Sensor and method for measuring bridge deflection, relative displacement and relative rotation angle based on symmetrical laser

Abstract

The present invention discloses a bridge deflection, relative displacement, and relative rotation angle measurement sensor and method based on a symmetrical laser. The bridge deflection measurement sensor based on a symmetrical laser includes a symmetrical collimated laser and a symmetrical photoelectric receiver. The left collimated laser module of the symmetrical collimated laser emits a collimated laser beam to the left, and the right collimated laser module emits a collimated laser beam to the right. The left photoelectric receiver of the symmetrical photoelectric receiver receives the collimated laser beam emitted from the left, and the right photoelectric receiver receives the collimated laser beam emitted from the right. The bridge relative displacement and relative rotation angle measurement sensor includes a first sensor and a second sensor, which are arranged at measuring stations A and B. The left photoelectric receiver of the second sensor receives the collimated laser beam emitted by the right collimated laser module of the first sensor, and the right photoelectric receiver of the first sensor receives the collimated laser beam emitted by the left collimated laser module of the second sensor, thereby achieving relative displacement and relative rotation angle measurement of measuring stations A and B.

Description

Technical Field

[0001] The invention belongs to the technical field of bridge engineering detection and monitoring, and relates to a sensor and method for measuring bridge deflection, relative displacement and relative rotation angle based on a symmetrical laser. Background Art

[0002] Bridges are crucial transportation infrastructure, occupying a crucial position in road and rail traffic. Therefore, their safe operation is of paramount importance. Bridge deflection is a key technical parameter of bridge structures and a crucial indicator of their structural safety and operational maintenance. Measuring bridge deflection requires the installation of bridge deflection measurement sensors and their associated equipment. Currently, a variety of sensors are used for bridge deflection measurement. However, some existing sensors, such as those based on liquid-filled tubes, levels, and total stations, cannot measure dynamic deflection. Others, such as accelerometers, cannot measure static deflection. Some cannot perform two-dimensional measurements of vertical deflection and lateral displacement, such as those based on liquid-filled tubes, which can only measure vertical deflection. Some sensors have low measurement accuracy, such as GPS sensors, which have centimeter-level accuracy. Single inertial sensors, such as accelerometers, inclinometers, and gyroscopes, suffer from large errors and low accuracy when used for bridge deflection measurement. Some sensors, such as laser deflectometers and photoelectric deflectometers, have limited field use. These sensors require a stable mounting location. Laser scanners and microwave interferometers, used for bridge deflection detection, can only be used on the bank below the bridge. Various displacement sensors require a stable support frame beneath the bridge.

[0003] The invention patent with publication number CN102967263A discloses a bridge deflection-rotation integrated measurement method, which discloses a bridge deflection-rotation integrated measurement device. The patent sets signal acquisition equipment at the stationary reference points on both sides of the bridge, and sets two lasers that emit lasers to the two signal acquisition devices at the bridge deflection measurement station. The vertical deformation of the measurement station is determined by the laser information received by the two signal acquisition devices, and the deflection of the measurement station is then calculated. The signal acquisition equipment of this patent can only be set at the stationary reference points on both sides of the bridge, and cannot be set on the bridge, such as on the bridge deck. At the same time, the laser beam is affected by the measurement distance and is only suitable for measuring the static and dynamic deflection of a single point on a small and medium-span bridge, but not for measuring the static and dynamic deflection of multiple points on a large-span bridge. At the same time, the static and dynamic deflection measurement accuracy of a medium-span bridge with a length greater than 60m is not high, and the relative displacement and relative rotation angle between two adjacent measurement stations cannot be measured. Summary of the Invention

[0004] The purpose of the embodiments of the present invention is to provide a bridge deflection measurement sensor based on a symmetrical collimated laser to solve the problem that existing bridge deflection measurement sensors cannot simultaneously achieve multi-function, high-precision measurement and convenient installation.

[0005] Another purpose of an embodiment of the present invention is to provide a bridge relative displacement and relative rotation angle measurement sensor and method based on a symmetrical laser to solve the problem that the existing bridge deflection measurement sensor based on a collimated laser sensor cannot measure the relative displacement and relative rotation angle between two measuring stations.

[0006] The first technical solution adopted by the embodiment of the present invention is: a bridge deflection measurement sensor based on a symmetrical collimated laser, comprising:

[0007] A left collimated laser module, which emits a collimated laser beam to the left;

[0008] A right collimated laser module, which emits a collimated laser beam to the right;

[0009] Left photoelectric receiver, which receives the collimated laser beam emitted from the left side

[0010] Right photoelectric receiver: The right photoelectric receiver receives the collimated laser beam emitted from the right side.

[0011] Furthermore, the left collimated laser module, the right collimated laser module, the left photoelectric receiver, and the right photoelectric receiver are all mounted on a first mounting base, and the first mounting base includes a multifunctional base and a tripod support frame;

[0012] The multifunctional base comprises:

[0013] Upper connecting plate, on which the left collimating laser module, the right collimating laser module, the left photoelectric receiver, and the right photoelectric receiver are all installed;

[0014] A horizontal rotating structure is rotatably connected by a rotating part and a fixed part, and the rotating part of the horizontal rotating structure is fixedly connected to the bottom of the upper connecting plate;

[0015] A height adjustment structure, wherein the top of the height adjustment structure is fixedly connected to the fixed portion of the horizontal rotation structure;

[0016] The lower connecting plate is connected to the bottom of the height adjustment structure and is installed on the tripod support frame.

