System and method for measuring static and dynamic deflection and beam end rotation angle of small and medium span bridges based on three sets of symmetrical collimated laser displacement measurement sensors

Abstract

The present invention discloses a system and method for measuring the static and dynamic deflections and beam end rotation angles of small and medium-span bridges based on three sets of symmetrically collimated laser displacement measurement sensors. The system includes three sets of symmetrically collimated laser displacement measurement sensors. In two adjacent sets of symmetrically collimated laser displacement measurement sensors, the second, first, and third sensors of the first set (SDC1) are correspondingly positioned at measuring points P1, P2, and P3 on the bridge; the second, first, and third sensors of the second set (SDC2) are correspondingly positioned at measuring points P2, P3, and P4 on the bridge; and the second, first, and third sensors of the third set (SDC3) are correspondingly positioned at measuring points P3, P4, and P5 on the bridge. This system simultaneously achieves multifunctionality, high-precision measurement, and convenient installation, and can measure deflections and beam end rotation angles at three measuring points on the bridge.

Description

Technical Field

[0001] The present invention belongs to the field of bridge engineering detection and bridge health monitoring, and relates to a system and method for measuring the static and dynamic deflections and beam end rotation angles of small and medium span bridges based on three groups of symmetrical collimated laser displacement measurement sensors. Background Art

[0002] There are a huge number of small and medium-span bridges, which occupy an extremely important position in the infrastructure of road and railway transportation. Small and medium-span bridges deform under the action of external loads to form a deflection curve. Each point on the bridge deflection curve has not only deflection, but also a relative rotation angle, that is, the tangent direction of each point on the bridge deflection curve has an angle with the horizontal plane. Similarly, there is a rotation angle at the bridge beam end at the bridge pier. The measurement of static and dynamic deflection of small and medium-span bridges is an extremely important part of the work of bridge construction completion acceptance, bridge load testing, bridge specific testing, bridge operation management, etc. In small and medium-span railway bridges, in order to ensure the safe operation of the beam bridge and the smoothness of train operation, it is necessary not only to measure the static and dynamic deflection of the beam bridge at 1 / 4, 2 / 4, and 3 / 4, but also to measure the rotation angle of the bridge beam end.

[0003] Currently, a variety of methods, sensors, and instruments exist for measuring the static and dynamic deflections at three points (1 / 4-2 / 4-3 / 4) and the end angles of small and medium-span bridges. However, these methods still have numerous deficiencies in practical application, failing to meet the requirements of bridge engineering inspection applications and achieving real-time, dynamic, and high-precision measurement of the static and dynamic deflections at three points (1 / 4-2 / 4-3 / 4) and the end angles of bridge beams. Bridge deflection testing using instruments such as levels, theodolites, and total stations can only measure static deflection and requires closing the bridge to normal traffic. Testing bridge deflection using various displacement meters, such as laser displacement sensors and electromechanical displacement meters, requires the installation of specialized brackets beneath the bridge, making on-site bridge deflection measurement cumbersome. This makes it particularly unsuitable for testing the deflection of bridges spanning rivers, lakes, or seas, or for high-pier bridges crossing canyons. Bridge deflection measurement systems based on optical imaging photoelectric sensors often use a single imaging system to measure deflection at multiple locations on the bridge. Because measurement accuracy is related to imaging distance, it significantly decreases with increasing distance. Long-distance imaging is also subject to image jitter caused by greater atmospheric turbulence. Furthermore, these measurement systems cannot accurately measure bridge beam end angles and require installation on a stable platform on the bridge or elsewhere, significantly complicating bridge deflection measurement. Measurement systems based on inertial sensors such as accelerometers, inclinometers, and gyroscopes for bridge deflection and beam end angle measurement suffer from low measurement accuracy. Using GPS positioning systems for bridge deflection measurement also suffers from low measurement accuracy. Laser interferometers and microwave interferometers are used for bridge deflection measurement, but these instruments must be installed on the river bank below the bridge, limiting their use in the field and preventing beam end angle measurement. The use of liquid-connected tube sensors for bridge deflection detection can only be used to detect static or quasi-static deflection of bridges, and cannot be used directly to measure the angle of bridge beam ends.

