise descent of the unmanned submersible 5. The process provides depth information; after scanning, the image acquisition stage begins. The crane 601 releases the lifting rope 602, and the unmanned submersible 5, guided by the guide wheel 603, descends to the target scour area based on the depth data collected by the single-beam detector 11. The panoramic camera 9 is activated and acquires images of the scour pit, while the turbidity sensor 8 monitors the water turbidity in real time. After image acquisition, the crane 601 retracts the lifting rope 602, returning the unmanned submersible 5 to its initial position. Finally, the data processing stage begins, fusing the image data collected by the panoramic camera 9 with the depth data collected by the single-beam detector 11 to generate a scour pit morphology analysis report, providing complete data support for pile foundation stability assessment.

[0025] This embodiment achieves rapid deployment, stable operation, and accurate data acquisition for pile foundation scour monitoring through modular design, adaptive fixing, precise rotary transmission, and multi-device collaborative work, effectively solving the problems of poor versatility, insufficient stability, and low deployment efficiency of traditional monitoring devices. Example

[0026] Based on Example 1, when an unmanned submersible descends into the water, debris inevitably accumulates on it, affecting the camera's footage. To address this issue, this example adds a high-pressure washing device 4. This device is crucial for ensuring the long-term stable operation of the monitoring equipment on the unmanned submersible 5, as detailed below: like Figure 1 , 6As shown, the high-pressure flushing device 4 is installed on the rotating base 701 of the rotating mechanism 7, and its installation position corresponds to the lifting and recovery position of the unmanned submersible 5, ensuring that the cleaning procedure can be triggered immediately after the unmanned submersible 5 is recovered to the initial position. The high-pressure flushing device 4 consists of a flushing hood 401, an air pump 403, and an air pipe 404. The flushing hood 401 is a ring structure, fixed on the rotating base 701, and surrounds the outside of the recovery path of the unmanned submersible 5. The interior of the flushing hood 401 is a hollow structure, and multiple high-pressure nozzles 402 are evenly distributed on its inner wall. The orientation of the high-pressure nozzles 402 all points to the center of the flushing hood 401, that is, the recovery position of the unmanned submersible 5. The air pump 403 is fixed on the side of the rotating base 701 and is connected to the hollow interior of the flushing hood 401 through the air pipe 404, which can deliver high-pressure gas into the flushing hood 401.

[0027] When the unmanned submersible 5 completes its image acquisition task and is retrieved to its initial position by the lifting device 6, the device's control system will automatically trigger the cleaning program of the high-pressure flushing device 4. The technical principle of the cleaning process is as follows: First, the air pump 403 starts, delivering high-pressure gas through the air pipe 404 to the hollow interior of the flushing hood 401. The high-pressure gas forms a high-pressure airflow inside the flushing hood 401, and then is ejected through the high-pressure nozzles 402 evenly distributed on the inner wall, forming multiple high-pressure air columns directed at the unmanned submersible 5. These high-pressure air columns can quickly impact the surface of the unmanned submersible 5, especially the lens of the panoramic camera 9 and the probe surface of the turbidity sensor 8, blowing away loose pollutants such as attached mud, sand, and plankton. Because the high-pressure nozzles 402 are evenly distributed, it can ensure that all key parts of the unmanned submersible 5 can be covered by high-pressure air columns, avoiding cleaning dead spots.

[0028] Using high-pressure gas as the cleaning medium avoids corrosion or icing problems caused by residual moisture on the equipment surface after cleaning, compared to traditional high-pressure water jet cleaning, making it particularly suitable for high-salt-fog marine environments. Furthermore, the cleaning process is automatically triggered without manual intervention, significantly reducing equipment maintenance costs. It also boasts high cleaning efficiency, completing the cleaning operation in a short time, ensuring the unmanned submersible 5 can quickly be deployed for the next monitoring mission, increasing the effective working time of the equipment. In addition, the annular structure of the flushing hood 401 and the uniform distribution of the high-pressure nozzles 402 ensure comprehensive cleaning, preventing image acquisition obstruction or sensor measurement accuracy degradation due to inadequate localized cleaning, thus guaranteeing the continuity and accuracy of monitoring data.