[0017] Furthermore, the upper connecting plate is equipped with a height sensor, an inclination sensor and a distance sensor;

[0018] A data acquisition processor is installed on the lower connecting plate;

[0019] The output ends of the left photoelectric receiver, the right photoelectric receiver, the height measuring sensor, the tilt sensor and the distance measuring sensor are all electrically connected to different input ends of the data acquisition processor.

[0020] Furthermore, the left collimating laser module and the right collimating laser module are mounted on a multifunctional base via a pitch angle adjustment device;

[0021] And / or, the left photoelectric receiver and the right photoelectric receiver are installed on the multifunctional base via a pitch angle adjustment device.

[0022] The second technical solution adopted in the embodiment of the present invention is: a bridge relative displacement and relative rotation angle measurement sensor based on a symmetrical laser, comprising:

[0023] A first sensor, the first sensor is set at the measuring station A;

[0024] The second sensor is set at the measuring station B, which is located on the right side of the measuring station A;

[0025] The first sensor includes a right collimating laser module and a right photoelectric receiver;

[0026] The second sensor includes a left collimating laser module and a left photoelectric receiver;

[0027] The right collimated laser module corresponds to the left photoelectric receiver, and the collimated laser beam emitted by the right collimated laser module is received by the left photoelectric receiver;

[0028] The left collimated laser module corresponds to the right photoelectric receiver, and the collimated laser beam emitted by the left collimated laser module is received by the right photoelectric receiver.

[0029] Furthermore, the right collimated laser module of the first sensor and the left collimated laser module of the second sensor are installed via a pitch angle adjustment device;

[0030] And / or the right photoelectric receiver of the first sensor and the left photoelectric receiver of the second sensor are installed through a pitch angle adjustment device.

[0031] Furthermore, the first sensor is mounted on the second mounting base, and the second sensor is mounted on the third mounting base;

[0032] The second mounting seat and the third mounting seat are consistent in structure with the first mounting seat of the bridge deflection measurement sensor based on the symmetrical collimated laser;

[0033] The output ends of the right photoelectric receiver, the height sensor, the tilt sensor and the distance sensor on the second mounting base are all electrically connected to different input ends of the data acquisition processor;

[0034] The output ends of the left photoelectric receiver, the height measuring sensor, the tilt sensor and the distance measuring sensor on the third mounting seat are all electrically connected to different input ends of the data acquisition processor.

[0035] Furthermore, the first sensor and the second sensor adopt the above-mentioned bridge deflection measurement sensor based on symmetrical collimated laser.

[0036] The third technical solution adopted in the embodiment of the present invention is a bridge relative displacement and relative rotation angle measurement method based on a symmetrical laser. The method uses the above-mentioned bridge relative displacement and relative rotation angle measurement sensor based on a symmetrical laser, and uses measuring station A as the reference base point to measure the relative displacement and relative rotation angle of measuring station B relative to measuring station A. The specific process is as follows:

[0037] A0, A1, A2, and A3 correspond to the initial time when the measuring station B moves relative to the measuring station A. B-A After that, the measuring station B rotates β angle relative to the measuring station A, and the measuring station B moves Δ relative to the measuring station A. A-B After rotating at an angle of β, the intersection of the collimated laser beam emitted by the left collimated laser module of the second sensor of measuring station B and the collimated laser beam receiving screen of the right photoelectric receiver of the first sensor of measuring station A; B0 and B1 correspond to the initial time, when measuring station A moves Δ relative to measuring station B. B-A Afterwards, the intersection of the collimated laser beam emitted by the right collimated laser module of the first sensor of the measuring station A and the collimated laser beam receiving screen of the left photoelectric receiver of the second sensor of the measuring station B;

[0038] Δ A-B is the relative displacement of station B measured at station A: When station B is only relatively displaced compared to station A, Δ A-B =A0A1;Δ B-A is the relative displacement of station A measured at station B. When station A is only relatively displaced compared to station B, Δ B-A =B0B1;Δ β Δ is the relative displacement of station B measured at station A when station B rotates by an angle of β. β =A0A2;Δ β（A-B） Δ is the relative displacement of station B measured at station A when station B is simultaneously displaced and rotated by an angle β relative to station A. β（A-B） =A0A3;

[0039] The relative displacement Δ of the measuring station B is obtained by the right photoelectric receiver of the first sensor of the measuring station A. A-BAt the same time, the relative movement of the measuring station A is obtained by the left photoelectric receiver of the second sensor of the measuring station B. B-A , and according to the relative displacement Δ A-B and Δ B-A , to achieve the relative angle measurement between measuring station B and measuring station A.

