Inspection methods for roads and bridges

Abstract

The present invention provides a road bridge detection method, the method comprising: obtaining bridge vibration data of a bridge to be detected collected in real time by a data acquisition device, and posture data of the data acquisition device; based on the bridge vibration data and posture data, using a velocity decomposition method, extracting the mixed vibration velocity of the bridge and the measuring platform, the bridge vibration velocity, and the bridge vibration velocity difference; performing time domain to frequency domain conversion analysis on the mixed vibration velocity of the bridge and the measuring platform, the bridge vibration velocity, and the bridge vibration velocity difference, respectively, and obtaining the frequency and amplitude of the corresponding vibration velocity; based on the frequency and amplitude of the mixed vibration velocity of the bridge and the measuring platform, the frequency and amplitude of the bridge vibration velocity, the frequency and amplitude of the bridge vibration velocity difference, and the mobile measurement speed and vehicle load weight of the measuring platform, the safety state of the bridge is evaluated. The road bridge detection method provided by the present invention improves the comprehensiveness and efficiency of bridge detection.

Description

Technical Field

[0001] The present invention relates to the technical field of bridge detection, and in particular to a method for detecting a road bridge. Background Art

[0002] With the rapid development of transportation infrastructure, the number of roads and bridges built has increased year by year. The resulting bridge maintenance and management issues have become increasingly important. In order to ensure the safe use of roads and bridges, the inspection of roads and bridges has gradually developed from manual to semi-automatic, from the initial simple manual to bridge inspection vehicles, to various inspection equipment and further intelligent inspection.

[0003] At present, there are many types of traditional bridge inspection devices. Commonly used inspection equipment includes calipers, scales, dotting machines, etc. These devices are usually used for discrete inspection. The existing bridge inspection vehicle can drive to any measuring point on the bridge deck. Through the extended bracket, the staff climbs onto the working platform, and then slowly descends to the bridge deck to inspect the bridge. This inspection method often occupies several lanes and requires the relevant parameters of the on-board device to be adjusted accordingly, resulting in low inspection efficiency and risks to the safety of the inspectors. Summary of the invention

[0004] The present invention provides a road bridge detection method, which is used to solve the defect of low detection efficiency in the prior art.

[0005] The present invention provides a road bridge detection method, comprising:

[0006] Acquire bridge vibration data of the bridge to be detected collected in real time by a data acquisition device, and posture data of the data acquisition device;

[0007] Based on the bridge vibration data and the posture data, a velocity decomposition method is used to extract the mixed vibration velocity of the bridge and the measurement platform, the bridge vibration velocity, and the bridge vibration velocity difference;

[0008] Performing time-domain to frequency-domain conversion analysis on the mixed vibration velocity of the bridge and the measuring platform, the bridge vibration velocity, and the bridge vibration velocity difference, respectively, to obtain the frequency and amplitude of the corresponding vibration velocity;

[0009] Assessing the safety status of the bridge based on the frequency and amplitude of the mixed vibration velocity of the bridge and the measuring platform, the frequency and amplitude of the vibration velocity of the bridge, the frequency and amplitude of the vibration velocity difference of the bridge, and the moving measurement speed and vehicle weight of the measuring platform;

[0010] Among them, the measurement platform is the mounting platform on which the data acquisition device is located; the posture data is collected by a sensor module arranged on the data acquisition device.

[0011] According to a road bridge detection method provided by the present invention, based on the bridge vibration data and the posture data, a velocity decomposition method is used to extract the mixed vibration velocity of the bridge and the measurement platform, the bridge vibration velocity, and the bridge vibration velocity difference, including:

[0012] Based on the bridge vibration data and the posture data, using a velocity decomposition method, determining the mixed vibration velocity of the bridge and the measurement platform;

[0013] For any measuring point, the mixed vibration velocity of the measuring point is subtracted from the mixed vibration velocity of the target measuring point to determine the vibration velocity of the bridge;

[0014] For any measuring point, subtract the bridge vibration velocity at the measuring point from the bridge vibration velocity at the target measuring point to determine the bridge vibration velocity difference;

[0015] The mixed vibration velocity of the bridge and the measuring platform is determined when both the bridge to be detected and the data acquisition device are in a vibrating state; and the target measuring point is determined based on the nearest matching principle or the farthest matching principle of the measuring point.

[0016] According to a road bridge detection method provided by the present invention, the mixed vibration velocity of the bridge and the measuring platform is determined by using a velocity decomposition method based on the bridge vibration data and the posture data, including:

[0017] Obtaining installation angle parameters of the data acquisition device through calibration;

[0018] The rotation speed compensation parameters are obtained through the rotation speed compensation experiment calibration;

[0019] Based on the bridge vibration data, the posture data and the velocity decomposition model, obtaining the mixed vibration velocity of the bridge and the measurement platform;

[0020] Among them, the parameters of the speed decomposition model are determined based on the installation angle parameters, the rotation speed compensation parameters and the installation position information; the installation position information is the relative position information between the sensor module and the data acquisition device.

[0021] According to a road bridge detection method provided by the present invention, the safety status of the bridge is evaluated based on the frequency and amplitude of the mixed vibration velocity of the bridge and the measuring platform, the frequency and amplitude of the bridge vibration velocity, the frequency and amplitude of the bridge vibration velocity difference, and the moving measurement speed and vehicle load weight of the measuring platform, including:

[0022] Acquiring a moving measurement speed of the measurement platform;

[0023] The current safety status of the bridge is obtained by using the bridge safety evaluation model, combining the mixed vibration velocity frequency and amplitude of the measurement platform, the bridge vibration velocity frequency and amplitude, the bridge vibration velocity difference frequency and amplitude, and the mobile measurement speed and vehicle load weight;

[0024] Uploading the current bridge safety status to the management platform;

[0025] Among them, the bridge safety status includes five levels: excellent, good, medium, poor and bad; the mobile measurement speed is obtained through the built-in positioning system of the measurement platform; and the management platform is deployed on the remote server side.