[0004] How to measure the static and dynamic deflection values ​​of the three points 1 / 4-2 / 4-3 / 4 of a bridge and the rotation angle of the bridge beam end with high precision and in real time has always been a task that is of great importance to bridge engineering applications at home and abroad, and it is also a technical problem that urgently needs to be solved in bridge testing, inspection and monitoring projects at home and abroad. The utility model with publication number CN202222561645.5 discloses a chain laser deflection detection system for bridges. The patent selects bridge deflection measurement points along the direction of the bridge span. At each bridge deflection measurement point, a unidirectionally emitting collimated laser and a receiver are used to measure the unidirectional relative displacement between two adjacent measurement points. Since each measurement point on the bridge has not only displacement but also rotation angle, this angle causes the direction of the collimated laser beam emitted by the collimated laser to rotate and the receiver to rotate. In order to measure the rotation angle of the measurement point on the bridge, an inclination sensor is used at each measurement point to measure the rotation angle of the measurement point. The bridge deflection is obtained by processing the data of the displacement and rotation angle of the measurement point. For small and medium-span bridges, the deflection measurement accuracy requirements are high, generally required to be within one tenth of a millimeter, and even required to reach 0.01mm or above. At present, due to the relatively low angular measurement accuracy of the inclination sensor, such as the inclination sensor used in this patent, the measurement accuracy is 0.005°. Therefore, when the distance between the measuring points is 30 meters, the displacement measurement error and bridge deflection measurement error caused by the inclination error is tg0.005°*30000mm=2.617mm. The actual measurement error is even greater, and the angular measurement error caused by the inclination sensor is at the centimeter level. As a result, the overall measurement accuracy of the bridge deflection measurement using the inclination sensor is relatively low. Therefore, the measurement accuracy of the bridge deflection measured by using a single-directional collimated laser and an inclination sensor at the measuring point cannot meet the requirements of high-precision measurement of bridge deflection, especially high-precision measurement of deflection of small and medium-span bridges. Summary of the Invention

[0005] The purpose of the embodiments of the present invention is to provide a system and method for measuring the static and dynamic deflections and beam end angles of small and medium-span bridges based on three groups of symmetrically collimated laser displacement measurement sensors, so as to solve the problems that the existing small and medium-span bridge deflection measurement systems cannot simultaneously achieve multi-functionality, high-precision measurement and convenient installation, and cannot simultaneously measure bridge deflection and bridge beam end angles.

[0006] The first technical solution adopted in the embodiment of the present invention is: a static and dynamic deflection measurement system for small and medium span bridges based on three sets of symmetrical collimated laser displacement measurement sensors, comprising three sets of symmetrical collimated laser displacement measurement sensors;

[0007] In two adjacent groups of symmetrical collimated laser displacement measurement sensors:

[0008] The second sensor, the first sensor and the third sensor of the first group of symmetrical collimated laser displacement measuring sensors SDC1 are correspondingly arranged at measuring points P1, P2 and P3 on the upper deck of the bridge;

[0009] The second sensor, the first sensor and the third sensor of the second group of symmetrical collimated laser displacement measuring sensors SDC2 are correspondingly arranged at measuring points P2, P3 and P4 on the upper deck of the bridge;

[0010] The second sensor, the first sensor and the third sensor of the third group of symmetrical collimated laser displacement measuring sensors SDC3 are correspondingly arranged at measuring points P3, P4 and P5 on the upper deck of the bridge;

[0011] Measuring points P1, P2, P3, P4, and P5 are set on the bridge from left to right.

[0012] Furthermore, each group of the symmetrical collimated laser displacement measurement sensors includes:

[0013] A first sensor, the first sensor includes a symmetrical collimation laser, the symmetrical collimation laser includes an axisymmetric or center-symmetrical left collimation laser and a right collimation laser;

[0014] a second sensor, the second sensor being located on the left side of the first sensor and comprising a right photoelectric receiver, the right photoelectric receiver of the second sensor corresponding to the left collimated laser of the first sensor, and receiving the laser light emitted by the left collimated laser of the first sensor along its laser emission direction;

[0015] The third sensor is located on the right side of the first sensor. The third sensor includes a left photoelectric receiver. The left photoelectric receiver of the third sensor corresponds to the right collimated laser of the first sensor and receives the laser emitted by the right collimated laser of the first sensor along its laser emission direction.