[0040] Furthermore, the relative rotation angle measurement between the measuring station B and the measuring station A is achieved according to the following process:

[0041] (1) When Δ A-B =Δ B-A , then the displacements of station A and station B are equal, β=0;

[0042] (2) When Δ A-B =Δ β , Δ B-A =0, then the measuring station B rotates only β angle relative to the measuring station A, β=tg -1 (Δ β / S), S is the distance between measuring station A and measuring station B;

[0043] (3) When Δ A-B =Δ β（A-B） ≠Δ B-A , Δ B-A ≠0, then the measuring station B has not only a relative displacement Δ relative to the measuring station A A-B , there is also a relative rotation angle β, β=tg -1 (Δ β（A-B） -Δ A-B ) / S, Δ A-B =Δ B-A .

[0044] The beneficial effects of the embodiments of the present invention are:

[0045] (1) Multiple functions: The bridge deflection measurement sensor based on symmetrical collimated laser is deployed at the bridge deflection measuring station. It has a collimated laser that can emit collimated laser in two directions in reverse and a photoelectric receiver that receives the collimated laser beams emitted in two directions and measures the displacement. It can measure the relative displacement (bridge deflection) and relative rotation angle between the two measuring stations. It can be used not only for the static and dynamic deflection measurement of small and medium span bridges, but also for the static and dynamic deflection measurement of large span bridges, and can realize the two-dimensional measurement of bridge deflection.

[0046] (2) High measurement accuracy: The bridge deflection measurement sensor based on symmetrical collimated laser can be directly deployed on two adjacent measuring stations. By reducing the horizontal distance between the measuring stations, the influence of atmospheric turbulence can be effectively reduced, the bridge deflection measurement accuracy can be improved, and the requirements of different bridge deflection measurement accuracy can be met. At the same time, the combination of high-resolution optoelectronic chips and high-resolution lenses can perform high-resolution and high-speed sampling, which can be used for high-precision measurement of static and dynamic bridge deflections, with a measurement accuracy of more than 0.01mm.

[0047] (3) Simple operation: The bridge deflection measurement sensor based on the symmetrical collimated laser of the embodiment of the present invention integrates a symmetrical collimated laser, a symmetrical photoelectric receiver, an inclination sensor, a height sensor, a distance sensor, a data acquisition processor, a multifunctional base for azimuth adjustment, and a precision structure. When measuring the static and dynamic deflection of a bridge, the bridge deflection measurement sensor based on the symmetrical collimated laser can be directly installed and laid out on the bridge deck without being installed on a stable platform outside the bridge. When measuring the deflection of a bridge, it only needs to be simply laid out on the bridge deck to measure the bridge deflection and the relative displacement and relative rotation angle between adjacent measuring stations.

[0048] (4) Good versatility and interchangeability: The bridge deflection measurement sensor based on the symmetrical collimated laser of the embodiment of the present invention has good versatility and interchangeability. It can be applied not only to the static and dynamic deflection detection of bridges, but also to the long-term monitoring of bridge deflection. It can also be applied to the deformation detection and monitoring of other infrastructures, such as dam displacement, building structure deformation, etc.

[0049] In summary, the bridge deflection measurement sensor based on a symmetrical collimated laser according to an embodiment of the present invention simultaneously achieves multifunctionality, high-precision measurement, and convenient installation, and can measure the relative displacement and relative rotation angle between two measuring stations, and can realize two-dimensional measurement of the static and dynamic deflections of the bridge. It has good application prospects and solves the problem that the existing bridge deflection measurement sensors cannot simultaneously achieve multifunctionality and high-precision measurement. The bridge relative displacement and relative rotation angle measurement sensor and method based on a symmetrical laser according to an embodiment of the present invention can measure the relative displacement and relative rotation angle between two measuring stations, and has high application prospects and solves the problem that the existing bridge deflection measurement sensor based on a collimated laser sensor cannot measure the relative displacement and relative rotation angle between two measuring stations. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in 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 only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0051] Figure 1 This is a schematic diagram of the main structure of a symmetrical collimated laser.

[0052] Figure 2 It is a schematic diagram of the top view structure of a symmetrical collimated laser.

[0053] Figure 3 It is a schematic diagram of the top view structure of a symmetrical photoelectric receiver.

[0054] Figure 4 It is a structural diagram of the multifunctional base.

[0055] Figure 5 It is a structural diagram of a tripod support frame.

[0056] Figure 6 Schematic diagram of the top view of the mounting base.

[0057] Figure 7 This is a schematic diagram of the top view of the bridge deflection measurement sensor based on the symmetrical collimated laser in Example 1.

[0058] Figure 8 This is a schematic diagram of the main structure of the bridge deflection measurement sensor based on symmetrical collimated laser in Example 1.

[0059] Figure 9 This is a schematic diagram of the top view of the bridge deflection measurement sensor based on the symmetrical collimated laser of Example 2.

[0060] Figure 10 This is the first measurement state diagram of the bridge deflection measurement sensor based on symmetrically collimated laser in Example 2.

[0061] Figure 11 This is the second measurement state diagram of the bridge deflection measurement sensor based on symmetrically collimated laser in Example 2.

[0062] Figure 12 This is the third measurement state diagram of the bridge deflection measurement sensor based on symmetrically collimated laser in Example 2.