[0029] In addition, the high-pressure flushing device 4 can also be equipped with a nylon brush and a hot air blower that can be automatically controlled to rotate. After the submersible completes the shooting and returns to the platform, the cleaning program is automatically triggered. First, the sediment on the lens surface is flushed with 0.5 MPa high-pressure air, then the stubborn biological attachments are removed by the nylon brush (rotation speed: 300 r / min), and finally the hot air blower is started to dry (temperature: 40 °C). The cleaning process takes ≤ 3 minutes, and the lens cleanliness can reach 99%, ensuring no obstruction for the next shooting. Embodiment

[0030] The light in the deep sea is weak, and insufficient lighting will also affect the quality of the camera shooting images. In high-turbidity water bodies, problems such as image blurring and texture information loss are likely to occur. To solve this problem, the following technical solutions are provided in this embodiment: As Figure 1 、 7 shown, on the outer side of the unmanned submersible 5, a plurality of supplementary light lamps 10 are evenly installed along its circumferential direction. The supplementary light lamps 10 adopt a multi-spectral LED array structure and can emit light of different spectral types and intensities to provide light support for the image acquisition of the panoramic camera 9; the turbidity-light control system supporting the supplementary light lamps 10 consists of a turbidity sensor 8, a PLC control system, and a data transmission unit. Among them, the turbidity sensor 8 is installed at the front end of the unmanned submersible 5 and can collect water turbidity data in real time. The PLC control system is integrated in the control box of the rotating mechanism 7 and establishes signal connections with the turbidity sensor 8 and the supplementary light lamps 10 through the data transmission unit to achieve real-time data transmission and precise issuance of instructions. The data transmission unit is also used to transmit the data monitored and collected by the device to the terminals of onshore personnel.

[0031] The working principle of this embodiment is as follows: After the unmanned submersible 5 descends to the target scour area, the turbidity sensor 8 is activated first, collecting water turbidity data in real time at a fixed frequency, and sending the turbidity data to the PLC control system through the data transmission unit; after receiving the turbidity data, the PLC control system dynamically adjusts the spectrum type and light intensity of the supplementary light 10 according to the preset turbidity-light matching logic: when the water turbidity is detected to be ≤10 NTU, the PLC control system sends a command to the supplementary light 10 to enable the white light mode. At this time, the multispectral LED array emits white light, providing a near-natural light lighting environment for the panoramic camera 9, ensuring the color reproduction of the scour pit image; when the water turbidity is detected to be in the 10-30 NTU range, the PLC control system... The PLC control system instructs the supplementary light 10 to switch to a blue-white composite light mode. By adjusting the emission ratio of blue and white light in the LED array, the system utilizes the low scattering coefficient of blue light in medium-turbidity water to enhance light penetration while retaining white light to ensure image brightness. When the water turbidity is detected to be ≥30 NTU, the PLC control system instructs the supplementary light 10 to activate a 450nm monochromatic blue light mode. This wavelength of blue light has the strongest penetration in high-turbidity water, effectively reducing image blurring caused by light scattering. In addition, in the above three modes, the PLC control system will also linearly adjust the illumination intensity of the supplementary light 10 according to the specific turbidity value to ensure that the shooting area of ​​the panoramic camera 9 can obtain appropriate illumination in different turbidity environments.

[0032] This embodiment achieves adaptive adjustment of illumination parameters through real-time linkage between the turbidity sensor 8 and the supplementary light 10, ensuring that the panoramic camera 9 can acquire high-definition scour pit images with a texture resolution ≥500dpi in a wide turbidity range of 0-50NTU. Simultaneously, the use of a multispectral LED array, compared to traditional single-spectrum supplementary lights, allows for flexible switching of spectral types based on turbidity changes, further improving illumination adaptability. Furthermore, the precise control of the PLC control system and the real-time data interaction of the data transmission unit ensure the timeliness and accuracy of illumination adjustment, avoiding image quality degradation due to adjustment lag, and providing high-quality image data support for the accuracy of subsequent scour pit morphology analysis.

[0033] It should be noted that the above three embodiments are not independent of each other, but rather work together to form a complete integrated device for pile foundation scour monitoring and image acquisition: the main structure of Embodiment 1 provides the installation foundation and operational support for the high-pressure flushing device of Embodiment 2 and the supplementary lighting and turbidity-light control system of Embodiment 3; the automatic cleaning function of Embodiment 2 ensures the long-term stable operation of the supplementary lighting and turbidity sensor of Embodiment 3 and the panoramic camera of Embodiment 1; and the lighting optimization of Embodiment 3 improves the image acquisition quality of the panoramic camera in Embodiment 1. The three work together to achieve the efficient, accurate, and stable monitoring function of the device.