[0016] Furthermore, the first sensor, the second sensor, and the third sensor of each group of the symmetrical collimated laser displacement measurement sensors are respectively mounted on corresponding multifunctional bases;

[0017] Each of the multifunctional bases has the function of adjusting the height and orientation of the first sensor, the second sensor, and the third sensor thereon;

[0018] Each of the multifunctional bases is equipped with a height sensor, an inclination sensor, a distance sensor and a data acquisition processor;

[0019] The right photoelectric receiver of the second sensor of each group of symmetrical collimation laser displacement measurement sensors and the output ends of the height sensor, tilt sensor and distance sensor on the multifunctional base on which they are located are electrically connected to different input ends of the corresponding data acquisition processor;

[0020] The left photoelectric receiver of the third sensor of each group of the symmetrical collimated laser displacement measurement sensor and the output ends of the height sensor, inclination sensor and distance sensor on the multifunctional base where they are located are electrically connected to different input ends of the corresponding data acquisition processor.

[0021] Furthermore, the second sensor of the second group of symmetrical collimation laser displacement measurement sensors SDC2 is vertically aligned with the center of the first sensor of the first group of symmetrical collimation laser displacement measurement sensors SDC1 and is mounted on the same multifunctional base;

[0022] The third sensor of the first group of symmetrical collimation laser displacement measurement sensors SDC1, the first sensor of the second group of symmetrical collimation laser displacement measurement sensors SDC2, and the second sensor of the third group of symmetrical collimation laser displacement measurement sensors SDC3 are vertically aligned with each other and are installed on the same multifunctional base;

[0023] The third sensor of the second group of symmetrical collimation laser displacement measuring sensors SDC2 and the center of the first sensor of the third group of symmetrical collimation laser displacement measuring sensors SDC3 are vertically corresponding and are installed on the same multifunctional base.

[0024] The second technical solution adopted in the embodiment of the present invention is: a system for measuring the static and dynamic deflection and beam end rotation angle of small and medium-span bridges based on three sets of symmetrically collimated laser displacement measurement sensors, including the above-mentioned system for measuring the static and dynamic deflection of small and medium-span bridges based on three sets of symmetrically collimated laser displacement measurement sensors, wherein:

[0025] Measuring point P1 is located on the bridge deck above the left pier of the bridge, measuring point P5 is located on the bridge deck above the right pier of the bridge, and measuring points P2, P3, and P4 are located on the bridge deck at the corresponding bridge deflection measuring points;

[0026] The static and dynamic deflection and beam end rotation angle measurement system for small and medium span bridges based on three sets of symmetrical collimated laser displacement measurement sensors also includes:

[0027] The left beam end rotation angle measurement sensor includes a right collimated laser and a left photoelectric receiver. The right collimated laser of the left beam end rotation angle measurement sensor is set at measuring point P1, and the left photoelectric receiver of the left beam end rotation angle measurement sensor is set at measuring point P2. The left photoelectric receiver of the left beam end rotation angle measurement sensor corresponds to its right collimated laser and receives the laser light emitted by the right collimated laser to measure the rotation angle at measuring point P1, that is, the left beam end rotation angle of the bridge.

[0028] The right beam end angle measurement sensor includes a left collimated laser and a right photoelectric receiver; the left collimated laser of the right beam end angle measurement sensor is set at the measuring point P5, and the right photoelectric receiver of the right beam end angle measurement sensor is set at the measuring point P4; the right photoelectric receiver of the right beam end angle measurement sensor corresponds to its left collimated laser, receives the laser emitted by its left collimated laser, and measures the angle of the measuring point P5, that is, the right beam end angle of the bridge.