[0063] In the figure, 1. Symmetrical collimated laser, 1-1. Left collimated laser module, 1-2. Right collimated laser module, 1-01. Collimated laser, 1-02. Visual sight, 1-03. Connecting frame, 1-04. Observation direction of visual sight, 1-05. Irradiation direction of collimated laser, 2. Symmetrical photoelectric receiver, 2-1. Left photoelectric receiver, 2-2. Right photoelectric receiver, 2-01. Collimated laser beam receiving screen, 2-02. Imaging lens, 2-03. Industrial camera, 2-04. Photoelectric receiver Housing, 2-05. Collimated laser beam receiving direction, 3. Multi-function base, 3-01. Altimeter sensor, 3-02. Inclination sensor, 3-03. Distance sensor, 3-04. Horizontal rotation structure, 3-05. Height adjustment structure, 3-06. Data acquisition processor, 3-07. Upper connecting plate, 3-08. Lower connecting plate, 6. Triangular support frame, 6-01. Support frame base, 6-02. Support leg, 6-03. Support leg fixing seat, 7. Bridge deck, 9. First sensor, 10. Second sensor. DETAILED DESCRIPTION

[0064] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0065] Example 1

[0066] This embodiment provides a bridge deflection measurement sensor based on symmetrical collimated lasers, such as Figures 1-3 Shown, including:

[0067] Left collimating laser module 1-1, the left collimating laser module 1-1 emits a collimated laser beam to the left;

[0068] Right collimated laser module 1-2, the right collimated laser module 1-2 emits a collimated laser beam to the right;

[0069] Left photoelectric receiver 2-1, which receives the collimated laser beam emitted from the left side

[0070] The right photoelectric receiver 2-2 receives the collimated laser beam emitted from the right side.

[0071] In some embodiments, the left collimating laser module 1 - 1 and the right collimating laser module 1 - 2 form a symmetrical collimating laser 1 ;

[0072] The left photoelectric receiver 2 - 1 and the right photoelectric receiver 2 - 2 form a symmetrical photoelectric receiver 2 .

[0073] In some embodiments, the left collimating laser module 1-1 and the right collimating laser module 1-2 respectively include:

[0074] A collimated laser 1-01, the collimated laser 1-01 emits a collimated laser beam along a corresponding collimated laser irradiation direction 1-05;

[0075] The visual sight 1-02 observes along the corresponding visual sight observation direction 1-04;

[0076] The visual sight 1-02 is mounted on the collimating laser 1-01, and the visual sight observation direction 1-04 of the visual sight 1-02 is arranged in parallel with the mirror image direction of the collimating laser irradiation direction 1-05 of the collimating laser 1-01.

[0077] In some embodiments, the visual sight 1-02 is fixedly connected to the collimating laser 1-01 via a connecting frame 1-03.

[0078] Specifically, the left photoelectric receiver 2-1 and the right photoelectric receiver 2-2 respectively include a collimated laser beam receiving screen 2-01 and an industrial camera 2-03. The industrial camera 2-03 is equipped with an imaging lens 2-02. The collimated laser beam receiving screen 2-01 is used to receive the collimated laser beam emitted along the corresponding collimated laser beam receiving direction 2-05. The industrial camera 2-03 is used to image the light spot on the collimated laser beam receiving screen 2-01 and transmit it to the data acquisition processor 3-06 to calculate the bridge deflection.

[0079] The photoelectric receiver housing 2-04 is provided on the periphery of the collimated laser beam receiving screen 2-01, the imaging lens 2-02 and the industrial camera 2-03, and is used to protect the collimated laser beam receiving screen 2-01, the imaging lens 2-02 and the industrial camera 2-03, and to shield external interference.

[0080] In some embodiments, the bridge deflection measurement sensor based on symmetrical lasers and symmetrical receivers further includes a first mounting base, and the left collimated laser module 1-1, the right collimated laser module 1-2, the left photoelectric receiver 2-1, and the right photoelectric receiver 2-2 are all mounted on the first mounting base.

[0081] The first mounting base includes a multifunctional base 3 and a tripod support 6, and the multifunctional base 3 is mounted on the tripod support 6. Figure 6 As shown, the left collimating laser module 1-1, the right collimating laser module 1-2, the left photoelectric receiver 2-1, and the right photoelectric receiver 2-2 are all installed on the multifunctional base 3. Figures 7 and 8 shown.

[0082] Specifically, if Figure 4 As shown, the multifunctional base 3 includes:

[0083] Upper connecting plate 3-07, on which the left collimating laser module 1-1, the right collimating laser module 1-2, the left photoelectric receiver 2-1, and the right photoelectric receiver 2-2 are all mounted;

[0084] Horizontal rotating structure 3-04, the horizontal rotating structure 3-04 is rotatably connected by a rotating part and a fixed part. The rotating part of the horizontal rotating structure 3-04 is fixedly connected to the bottom of the upper connecting plate 3-07. The rotating part of the horizontal rotating structure 3-04 rotates to adjust the horizontal position of the left collimating laser module 1-1, the right collimating laser module 1-2, the left photoelectric receiver 2-1, and the right photoelectric receiver 2-2 on the upper connecting plate 3-07;

[0085] A height adjustment structure 3-05, the top of which is fixedly connected to the fixed portion of the horizontal rotation structure 3-04. The height of the left collimating laser module 1-1, the right collimating laser module 1-2, the left photoelectric receiver 2-1, and the right photoelectric receiver 2-2 on the upper connecting plate 3-07 is adjusted through the height adjustment structure 3-05.