[0026] According to a road bridge detection method provided by the present invention, the process of establishing the bridge safety evaluation model includes:

[0027] Based on the historical inspection data of the bridge to be inspected, a bridge safety evaluation model is established by using a statistical analysis method;

[0028] Among them, the historical detection data is the data obtained by the measuring platform performing multiple detection processes on the bridge to be detected; the historical detection data includes the frequency and amplitude of the mixed vibration velocity of the historical bridge and the measuring platform, the frequency and amplitude of the historical bridge vibration velocity, the frequency and amplitude of the historical bridge vibration velocity difference, the historical mobile measurement speed and the historical vehicle load weight of the measuring platform obtained in each detection process.

[0029] According to a road bridge detection method provided by the present invention, based on the historical detection data of the bridge to be detected, a bridge safety evaluation model is established by using a statistical analysis method, including:

[0030] Based on the frequency and amplitude of the historical mixed vibration velocity of the bridge and the measuring platform, the historical mobile measurement speed, the historical vehicle weight of the measuring platform, and the location information of the detection area, a statistical analysis method is used to construct a first bridge safety status evaluation model through the confidence interval information of the frequency and amplitude of the mixed vibration velocity of the bridge and the measuring platform under the detection area at different confidence levels;

[0031] Based on the frequency and amplitude of the historical bridge vibration velocity, the historical mobile measurement speed, the historical vehicle weight of the measurement platform, and the location information of the detection area, a second bridge safety status evaluation model is constructed by using a statistical analysis method through the confidence interval information of the frequency and amplitude of the bridge vibration velocity in the detection area at different confidence levels;

[0032] Based on the frequency and amplitude data of the historical bridge vibration velocity difference, the historical mobile measurement speed, the historical vehicle weight of the measurement platform, and the location information of the detection area, a third bridge safety status evaluation model is constructed by using the confidence interval information of the frequency and amplitude of the bridge vibration velocity difference at different confidence levels in the detection area using a statistical analysis method;

[0033] constructing a comprehensive bridge safety status evaluation model based on the first bridge safety status evaluation model, the second bridge safety status evaluation model and the third bridge safety status evaluation model;

[0034] The detection area is the geographical space area corresponding to the process in which the measurement platform detects the bridge to be detected.

[0035] According to a road bridge detection method provided by the present invention, the data acquisition equipment is composed of a plurality of high-precision Doppler velocimeters;

[0036] The installation angle between the high-precision Doppler velocimeter and the horizontal plane is greater than a preset threshold;

[0037] The high-precision Doppler velocimeters are installed in a collinear manner;

[0038] The posture data of the data acquisition device is acquired by a plurality of high-precision gyroscopes;

[0039] The Doppler velocimeter is connected to the high-precision gyroscope via a rigid beam;

[0040] The measuring platform is mainly composed of a mobile carrier.

[0041] According to a road bridge detection method provided by the present invention, the step of obtaining bridge vibration data of a bridge to be detected collected in real time by a data acquisition device comprises:

[0042] Multiple high-precision Doppler velocimeters are used to collect bridge vibration data at multiple measuring points of the bridge to be inspected in real time;

[0043] The bridge vibration data is the speed of the bridge deck measurement point relative to the high-precision Doppler velocimeter along the projection direction of the laser line of the high-precision Doppler velocimeter.

[0044] The present invention provides a method for detecting road bridges. The embodiment of the present invention is based on obtaining continuous bridge vibration data and posture data corresponding to the data acquisition device during the driving of the mobile vehicle, performing speed decomposition, and performing spectrum analysis on the extracted mixed vibration speed of the bridge and the measuring platform, the bridge vibration speed, and the bridge vibration speed difference. The frequency and amplitude corresponding to the three vibration waveforms, the mobile measurement speed of the measuring platform, and the vehicle weight are used to comprehensively evaluate the safety status of the bridge to be detected. In the prior art, the extended boom must be stopped at each measuring point to collect relevant data. In contrast, the present invention only separates the vibration data of the bridge from the continuous resonance signal of the bridge and the vehicle, and then analyzes and evaluates from three aspects: the mixed vibration speed, the bridge vibration speed, and the bridge vibration speed difference. The safety status of the bridge can be obtained without occupying the traffic channel, thereby improving the comprehensiveness and efficiency of bridge detection and ensuring the safety of the detection personnel to the greatest extent. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0046] Figure 1 It is a schematic flow chart of the road and bridge detection method provided by the present invention. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0048] The terms "first", "second", etc. in this application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of the same type, and the number of objects is not limited. For example, the first object can be one or more.

[0049] It should be understood that the terms used in the present specification are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the present invention, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0050] The terms “include” and “comprising” indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0051] Figure 1 FIG. 1 is a flow chart of the road and bridge detection method provided by the present invention. Figure 1 As shown, the road bridge detection method provided by the embodiment of the present invention includes: step 101, obtaining bridge vibration data of the bridge to be detected collected in real time by a data acquisition device, and posture data of the data acquisition device.

[0052] The measuring platform is a platform on which the data acquisition device is mounted. The posture data is collected by a sensor module arranged on the data acquisition device.

[0053] It should be noted that the execution subject of the road and bridge detection method provided in the embodiment of the present invention is a road and bridge detection device.