[0034] The above description is only a preferred embodiment of the present invention and does not limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A pile scouring monitoring and image acquisition integrated device, comprising a pile foundation (1), a quick-mounting modular platform structure and a monitoring equipment, characterized in that, The quick-assembly modular platform structure is composed of a device bearing module (2) and a pile body fixing module (3), the pile body fixing module (3) is self-adaptively embraced on the pile foundation (1), the device bearing module (2) is arranged outside the pile body fixing module (3), and a hoisting device (6) is loaded on the device bearing module (2), a hoisting rope (602) tail end of the hoisting device (6) is provided with an unmanned submersible (5), the monitoring device comprises a turbidity sensor (8), a panoramic camera (9) and a single-beam detector (11), the turbidity sensor (8) and the panoramic camera (9) are arranged on the unmanned submersible (5), a high-pressure flushing device (4) is arranged on the device bearing module (2), the position of the high-pressure flushing device (4) corresponds to the hoisting position of the unmanned submersible (5), and when the unmanned submersible (5) returns after completing shooting, a cleaning program of the high-pressure flushing device (4) is automatically triggered to automatically flush the monitoring device on the unmanned submersible (5); The quick-assembly modular platform structure is composed of a device bearing module (2) and a pile body fixing module (3), the pile body fixing module (3) is self-adaptively embraced on the pile foundation (1), the device bearing module (2) is arranged outside the pile body fixing module (3), and a hoisting device (6) is loaded on the device bearing module (2), a hoisting rope (602) tail end of the hoisting device (6) is provided with an unmanned submersible (5), the monitoring device comprises a turbidity sensor (8), a panoramic camera (9) and a single-beam detector (11), the turbidity sensor (8) and the panoramic camera (9) are arranged on the unmanned submersible (5), a high-pressure flushing device (4) is arranged on the device bearing module (2), the position of the high-pressure flushing device (4) corresponds to the hoisting position of the unmanned submersible (5), and when the unmanned submersible (5) returns after completing shooting, a cleaning program of the high-pressure flushing device (4) is automatically triggered to automatically flush the monitoring device on the unmanned submersible (5); 2. The pile foundation erosion monitoring and image acquisition integrated device according to claim 1, characterized in that, The device bearing module (2) is composed of two fixed arc seats (201), and the two fixed arc seats (201) are fixed by quick-release bolts (12) to form a complete ring seat, and the upper and lower ends of the fixed arc seat (201) are symmetrically provided with rotating support tables (202), and the outer wall of the rotating support table (202) is provided with a rotating track (203), and when the two fixed arc seats (201) are fixed, the two groups of rotating support tables (202) and rotating tracks (203) on the two fixed arc seats (201) are seamlessly connected.

3. The pile scour monitoring and image capturing integrated device according to claim 2, wherein, The rotating mechanism (7) comprises a rotating seat (701), the inner side of the rotating seat (701) is fixedly provided with a sliding sleeve (702), the rotating seat (701) is slidably arranged on the rotating track (203) through the sliding sleeve (702), a motor (703) is arranged on the rotating seat (701), a gear (704) is fixedly arranged on the output end of the motor (703), the rotating track (203) is provided with a gear ring (705) on the side, and the gear (704) is engaged with the gear ring (705).

4. The pile scour monitoring and image capturing integrated device according to claim 1, wherein, The pile body fixing module (3) comprises two telescopic arc-shaped clamping arms (302) symmetrically arranged in the device bearing module (2), the telescopic arc-shaped clamping arms (302) are fixed on the fixed arc seats (201) of the device bearing module (2) through automatic telescopic members (301), and the telescopic arc-shaped clamping arms (302) are coaxially arranged with the fixed arc seats (201).

5. The pile scour monitoring and image capturing integrated device according to claim 1, wherein, The high-pressure flushing device (4) comprises a flushing cover (401) and a gas pump (403), the flushing cover (401) is fixed on the rotating mechanism (7) and located outside the lifting position of the unmanned underwater vehicle (5), the inside of the flushing cover (401) is a hollow structure, the inner wall of the flushing cover (401) is uniformly distributed with high-pressure nozzles (402), and the gas pump (403) is connected with the flushing cover (401) through an air pipe (404).

6. The pile scour monitoring and image capturing integrated device according to claim 1, wherein, The lifting device (6) comprises a lifting machine (601) fixedly installed on the rotating mechanism (7), the tail end of a lifting rope (602) matched with the lifting machine (601) is connected with the unmanned underwater vehicle (5), and a guide wheel (603) is installed on the lifting machine (601) and used for guiding the lifting rope (602).

7. The pile scour monitoring and image capturing integrated device according to claim 1, wherein, The unmanned underwater vehicle (5) is provided with a light supplementing lamp (10), and the light supplementing lamp (10) adopts a multi-spectrum LED array.

8. The pile foundation scour monitoring and image collection integrated device according to claim 7, characterized in that, The device further comprises a turbidity-illumination control system and a data transmission unit, the turbidity-illumination control system adopts a turbidity sensor (8) to monitor the turbidity of water in real time, and a multi-spectrum LED array carried by the unmanned underwater vehicle (5) is adjusted through a PLC control system: when the turbidity is less than or equal to 10 NTU, a white light mode is enabled; when the turbidity is between 10 NTU and 30 NTU, a blue-white composite light is switched; when the turbidity is greater than or equal to 30 NTU, a 450 nm monochromatic blue light mode with stronger penetration is enabled, and the illumination intensity is linearly adjusted according to the turbidity value, so that the texture resolution of the image of the flushing pit under different water qualities is greater than or equal to 500 dpi; and the data transmission unit is used for transmitting the data monitored and collected by the device to the terminal of the shore-based personnel.

Images