[0086] Lower connecting plate 3-08, the lower connecting plate 3-08 is connected to the bottom of the height adjustment structure 3-05, and the lower connecting plate 3-08 is installed on the tripod support frame 6;

[0087] in:

[0088] The upper connecting plate 3-07 is equipped with a height sensor 3-01, an inclination sensor 3-02 and a distance sensor 3-03. The height sensor 3-01 is used to measure the initial heights of the left collimated laser module 1-1, the right collimated laser module 1-2, the left photoelectric receiver 2-1 and the right photoelectric receiver 2-2 from the bridge deck, and to eliminate the measurement error caused by the inconsistent installation heights of the bridge deflection measurement sensors based on symmetrical collimated lasers at two adjacent measuring stations when the initial line shape is formed during the bridge deflection measurement. The inclination sensor 3-02 is used to measure the inclination of the multifunctional base 3 and the horizontal plane, and to correct the measurement error caused by the tilt of the collimated laser beam receiving screen 2-01 of the left photoelectric receiver 2-1 and the right photoelectric receiver 2-2. The distance sensor 3-03 is used to measure the horizontal distance between the current measuring station and the adjacent measuring station;

[0089] A data acquisition processor 3-06 is installed on the lower connecting plate 3-08. The output ends of the left photoelectric receiver 2-1, the right photoelectric receiver 2-2, the altimeter sensor 3-01, the inclination sensor 3-02 and the distance sensor 3-03 are electrically connected to different input ends of the data acquisition processor 3-06. Each data acquisition processor 3-06 calculates the displacement and rotation angle of the current measuring station relative to the adjacent measuring station based on the measurement data of the left photoelectric receiver 2-1, the right photoelectric receiver 2-2, the altimeter sensor 3-01, the inclination sensor 3-02 and the distance sensor 3-03.

[0090] Specifically, if Figure 5 As shown, the triangular support frame 6 includes a support frame base 6-01, support legs 6-02 and support leg fixing seats 6-03, the multifunctional base 3 is fixed on the support frame base 6-01, the support legs 6-02 are arranged at the bottom of the support frame base 6-01, and the support legs 6-02 are fixed to the bridge deck 7 or other structures that need to be monitored through the support leg fixing seats 6-03 at the bottom.

[0091] In some embodiments, the left collimating laser module 1-1 and the right collimating laser module 1-2 are mounted on the multifunctional base 3 (upper connecting plate 3-07) via a pitch angle adjustment device, and / or the left photoelectric receiver 2-1 and the right photoelectric receiver 2-2 are mounted on the multifunctional base 3 (upper connecting plate 3-07) via a pitch angle adjustment device, thereby realizing pitch angle adjustment of the left collimating laser module 1-1 and the right collimating laser module 1-2, and / or pitch angle adjustment of the left photoelectric receiver 2-1 and the right photoelectric receiver 2-2. At this time, tilt sensors 3-02 are installed on the left collimated laser module 1-1 and the right collimated laser module 1-2, and / or the left photoelectric receiver 2-1 and the right photoelectric receiver 2-2, to measure the tilt of the left collimated laser module 1-1, the right collimated laser module 1-2, the left photoelectric receiver 2-1 and the right photoelectric receiver 2-2, respectively, and correct the measurement errors caused by the tilt of the left collimated laser module 1-1, the right collimated laser module 1-2, the left photoelectric receiver 2-1 and the right photoelectric receiver 2-2.

[0092] Example 2

[0093] This embodiment provides a bridge relative displacement and relative rotation angle measurement sensor based on symmetrical collimated laser, such as Figure 9 Shown, including:

[0094] The first sensor 9 is arranged at the measuring station A;

[0095] The second sensor 10 is set at the measuring station B, and the measuring station B is located on the right side of the measuring station A;

[0096] The first sensor 9 includes a right collimating laser module 1-2 and a right photoelectric receiver 2-2;

[0097] The second sensor 10 includes a left collimating laser module 1-1 and a left photoelectric receiver 2-1;

[0098] The right collimated laser module 1-2 corresponds to the left photoelectric receiver 2-1. The collimated laser irradiation direction of the right collimated laser module 1-2 is the collimated laser beam receiving direction 2-05 of the left photoelectric receiver 2-1. The collimated laser beam emitted by the right collimated laser module 1-2 is received by the left photoelectric receiver 2-1.

[0099] The left collimated laser module 1-1 corresponds to the right photoelectric receiver 2-2. The collimated laser irradiation direction 1-05 of the left collimated laser module 1-1 is the collimated laser beam receiving direction 2-05 corresponding to the right photoelectric receiver 2-2. The collimated laser beam emitted by the left collimated laser module 1-1 is received by the right photoelectric receiver 2-2.

[0100] In some embodiments, the first sensor 9 is mounted on the second mounting base, and the second sensor 10 is mounted on the third mounting base. The second mounting base and the third mounting base have the same structure as the first mounting base in Example 1.