[0054] The application scenario of the road bridge detection method provided by an embodiment of the present invention is to carry relevant measuring instruments on a mobile vehicle, continuously collect data under the joint vibration of the bridge body and the vehicle body during the movement of the mobile vehicle, and extract and analyze the vibration data to obtain the dynamic characteristic parameters (frequency, vibration mode and damping) and vibration level (vibration intensity and amplitude) of the bridge to evaluate the overall safety status of the bridge.

[0055] It should be noted that a measuring platform consisting of multiple data acquisition devices needs to be set up on the mobile carrier where the road bridge detection device is located to collect bridge vibration data of multiple measuring points of the bridge to be detected in real time.

[0056] Exemplarily, the data acquisition device may be a high-precision Doppler velocimeter, and correspondingly, the bridge vibration data is the speed of the bridge deck measuring point relative to the high-precision Doppler velocimeter along the projection direction of the laser line of the high-precision Doppler velocimeter.

[0057] It should be noted that, on the mobile vehicle where the road and bridge detection device is located, a corresponding sensor module needs to be set on the data acquisition device to collect the posture data of the data acquisition device in real time during the movement of the mobile vehicle.

[0058] Exemplarily, the sensing module may include three high-precision gyroscopes to measure the pitch angular velocity, roll angular velocity and heading angular velocity of the Doppler velocimeter respectively.

[0059] Specifically, in step 101, the detection device of the road bridge receives the bridge vibration data collected in real time by the data collection device, and the posture data collected by the sensor module corresponding to the bridge vibration data collected by the data collection device.

[0060] Step 102: Based on the bridge vibration data and the posture data, a velocity decomposition method is used to extract the mixed vibration velocity of the bridge and the measurement platform, the bridge vibration velocity, and the bridge vibration velocity difference.

[0061] Specifically, in step 102, the detection device of the road bridge combines the bridge vibration data and posture data, and uses the velocity decomposition method to eliminate the pitch velocity, roll velocity, and heading velocity noise in the bridge vibration data collected by the data acquisition equipment, and obtain the mixed vibration velocity of the bridge and the measuring platform. The mixed vibration velocity of the bridge and the measuring platform at different measuring points is then subtracted to eliminate the up and down vibration velocity noise of the measuring platform itself, and the bridge vibration velocity and the bridge vibration velocity difference are obtained.

[0062] Step 103: Perform time domain to frequency domain conversion analysis on the mixed vibration velocity of the bridge and the measuring platform, the bridge vibration velocity, and the bridge vibration velocity difference, respectively, to obtain the frequency and amplitude of the corresponding vibration velocity.

[0063] Specifically, in step 103, the detection device of the road bridge uses a spectrum analysis method to perform time domain to frequency domain conversion analysis on the mixed vibration velocity of the bridge and the measuring platform, the bridge vibration velocity and the bridge vibration velocity difference, and obtains the frequency and amplitude of the mixed vibration velocity of the bridge and the measuring platform, the frequency and amplitude of the bridge vibration velocity and the frequency and amplitude of the bridge vibration velocity difference.

[0064] Step 104: Evaluate the safety status of the bridge based on the frequency and amplitude of the mixed vibration velocity of the bridge and the measuring platform, the frequency and amplitude of the vibration velocity of the bridge, the frequency and amplitude of the vibration velocity difference of the bridge, and the moving measurement speed and vehicle load weight of the measuring platform.

[0065] It should be noted that, before step 104, the road bridge detection device can set an mileage measurement sensor (encoder) in the mobile vehicle to obtain the corresponding mobile measurement speed when the mobile vehicle carries the measurement platform through each measuring point of the bridge to be detected.

[0066] Specifically, in step 104, the detection device of the road bridge can obtain the frequency threshold and amplitude threshold that the bridge can withstand under different levels of conditions according to the weight and measurement speed of the detection device, and sequentially compare the frequency and amplitude of the mixed vibration velocity of the bridge and the measurement platform, the frequency and amplitude of the vibration velocity of the bridge, and the frequency and amplitude of the vibration velocity difference of the bridge with the frequency threshold and the amplitude threshold, respectively, to evaluate the safety of the bridge.

[0067] If the frequency and amplitude of the mixed vibration velocity of the bridge and the measuring platform, the frequency and amplitude of the vibration velocity of the bridge, and the frequency and amplitude of the vibration velocity difference of the bridge, for any vibration frequency, are respectively greater than or equal to the amplitude threshold of the corresponding safety status level, the safety status of the bridge to be tested will be judged as failing the safety status level test.

[0068] If the frequency and amplitude of the mixed vibration velocity of the bridge and the measuring platform, the frequency and amplitude of the vibration velocity of the bridge, and the frequency and amplitude of the vibration velocity difference of the bridge, for any vibration frequency, are respectively less than the amplitude threshold of the corresponding safety status level, the installation status of the bridge to be tested will be judged as passing the safety status level test.

[0069] The embodiment of the present invention obtains continuous bridge vibration data and posture data corresponding to the data acquisition device during the driving process of the mobile vehicle, performs speed decomposition, and performs spectrum analysis on the extracted mixed vibration speed of the bridge and the measuring platform, the bridge vibration speed, and the bridge vibration speed difference. The frequency and amplitude corresponding to the three vibration waveforms and the mobile measurement speed of the measuring platform are used to comprehensively evaluate the bridge safety status of the bridge to be tested. In the prior art, the extended boom must be stopped at each measuring point to collect relevant data. In contrast, the present invention only separates the vibration data of the bridge from the continuous resonance signal of the bridge and the vehicle, and then analyzes and evaluates from three aspects: the mixed vibration speed, the bridge vibration speed, and the bridge vibration speed difference. The safety status of the bridge can be obtained without occupying the traffic channel, thereby improving the comprehensiveness and efficiency of bridge detection and ensuring the safety of the detection personnel to the greatest extent.