[0101] The output terminals of the right photoelectric receiver 2-2, the altimeter sensor 3-01, the inclination sensor 3-02, and the distance sensor 3-03 on the second mounting base are all electrically connected to different input terminals of the data acquisition processor 3-06. The data acquisition processor 3-06 on the second mounting base calculates the displacement and rotation angle of the measuring station B relative to the measuring station A based on the measurement data of the right photoelectric receiver 2-2, the altimeter sensor 3-01, the inclination sensor 3-02, and the distance sensor 3-03.

[0102] The output ends of the left photoelectric receiver 2-1, the altimeter sensor 3-01, the inclination sensor 3-02 and the distance sensor 3-03 on the third mounting seat are all electrically connected to different input ends of the data acquisition processor 3-06. The data acquisition processor 3-06 on the third mounting seat calculates the displacement and rotation angle of the measuring station A relative to the measuring station B based on the measurement data of the left photoelectric receiver 2-1, the altimeter sensor 3-01, the inclination sensor 3-02 and the distance sensor 3-03.

[0103] In some embodiments, the right collimating laser module 1-2 of the first sensor 9 and the left collimating laser module 1-1 of the second sensor 10 are installed through a pitch angle adjustment device, which can be adjusted to align the right collimating laser module 1-2 of the first sensor 9 with the left photoelectric receiver 2-1 of the second sensor 10, and to align the left collimating laser module 1-1 of the second sensor 10 with the right photoelectric receiver 2-2 of the first sensor 9. At this time, both the left collimating laser module 1-1 and the right collimating laser module 1-2 are provided with a tilt sensor 3-02.

[0104] In some embodiments, the right photoelectric receiver 2-2 of the first sensor 9 and the left photoelectric receiver 2-1 of the second sensor 10 are installed through a pitch angle adjustment device, which can be adjusted to align the right photoelectric receiver 2-2 of the first sensor 9 with the left collimated laser module 1-1 of the second sensor 10, and to align the left photoelectric receiver 2-1 of the second sensor 10 with the right collimated laser module 1-2 of the first sensor 9. At this time, the left photoelectric receiver 2-1 and the right photoelectric receiver 2-2 are both provided with a tilt sensor 3-02 to measure the tilt angles of the right photoelectric receiver 2-2 of the first sensor 9 and the left photoelectric receiver 2-1 of the second sensor 10, and correct the measurement error caused by the tilt of the collimated laser beam receiving screen 2-01 of the right photoelectric receiver 2-2 of the first sensor 9 and the left photoelectric receiver 2-1 of the second sensor 10.

[0105] In some embodiments, as Figure 9 As shown, the first sensor 9 and the second sensor 10 adopt the bridge deflection measurement sensor based on symmetrical collimated laser described in Example 1.

[0106] Example 3

[0107] This embodiment provides a bridge relative displacement and relative rotation measurement method based on a symmetrically collimated laser. The bridge relative displacement and relative rotation measurement sensor based on a symmetrically collimated laser provided in Example 2 is used to measure the relative displacement and relative rotation between measuring station A and measuring station B. Measuring station A is used as a reference point, that is, the displacement and rotation of measuring station A are not considered. On this basis, the relative displacement and relative rotation of measuring station B relative to measuring station A can be measured. The specific process is as follows:

[0108] A0 is the initial position of the measuring station A, i.e., the intersection of the collimated laser beam emitted by the left collimated laser module 1-1 of the second sensor 10 of the measuring station B and the collimated laser beam receiving screen 2-01 of the right photoelectric receiver 2-2 of the first sensor 9 of the measuring station A. A1 is the movement of the measuring station B relative to the measuring station A. B-AAfter that, the intersection point of the collimated laser beam emitted by the left collimated laser module 1-1 of the second sensor 10 of the measuring station B and the collimated laser beam receiving screen 2-01 of the right photoelectric receiver 2-2 of the first sensor 9 of the measuring station A; A2 is the intersection point of the collimated laser beam emitted by the left collimated laser module 1-1 of the second sensor 10 of the measuring station B and the collimated laser beam receiving screen 2-01 of the right photoelectric receiver 2-2 of the first sensor 9 of the measuring station A after the measuring station B rotates by an angle of β; A3 is the intersection point of the collimated laser beam emitted by the left collimated laser module 1-1 of the second sensor 10 of the measuring station B and the collimated laser beam receiving screen 2-01 of the right photoelectric receiver 2-2 of the first sensor 9 of the measuring station A after the measuring station B moves by an angle of Δ A-B , after rotating by an angle of β, the intersection of the collimated laser beam emitted by the left collimated laser module 1-1 of the second sensor 10 of measuring station B and the collimated laser beam receiving screen 2-01 of the right photoelectric receiver 2-2 of the first sensor 9 of measuring station A; B0 is the initial position of measuring station B, that is, the initial intersection of the collimated laser beam emitted by the right collimated laser module 1-2 of the first sensor 9 of measuring station A and the collimated laser beam receiving screen 2-01 of the left photoelectric receiver 2-1 of the second sensor 10 of measuring station B; B1 is the movement angle of measuring station A by Δ B-A Afterwards, the intersection of the collimated laser beam emitted by the right collimated laser module 1-2 of the first sensor 9 of the measuring station A and the collimated laser beam receiving screen 2-01 of the left photoelectric receiver 2-1 of the second sensor 10 of the measuring station B.