[0070] On the basis of any of the above embodiments, based on the bridge vibration data and the posture data, a velocity decomposition method is used to extract the mixed vibration velocity of the bridge and the measuring platform, the bridge vibration velocity, and the bridge vibration velocity difference, including: based on the bridge vibration data and the posture data, a velocity decomposition method is used to determine the mixed vibration velocity of the bridge and the measuring platform.

[0071] The mixed vibration velocity of the bridge and the measuring platform is determined when both the bridge to be detected and the data acquisition device are in a vibrating state.

[0072] Specifically, in step 102, the road bridge detection device brings the bridge vibration data and posture data into the decomposition model constructed by the velocity decomposition method, eliminates the pitch velocity, roll velocity, and heading velocity noise in the bridge vibration data collected by the data acquisition device, and extracts the mixed vibration velocity of the bridge and the measurement platform when both the bridge to be detected and the data acquisition device are in a vibrating state.

[0073] For any measuring point, the mixed vibration velocity of the measuring point is subtracted from the mixed vibration velocity of the target measuring point to determine the vibration velocity of the bridge.

[0074] The target measuring point is determined based on the closest matching principle or the farthest matching principle of the measuring point.

[0075] It should be noted that after obtaining the mixed vibration velocity of the bridge and the measuring platform, it is also necessary to select other measuring points closest to or farthest from the own measuring point as target measuring points from multiple data acquisition devices according to the nearest matching principle or the farthest matching principle.

[0076] Specifically, the detection device for road bridges uses the mixed vibration velocity of the bridge and the measuring platform at any measuring point position, and subtracts it from the mixed vibration velocity of the bridge and the measuring platform at the target measuring point position corresponding to the measuring point to eliminate the up and down vibration velocity noise of the measuring platform itself, and obtain the bridge vibration velocity.

[0077] For any measuring point, the bridge vibration velocity at the measuring point is subtracted from the bridge vibration velocity at the target measuring point to determine the bridge vibration velocity difference.

[0078] Specifically, after determining the bridge vibration velocity, the road bridge detection device also uses the bridge vibration velocity at any measuring point to subtract the bridge vibration velocity at a target measuring point corresponding to the measuring point to obtain the bridge vibration velocity difference.

[0079] The embodiment of the present invention obtains continuous bridge vibration data and attitude data corresponding to the data acquisition device during the driving of the mobile vehicle, performs velocity decomposition, extracts the mixed vibration velocity of the bridge and the measuring platform, the bridge vibration velocity and the bridge vibration velocity difference, and then uses the frequency and amplitude corresponding to the three vibration waveforms and the mobile measurement speed of the measuring platform to comprehensively evaluate the bridge safety status of the bridge to be tested. It is possible to separate continuous bridge vibration data from the continuous resonance signal of the bridge and the vehicle, realize the evaluation of the bridge safety status using continuous measurement data, and improve the comprehensiveness and efficiency of bridge detection.

[0080] On the basis of any of the above embodiments, based on the bridge vibration data and the posture data, a velocity decomposition method is used to determine the mixed vibration velocity of the bridge and the measurement platform, including: obtaining the installation angle parameters of the data acquisition device through calibration.

[0081] Specifically, the road and bridge detection device obtains installation angle parameters by calibrating the installation angle of the data acquisition equipment.

[0082] The rotation speed compensation parameters are obtained through rotation speed compensation experiment calibration.

[0083] Specifically, the road bridge detection device obtains the rotation speed compensation parameter by calibrating the rotation speed of the sensor module on the data acquisition device.

[0084] Based on the bridge vibration data, the posture data and the velocity decomposition model, the mixed vibration velocity of the bridge and the measurement platform is obtained.

[0085] The parameters of the speed decomposition model are determined based on the installation angle parameter, the rotation speed compensation parameter and installation position information. The installation position information is the relative position information of the data acquisition device in the measurement platform.

[0086] Specifically, the road bridge detection device uses the speed decomposition method to obtain the speed decomposition model of the bridge vibration data, and confirms the parameters in the speed decomposition model by combining the installation angle parameters, rotation speed compensation parameters and the installation position information of the sensor module. Then, the mixed vibration speed of the bridge and the measurement platform is calculated by combining the bridge vibration data, posture data, speed decomposition model and parameters.

[0087] Exemplarily, the velocity decomposition model of the Doppler velocimeter measurement value obtained by the velocity decomposition method is:

[0088]

[0089]

[0090] Where n is the number of high-precision Doppler velocimeters in the measurement platform, V i '(i=1,2,…,n) is the mixed vibration velocity of the bridge and the measuring platform at the corresponding measuring point of the i-th high-precision Doppler velocimeter, V i (i=1,2,…,n) is the bridge vibration velocity at the corresponding measuring point of the i-th high-precision Doppler velocimeter, V d,i (i=1,2,…,n) is the moving measurement speed of the i-th high-precision Doppler velocimeter.

[0091] Parameter k Gi (i=1,2,…,n) is the rotation speed compensation coefficient of the i-th high-precision Doppler velocimeter corresponding to the measuring point, which is calibrated by the rotation speed compensation experiment. Parameter G x This is the bridge vibration data.

[0092] Parameter k Ci(i=1,2,…,n) is the installation angle parameter corresponding to the i-th high-precision Doppler velocimeter, which is obtained by calibrating the velocimeter angle difference experiment. Parameter V h Measure the speed of the movement of the measuring platform.

[0093] Parameter b i (i=1,2,…,n) is obtained by comprehensive experimental calibration and can be a constant determined based on empirical values.

[0094] Parameter r i (i=1, 2, ..., n) is the serial number of other Doppler velocimeters (ie, the serial number of the target measuring point) that are matched with the i-th high-precision Doppler velocimeter according to the closest matching principle or the farthest matching principle.

[0095] The embodiment of the present invention establishes a velocity decomposition model based on the velocity decomposition principle, determines the model parameters using the installation angle parameters and rotation speed compensation parameters obtained by calibration, and extracts the mixed vibration velocity of the bridge and the measurement platform by bringing the bridge vibration data and posture data into the velocity decomposition model. It is possible to separate the continuous bridge vibration data from the continuous resonance signals of the bridge and the vehicle, realize the evaluation of the safety status of the bridge using the continuous measurement data, and improve the comprehensiveness and efficiency of bridge detection.

[0096] On the basis of any of the above embodiments, the safety status of the bridge is evaluated based on the frequency and amplitude of the mixed vibration velocity of the bridge and the measuring platform, the frequency and amplitude of the vibration velocity of the bridge, the frequency and amplitude of the vibration velocity difference of the bridge, and the moving measurement speed and vehicle weight of the measuring platform, including: obtaining the moving measurement speed of the measuring platform.

[0097] The mobile measurement speed is obtained through a built-in positioning system of the measurement platform.

[0098] Specifically, the road and bridge detection device obtains real-time position information and acquisition time from the built-in positioning system of the measurement platform, and calculates the current moving measurement speed of the measurement platform.

[0099] The current safety status of the bridge is obtained by utilizing the bridge safety evaluation model, combining the mixed vibration velocity frequency and amplitude of the measurement platform, the bridge vibration velocity frequency and amplitude, the bridge vibration velocity difference frequency and amplitude, and the mobile measurement speed and vehicle load.

[0100] The bridge safety status includes five levels: excellent, good, medium, poor and bad.

[0101] Specifically, the road bridge detection device inputs three frequency domain signals, namely the mixed vibration velocity frequency and amplitude of the measuring platform, the vibration velocity frequency and amplitude of the bridge, and the frequency and amplitude of the bridge vibration velocity difference, as well as the vehicle weight and the moving measurement speed of the measuring platform into the bridge safety evaluation model, quantifies the gap between the current load-bearing state of the bridge and the ideal state, and outputs the current bridge safety state.

[0102] The embodiment of the present invention does not specifically limit the data form of the current bridge safety status, which can be a numerical value or a set of vectors. For example, the road bridge detection device can pre-set a classifier to activate the output vector value as a corresponding grade result.

[0103] Among them, the grade results can be divided into five levels: excellent, good, medium, poor, and poor according to the gap between the current load-bearing state of the bridge and the ideal state, from small to large.

[0104] The current bridge safety status is uploaded to the management platform.

[0105] Wherein, the management platform is deployed on a remote server.

[0106] Specifically, the road bridge detection device uses wireless communication technology to establish a communication connection, and transmits the current bridge safety status to the management platform deployed on the remote server side for storage and management by the service background.

[0107] The wireless communication technology includes but is not limited to wireless communication technology including but not limited to WIFI wireless cellular signals (2G, 3G, 4G, 5G). The embodiment of the present invention does not specifically limit this.

[0108] The embodiment of the present invention uses the bridge safety evaluation model to obtain the current bridge safety status based on the frequency and amplitude of the mixed vibration velocity of the measurement platform, the frequency and amplitude of the bridge vibration velocity, the frequency and amplitude of the bridge vibration velocity difference, and the mobile measurement speed and vehicle weight, and uploads the current bridge safety status to the background management through a communication connection. The bridge safety status can be evaluated using continuous frequency domain signals, which improves the comprehensiveness and efficiency of bridge detection and facilitates subsequent management and accident tracing management.

[0109] On the basis of any of the above embodiments, the process of establishing the bridge safety evaluation model includes: establishing the bridge safety evaluation model based on the historical detection data of the bridge to be detected by using a statistical analysis method.

[0110] The historical detection data is the data obtained by the measurement platform performing multiple detection processes on the bridge to be detected. The historical detection data includes the frequency and amplitude of the mixed vibration velocity of the historical bridge and the measurement platform, the frequency and amplitude of the historical bridge vibration velocity, the frequency and amplitude of the historical bridge vibration velocity difference, the historical mobile measurement speed and the historical vehicle weight of the measurement platform obtained in each detection process.

[0111] Specifically, the road bridge inspection device uses statistical analysis methods to establish a bridge safety evaluation model for the same vehicle load and similar moving measurement speed based on the confidence interval information of the frequency and amplitude of the historical bridge and measurement platform mixed vibration velocity, the frequency and amplitude of the historical bridge vibration velocity, and the frequency and amplitude of the historical bridge vibration velocity difference at different confidence levels obtained in each inspection process.

[0112] The embodiment of the present invention uses the statistical analysis principle to establish a bridge safety evaluation model based on the historical measurement platform mixed vibration velocity frequency and amplitude, the historical bridge vibration velocity frequency and amplitude, the historical bridge vibration velocity difference frequency and amplitude, and the historical mobile measurement speed and historical vehicle weight. The best estimate can be obtained to improve the accuracy and efficiency of bridge detection.