[0109] Δ A-B is the relative displacement of station B measured at station A: When station B is only relatively displaced compared to station A, Δ A-B =A0A1;Δ B-A is the relative displacement of station A measured at station B. When station A is only relatively displaced compared to station B, Δ B-A =B0B1;Δ β Δ is the relative displacement of station B measured at station A when station B rotates by an angle of β. β =A0A2;Δ β（A-B） Δ is the relative displacement of station B measured at station A when station B is simultaneously displaced and rotated by an angle β relative to station A. β（A-B） = A0A3; the relative movement of the measuring station B is obtained by the right photoelectric receiver 2-2 of the first sensor 9 of the measuring station A, and the relative movement of the measuring station A is obtained by the left photoelectric receiver 2-1 of the second sensor 10 of the measuring station B. B-A At this time, the relative displacement and relative rotation angle between measuring station B and measuring station A can be measured:

[0110] (1) When Δ A-B =Δ B-A , then the displacements of station A and station B are equal, β=0, such as Figure 10 As shown;

[0111] (2) When Δ A-B =Δ β , Δ B-A =0, then the measuring station B rotates only β angle relative to the measuring station A, β=tg -1 (Δ β / S), S is the distance between the measuring station A and the measuring station B, such as Figure 11 As shown;

[0112] (3) When Δ A-B =Δ β（A-B） ≠Δ B-A , Δ B-A ≠0, then the measuring station B has not only a relative displacement Δ relative to the measuring station A A-B , there is also a relative rotation angle β, β=tg -1 (Δ β（A-B） -Δ A-B ) / S, Δ A-B =Δ B-A ,like Figure 12 shown.

[0113] The present invention proposes a bridge deflection measurement sensor that integrates a symmetrically collimated laser 1, a symmetrical photoelectric receiver 2, a multifunctional base 3, and a triangular support frame 6. This sensor can simultaneously measure both static and dynamic bridge deflections, including vertical deflection and lateral displacement, achieving multiple measurement functions. The sensor can be directly installed at bridge deflection measurement stations on the bridge deck. By installing symmetrically collimated laser-based bridge deflection measurement sensors at adjacent measurement stations on the bridge deck, the relative displacement and relative rotation angle between adjacent bridge deflection measurement stations can be measured. Furthermore, the relatively small horizontal distance between measurement stations (less than 30 meters) effectively reduces the impact of atmospheric turbulence and improves bridge deflection measurement accuracy. The sensor is easy to install and deploy, and simple to use and convenient to operate.

[0114] The above description is only a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention are included in the scope of protection of the present invention.

Claims

1. A bridge relative displacement and relative rotation angle measurement method based on symmetrically collimated lasers, characterized in that: A bridge relative displacement and relative rotation angle measurement sensor based on a symmetrical collimated laser is used, which is characterized by including: A first sensor (9), the first sensor (9) is arranged at a measuring station A; A second sensor (10), the second sensor (10) is arranged at a measuring station B, and the measuring station B is located to the right of the measuring station A; The first sensor (9) includes a right collimating laser module (1-2) and a right photoelectric receiver (2-2); The second sensor (10) comprises a left collimating laser module (1-1) and a left photoelectric receiver (2-1); The right collimated laser module (1-2) corresponds to the left photoelectric receiver (2-1), and the collimated laser beam emitted by the right collimated laser module (1-2) is received by the left photoelectric receiver (2-1); The left collimated laser module (1-1) corresponds to the right photoelectric receiver (2-2), and the collimated laser beam emitted by the left collimated laser module (1-1) is received by the right photoelectric receiver (2-2); With station A as the reference point, measure the relative displacement and rotation angle of station B relative to station A. The specific process is as follows: A0, A1, A2, and A3 correspond to the initial time when the measuring station B moves relative to the measuring station A. B-A After that, the measuring station B rotates β angle relative to the measuring station A, and the measuring station B moves Δ relative to the measuring station A. A-B After rotating at an angle of β, the intersection of the collimated laser beam emitted by the left collimated laser module (1-1) of the second sensor (10) of the measuring station B and the collimated laser beam receiving screen (2-01) of the right photoelectric receiver (2-2) of the first sensor (9) of the measuring station A; B0 and B1 correspond to the initial time, the movement of the measuring station A relative to the measuring station B by Δ B-A Afterwards, the intersection of the collimated laser beam emitted by the right collimated laser module (1-2) of the first sensor (9) at the measuring station A and the collimated laser beam receiving screen (2-01) of the left photoelectric receiver (2-1) of the second sensor (10) at the measuring station B; Δ A-B is the relative displacement of station B measured at station A: When station B is only relatively displaced compared to station A, Δ A-B =A0A1;Δ B-A is the relative displacement of station A measured at station B. When station A is only relatively displaced compared to station B, Δ B-A =B0B1;Δ β Δ is the relative displacement of station B measured at station A when station B rotates by an angle of β. β =A0A2;Δ β（A-B） Δ is the relative displacement of station B measured at station A when station B is simultaneously displaced and rotated by an angle β relative to station A. β（A-B） =A0A3; The relative displacement Δ of the measuring station B is obtained by the right photoelectric receiver (2-2) of the first sensor (9) of the measuring station A. A-B At the same time, the relative movement amount Δ of the measuring station A is obtained by the left photoelectric receiver (2-1) of the second sensor (10) of the measuring station B. B-A , and according to the relative displacement Δ A-B and Δ B-A , to achieve the relative angle measurement between measuring station B and measuring station A.