[0113] On the basis of any of the above embodiments, a bridge safety evaluation model is established based on the historical inspection data of the bridge to be inspected using a statistical analysis method, including: based on the frequency and amplitude of the historical mixed vibration velocity of the bridge and the measuring platform, the historical mobile measurement speed, the historical vehicle load weight of the measuring platform, combined with the location information of the inspection area, using a statistical analysis method, through the confidence interval information of the frequency and amplitude of the mixed vibration velocity of the bridge and the measuring platform under the inspection area at different confidence levels, to construct a first bridge safety status evaluation model.

[0114] Based on the frequency and amplitude of the historical bridge vibration velocity, the historical mobile measurement speed, the historical vehicle load of the measurement platform, combined with the location information of the detection area, a statistical analysis method is used to construct a second bridge safety status evaluation model through the confidence interval information of the frequency and amplitude of the bridge vibration velocity in the detection area at different confidence levels.

[0115] Based on the frequency and amplitude data of the historical bridge vibration velocity difference, the historical mobile measurement speed, the historical vehicle load weight of the measurement platform, combined with the location information of the detection area, a statistical analysis method is used to construct a third bridge safety status evaluation model through the confidence interval information of the frequency and amplitude of the bridge vibration velocity difference in the detection area at different confidence levels.

[0116] Based on the first bridge safety status evaluation model, the second bridge safety status evaluation model and the third bridge safety status evaluation model, a comprehensive bridge safety status evaluation model is constructed.

[0117] The detection area is the geographical space area corresponding to the process in which the measurement platform detects the bridge to be detected.

[0118] Specifically, the road bridge detection device constructs a first bridge safety status evaluation model based on the confidence interval information of the frequency and amplitude of the mixed vibration velocity of the historical bridges and the measurement platform in the detection area at different confidence levels.

[0119] Under the same vehicle weight and similar mobile measurement speed, it is assumed that the vibration amplitude of the mixed vibration velocity of the bridge and the measurement platform obeys the normal distribution when the vibration frequency is h (h = 1, 2, ..., m1). h,i ({α h,i |i=1,2,…,n}), the confidence interval of the vibration amplitude is (Au h,i -Ab h,i ,Au h,i +Ab h,i ). For the current measurement data, assume that the vibration amplitude at frequency h is Aw h , then the confidence level at this frequency is Aβ h , the current safety status of the first bridge is AS, where m1 is the maximum vibration frequency of the mixed vibration velocity of the bridge and the measurement platform, and n is the number of confidence level divisions.

[0120] {Aβ h =α h,u |Ab h,u =min{Ab h,i |Aw h ∈(Au h,i -Ab h,i ,Au h,i +Ab h,i ), i=1,2,…,n}}

[0121] {AS=Aβ v |Aβ v =min{Aβ h |h=1,2,…,m1}}

[0122] Under the same vehicle weight and similar moving measurement speed, the second bridge safety status evaluation model is constructed based on the confidence interval information of the frequency and amplitude of the bridge vibration velocity in the detection area at different confidence levels using the statistical analysis method. Assuming that the vibration amplitude of the bridge vibration velocity obeys the normal distribution when the vibration frequency is h (h = 1, 2, ..., m2), the confidence level is α h,i ({α h,i |i=1,2,…,n}), the confidence interval of the vibration amplitude is (Bu h,i -Bb h,i ,Bu h,i +Bb h,i ); For the current measurement data, assume that the vibration amplitude at frequency h is Bw h , then the confidence level at this frequency is Bβ h , the current safety status of the second bridge is BS, where m2 is the maximum vibration frequency of the bridge vibration velocity, and n is the number of confidence level divisions.

[0123] {Bβ h =α h,u |Bb h,u =min{Bb h,i |Bw h ∈(Bu h,i -Bb h,i, Bu h,i +Bb h,i ), i=1,2,…,n}}

[0124] {BS=Bβ v |Bβ v =min{Bβ h |h=1,2,…,m2}}

[0125] Under the same vehicle weight and similar moving measurement speed, the third bridge safety status evaluation model is constructed based on the confidence interval information of the frequency and amplitude of the bridge vibration velocity difference in the detection area at different confidence levels by using the statistical analysis method. Assuming that the vibration amplitude of the bridge vibration velocity difference obeys the normal distribution when the vibration frequency is h (h = 1, 2, ..., m3), the confidence level is α h,i ({α h,i |i=1,2,…,n}), the confidence interval of the vibration amplitude is (Cu h,i -Cb h,i ,Cu h,i +Cb h,i ); For the current measurement data, assume that the vibration amplitude at frequency h is Cw h , then the confidence level at this frequency is Cβ h, the current safety status of the third bridge is CS, where m3 is the maximum vibration frequency of the bridge vibration velocity difference, and n is the number of confidence level divisions.

[0126] {Cβ h =α h,u |Cb h,u =min{Cb h,i |Cw h ∈(Cu h,i -Cb h,i ,Cu h,i +Cb h,i ), i=1,2,…,n}}

[0127] {CS=Cβ v |Cβ v =min{Cβ h |h=1,2,…,m3}}

[0128] From the first bridge safety state, the second bridge safety state, and the third bridge safety state, the worst bridge safety state is selected as the bridge safety state detection result S (S=min{AS, BS, CS}).

[0129] The similar moving measurement speed refers to a moving measurement speed with a speed variation range of less than 10 km / h.

[0130] The embodiment of the present invention uses the historical measurement platform mixed vibration velocity frequency and amplitude, the historical bridge vibration velocity frequency and amplitude, the historical bridge vibration velocity difference frequency and amplitude, and the historical mobile measurement speed and historical vehicle weight, and uses the statistical analysis principle to establish three sub-models, and then integrates the three models into a bridge safety evaluation model. The best estimate can be obtained, the accuracy and efficiency of bridge detection can be improved, and the comprehensive evaluation performance of the model can be improved.