2. The bridge relative displacement and relative rotation angle measurement method based on symmetrical collimated laser according to claim 1 is characterized in that: The right collimating laser module (1-2) of the first sensor (9) and the left collimating laser module (1-1) of the second sensor (10) are installed via a pitch angle adjustment device; And / or, the right photoelectric receiver (2-2) of the first sensor (9) and the left photoelectric receiver (2-1) of the second sensor (10) are installed via a pitch angle adjustment device.

3. The bridge relative displacement and relative rotation angle measurement method based on symmetrical collimated laser according to claim 1 or 2, characterized in that: The first sensor (9) is mounted on the second mounting seat, and the second sensor (10) is mounted on the third mounting seat; The second mounting seat and the third mounting seat are consistent in structure with the first mounting seat of the bridge deflection measurement sensor based on symmetrical collimated laser; The output ends of the right photoelectric receiver (2-2), the height sensor (3-01), the tilt sensor (3-02), and the distance sensor (3-03) on the second mounting seat are all electrically connected to different input ends of the data acquisition processor (3-06); The output ends of the left photoelectric receiver (2-1), the height sensor (3-01), the tilt sensor (3-02), and the distance sensor (3-03) on the third mounting seat are all electrically connected to different input ends of the data acquisition processor (3-06).

4. The bridge relative displacement and relative rotation angle measurement method based on symmetrical collimated laser according to claim 1 is characterized in that: The relative rotation angle measurement between station B and station A is achieved by the following process: (1) When Δ A-B =Δ B-A , then the displacements of station A and station B are equal, β=0; (2) When Δ A-B =Δ β , Δ B-A =0, then the measuring station B rotates only β angle relative to the measuring station A, β=tg -1 (Δ β / S), S is the distance between measuring station A and measuring station B; (3) When Δ A-B =Δ β（A-B） ≠Δ B-A , Δ B-A ≠0, then the measuring station B has not only a relative displacement Δ relative to the measuring station A A-B , there is also a relative rotation angle β, β=tg -1 (Δ β（A-B） -Δ A-B ) / S, Δ A-B =Δ B-A .

5. The bridge relative displacement and relative rotation angle measurement method based on symmetrical collimated laser according to claim 3 is characterized in that: The bridge deflection measurement sensor based on symmetrical collimated laser includes: A left collimated laser module (1-1), wherein the left collimated laser module (1-1) emits a collimated laser beam to the left; A right collimated laser module (1-2), wherein the right collimated laser module (1-2) emits a collimated laser beam to the right; Left photoelectric receiver (2-1), the left photoelectric receiver (2-1) receives the collimated laser beam emitted from the left side The right photoelectric receiver (2-2) receives the collimated laser beam emitted from the right side.

6. The bridge relative displacement and relative rotation angle measurement method based on symmetrical collimated laser according to claim 5 is characterized in that: The left collimated laser module (1-1), the right collimated laser module (1-2), the left photoelectric receiver (2-1), and the right photoelectric receiver (2-2) are all mounted on a first mounting base, and the first mounting base includes a multifunctional base (3) and a tripod support (6); The multifunctional base (3) comprises: An upper connecting plate (3-07), a left collimating laser module (1-1), a right collimating laser module (1-2), a left photoelectric receiver (2-1), and a right photoelectric receiver (2-2) are all mounted on the upper connecting plate (3-07); A horizontal rotating structure (3-04), wherein the horizontal rotating structure (3-04) is rotatably connected to a rotating part and a fixed part, and the rotating part of the horizontal rotating structure (3-04) is fixedly connected to the bottom of the upper connecting plate (3-07); A height adjustment structure (3-05), wherein the top of the height adjustment structure (3-05) is fixedly connected to the fixed portion of the horizontal rotation structure (3-04); A lower connecting plate (3-08) is connected to the bottom of the height adjustment structure (3-05), and the lower connecting plate (3-08) is installed on a tripod support frame (6).

7. The bridge relative displacement and relative rotation angle measurement method based on symmetrical collimated laser according to claim 6 is characterized in that: The upper connecting plate (3-07) is equipped with a height sensor (3-01), an inclination sensor (3-02) and a distance sensor (3-03); A data acquisition processor (3-06) is installed on the lower connecting plate (3-08); The output ends of the left photoelectric receiver (2-1), the right photoelectric receiver (2-2), the height sensor (3-01), the tilt sensor (3-02), and the distance sensor (3-03) are all electrically connected to different input ends of the data acquisition processor (3-06).

8. The bridge relative displacement and relative rotation angle measurement method based on symmetrical collimated laser according to claim 6 is characterized in that: The left collimating laser module (1-1) and the right collimating laser module (1-2) are mounted on a multifunctional base (3) via a pitch angle adjustment device; And / or, the left photoelectric receiver (2-1) and the right photoelectric receiver (2-2) are mounted on the multifunctional base (3) via a pitch angle adjustment device.

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