[0131] Based on any of the above embodiments, the data acquisition device is composed of a plurality of high-precision Doppler velocimeters. The installation angle between the high-precision Doppler velocimeter and the horizontal plane is greater than a preset threshold (e.g., a threshold of 88°). The high-precision Doppler velocimeters are installed in a collinear manner. The posture data of the data acquisition device is obtained by a plurality of high-precision gyroscopes. The Doppler velocimeter is connected to the high-precision gyroscope by a rigid beam. The measurement platform is mainly composed of a mobile carrier.

[0132] Specifically, the entire measurement platform is based on a mobile vehicle, on which a data acquisition device is arranged, which is composed of a plurality of high-precision Doppler velocimeters connected in a collinear manner, and each high-precision Doppler velocimeter is arranged in the mobile vehicle at an angle greater than a preset threshold (e.g., a threshold of 88°) with respect to the horizontal plane. At the same time, the attitude data of the high-precision Doppler velocimeter is obtained by a plurality of high-precision gyroscopes arranged. The Doppler velocimeter and the gyroscope are connected by a rigid beam, which can be a special measurement beam, a frame, or a width frame.

[0133] The mobile vehicle may be any one of a car, a truck, and a trailer, and the weight of the mobile vehicle may range from 3 tons to 25 tons.

[0134] The embodiment of the present invention obtains continuous bridge vibration data and posture data corresponding to the data acquisition device during the driving process of the mobile vehicle, performs speed decomposition, and performs spectrum analysis on the extracted mixed vibration speed of the bridge and the measuring platform, the bridge vibration speed, and the bridge vibration speed difference. The frequency and amplitude corresponding to the three vibration waveforms and the mobile measurement speed of the measuring platform are used to comprehensively evaluate the bridge safety status of the bridge to be tested. In the prior art, the extended boom must be stopped at each measuring point to collect relevant data. In contrast, the present invention only separates the vibration data of the bridge from the continuous resonance signal of the bridge and the vehicle, and then analyzes and evaluates from three aspects: the mixed vibration speed, the bridge vibration speed, and the bridge vibration speed difference. The safety status of the bridge can be obtained without occupying the traffic channel, thereby improving the comprehensiveness and efficiency of bridge detection and ensuring the safety of the detection personnel to the greatest extent.

[0135] Based on any of the above embodiments, the bridge vibration data of the bridge to be detected collected in real time by the data collection device includes: using multiple high-precision Doppler velocimeters to collect bridge vibration data of multiple measuring points of the bridge to be detected in real time. The bridge vibration data is the speed of the bridge deck measuring point relative to the high-precision Doppler velocimeter along the projection direction of the laser line of the high-precision Doppler velocimeter.

[0136] Specifically, a measuring platform consisting of multiple high-precision Doppler velocimeters needs to be set up on the mobile carrier where the road bridge detection device is located to collect bridge vibration data of multiple measuring points of the bridge to be detected in real time. Correspondingly, the bridge vibration data is the speed of the bridge deck measuring point relative to the high-precision Doppler velocimeter along the projection direction of the laser line of the high-precision Doppler velocimeter.

[0137] The embodiment of the present invention obtains continuous bridge vibration data and posture data corresponding to the data acquisition device during the driving process of the mobile vehicle, performs speed decomposition, and performs spectrum analysis on the extracted mixed vibration speed of the bridge and the measuring platform, the bridge vibration speed, and the bridge vibration speed difference. The frequency and amplitude corresponding to the three vibration waveforms and the mobile measurement speed of the measuring platform are used to comprehensively evaluate the bridge safety status of the bridge to be tested. In the prior art, the extended boom must be stopped at each measuring point to collect relevant data. In contrast, the present invention only separates the vibration data of the bridge from the continuous resonance signal of the bridge and the vehicle, and then analyzes and evaluates from three aspects: the mixed vibration speed, the bridge vibration speed, and the bridge vibration speed difference. The safety status of the bridge can be obtained without occupying the traffic channel, thereby improving the comprehensiveness and efficiency of bridge detection and ensuring the safety of the detection personnel to the greatest extent.

[0138] The mobile measurement speed and the angle between the vehicle weight and the horizontal plane installation are greater than the preset threshold value.

[0139] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0140] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A road bridge detection method, characterized in that: include: Acquire bridge vibration data of the bridge to be detected collected in real time by a data acquisition device, and posture data of the data acquisition device; Based on the bridge vibration data and the posture data, a velocity decomposition method is used to extract the mixed vibration velocity of the bridge and the measurement platform, the bridge vibration velocity, and the bridge vibration velocity difference; Performing time-domain to frequency-domain conversion analysis on the mixed vibration velocity of the bridge and the measuring platform, the bridge vibration velocity, and the bridge vibration velocity difference, respectively, to obtain the frequency and amplitude of the corresponding vibration velocity; Assessing the safety status of the bridge based on the frequency and amplitude of the mixed vibration velocity of the bridge and the measuring platform, the frequency and amplitude of the vibration velocity of the bridge, the frequency and amplitude of the vibration velocity difference of the bridge, and the moving measurement speed and vehicle weight of the measuring platform; Among them, the measurement platform is the mounting platform on which the data acquisition device is located; the posture data is collected by a sensor module arranged on the data acquisition device.

2. The road bridge detection method according to claim 1, characterized in that: The method of extracting the mixed vibration velocity of the bridge and the measuring platform, the bridge vibration velocity, and the bridge vibration velocity difference based on the bridge vibration data and the posture data by using a velocity decomposition method includes: Based on the bridge vibration data and the posture data, using a velocity decomposition method, determining the mixed vibration velocity of the bridge and the measurement platform; For any measuring point, the mixed vibration velocity of the measuring point is subtracted from the mixed vibration velocity of the target measuring point to determine the vibration velocity of the bridge; For any measuring point, subtract the bridge vibration velocity at the measuring point from the bridge vibration velocity at the target measuring point to determine the bridge vibration velocity difference; The mixed vibration velocity of the bridge and the measuring platform is determined when both the bridge to be detected and the data acquisition device are in a vibrating state; and the target measuring point is determined based on the nearest matching principle or the farthest matching principle of the measuring point.

3. The road and bridge detection method according to claim 2, characterized in that: The method of determining the mixed vibration velocity of the bridge and the measurement platform based on the bridge vibration data and the posture data by using a velocity decomposition method comprises: Obtaining installation angle parameters of the data acquisition device through calibration; The rotation speed compensation parameters are obtained through the rotation speed compensation experiment calibration; Based on the bridge vibration data, the posture data and the velocity decomposition model, obtaining the mixed vibration velocity of the bridge and the measurement platform; Among them, the parameters of the speed decomposition model are determined based on the installation angle parameters, the rotation speed compensation parameters and the installation position information; the installation position information is the relative position information between the sensor module and the data acquisition device.

4. The road bridge detection method according to claim 1, characterized in that: The method of evaluating the safety status of a bridge based on the frequency and amplitude of the mixed vibration velocity of the bridge and the measuring platform, the frequency and amplitude of the vibration velocity of the bridge, the frequency and amplitude of the vibration velocity difference of the bridge, and the moving measurement speed and vehicle weight of the measuring platform includes: Acquiring a moving measurement speed of the measurement platform; The current safety status of the bridge is obtained by using the bridge safety evaluation model, combining the mixed vibration velocity frequency and amplitude of the measurement platform, the bridge vibration velocity frequency and amplitude, the bridge vibration velocity difference frequency and amplitude, and the mobile measurement speed and vehicle load weight; Uploading the current bridge safety status to the management platform; Among them, the bridge safety status includes five levels: excellent, good, medium, poor and bad; the mobile measurement speed is obtained through the built-in positioning system of the measurement platform; and the management platform is deployed on the remote server side.

5. The road and bridge detection method according to claim 4, characterized in that: The process of establishing the bridge safety evaluation model includes: Based on the historical inspection data of the bridge to be inspected, a bridge safety evaluation model is established by using a statistical analysis method; Among them, the historical detection data is the data obtained by the measuring platform performing multiple detection processes on the bridge to be detected; the historical detection data includes the frequency and amplitude of the mixed vibration velocity of the historical bridge and the measuring platform, the frequency and amplitude of the historical bridge vibration velocity, the frequency and amplitude of the historical bridge vibration velocity difference, the historical mobile measurement speed and the historical vehicle load weight of the measuring platform obtained in each detection process.

6. The road bridge detection method according to claim 5, characterized in that: The method of establishing a bridge safety evaluation model based on the historical inspection data of the bridge to be inspected and using a statistical analysis method includes: Based on the frequency and amplitude of the historical mixed vibration velocity of the bridge and the measuring platform, the historical mobile measurement speed, the historical vehicle weight of the measuring platform, and the location information of the detection area, a statistical analysis method is used to construct a first bridge safety status evaluation model through the confidence interval information of the frequency and amplitude of the mixed vibration velocity of the bridge and the measuring platform under the detection area at different confidence levels; Based on the frequency and amplitude of the historical bridge vibration velocity, the historical mobile measurement speed, the historical vehicle weight of the measurement platform, and the location information of the detection area, a second bridge safety status evaluation model is constructed by using a statistical analysis method through the confidence interval information of the frequency and amplitude of the bridge vibration velocity in the detection area at different confidence levels; Based on the frequency and amplitude data of the historical bridge vibration velocity difference, the historical mobile measurement speed, the historical vehicle weight of the measurement platform, and the location information of the detection area, a third bridge safety status evaluation model is constructed by using the confidence interval information of the frequency and amplitude of the bridge vibration velocity difference at different confidence levels in the detection area using a statistical analysis method; constructing a comprehensive bridge safety status evaluation model based on the first bridge safety status evaluation model, the second bridge safety status evaluation model and the third bridge safety status evaluation model; The detection area is the geographical space area corresponding to the process in which the measurement platform detects the bridge to be detected.

7. The road and bridge detection method according to claim 1, characterized in that: The data acquisition equipment is composed of a plurality of high-precision Doppler velocimeters; The installation angle between the high-precision Doppler velocimeter and the horizontal plane is greater than a preset threshold; The high-precision Doppler velocimeters are installed in a collinear manner; The posture data of the data acquisition device is acquired by a plurality of high-precision gyroscopes; The Doppler velocimeter is connected to the high-precision gyroscope via a rigid beam; The measuring platform is mainly composed of a mobile carrier.

8. The road and bridge detection method according to claim 7, characterized in that: The step of obtaining the bridge vibration data of the bridge to be detected collected in real time by the data collection device comprises: Multiple high-precision Doppler velocimeters are used to collect bridge vibration data at multiple measuring points of the bridge to be inspected in real time; The bridge vibration data is the speed of the bridge deck measurement point relative to the high-precision Doppler velocimeter along the projection direction of the laser line of the high-precision Doppler velocimeter.

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