[0029] Furthermore, the static and dynamic deflection and beam end angle measurement system for small and medium span bridges based on three sets of symmetrical collimated laser displacement measurement sensors further includes:

[0030] The left pier settlement measurement sensor includes a right collimated laser and a left photoelectric receiver. The right collimated laser of the left pier settlement measurement sensor is set at a relatively stable measuring point P outside the left pier of the bridge. L The left photoelectric receiver of the left pier settlement measurement sensor is set at the measuring point P1; the left photoelectric receiver of the left pier settlement measurement sensor corresponds to its right collimated laser, receives the laser emitted by its right collimated laser, and measures the settlement of the left pier;

[0031] The right pier settlement measurement sensor includes a left collimated laser and a right photoelectric receiver. The left collimated laser of the right pier settlement measurement sensor is set at a relatively stable measuring point P outside the right pier of the bridge. R The right photoelectric receiver of the right pier settlement measuring sensor is set at the measuring point P5. The right photoelectric receiver of the right pier settlement measuring sensor corresponds to its left collimated laser, receives the laser emitted by its left collimated laser, and measures the settlement of the right pier.

[0032] Furthermore, the left photoelectric receiver of the left pier settlement measurement sensor and the right collimated laser of the left beam end angle measurement sensor are arranged on the multifunctional base where the second sensor of the first group of symmetrical collimated laser displacement measurement sensors SDC1 is located;

[0033] The left photoelectric receiver of the left beam end rotation angle measurement sensor is arranged on the multifunctional base where the first sensor of the first group of symmetrical collimation laser displacement measurement sensors SDC1 is located;

[0034] The right photoelectric receiver of the right pier settlement measurement sensor and the left collimated laser of the right beam end angle measurement sensor are arranged on the multifunctional base where the third sensor of the third group of symmetrical collimated laser displacement measurement sensors SDC3 is located;

[0035] The right photoelectric receiver of the right beam end rotation angle measurement sensor is arranged on the multifunctional base where the first sensor of the third group of symmetrical collimation laser displacement measurement sensors SDC3 is located.

[0036] The third technical solution adopted in the embodiment of the present invention is: a method for measuring the static and dynamic deflections and beam end rotation angles of small and medium-span bridges based on three sets of symmetrically collimated laser displacement measurement sensors, comprising the following steps:

[0037] Step 1: On the bridge, the static and dynamic deflection and beam end rotation angle measurement system of small and medium span bridges based on three sets of symmetrical collimated laser displacement measurement sensors as described above is installed;

[0038] Step 2: Calculate the bridge deflection and beam end rotation angle using the measurement data from the static and dynamic deflection and beam end rotation angle measurement system for small and medium span bridges based on three sets of symmetrically collimated laser displacement measurement sensors. The specific process is as follows:

[0039] Step 21: Measure the coordinate y1 of the initial position of the bridge deck corresponding to the measuring points P1, P2, P3, P4, and P5 in the coordinate system O-XY 0 ,y2 0 ,y3 0 、y4 0 、y5 0 ;

[0040] Step 22, measuring the coordinates y1, y2, y3, y4, y5 of the bridge deck positions corresponding to the measuring points P1, P2, P3, P4, and P5 in the coordinate system O-XY after the bridge is deformed;

[0041] Step 23: Based on the coordinates y1, y2, y3, y4, y5 of the measuring points P1, P2, P3, P4, and P5 after the bridge is deformed, and the initial coordinate y1 of the initial position of the bridge deck corresponding to the measuring points P1, P2, P3, P4, and P5 in the coordinate system O-XY 0 ,y2 0 ,y3 0 、y4 0 、y5 0 , calculate the bridge deflections Δy1, Δy2, Δy3, Δy4, and Δy5 corresponding to the measuring points P1, P2, P3, P4, and P5 according to the following formula:

[0042] Δy1=y1-y1 0 ;

[0043] Δy2=y2-y2 0 ;

[0044] Δy3=y3-y3 0 ;

[0045] Δy4=y4-y4 0 ;

[0046] Δy5=y5-y5 0 ;

[0047] When the X coordinate axis in the coordinate system O-XY passes through the line connecting the bridge beam ends, Δy1=0, Δy5=0;

[0048] The bridge beam end rotation angle is measured by the following process:

[0049] The left beam end angle measurement sensor emits a collimated laser beam at the measuring point P1 to illuminate the left photoelectric receiver at the measuring point P2, and the measured δ 1-2 ,have to:

[0050] Δ 1-2 =δ 1-2 +Δy2;

[0051] Among them, Δ 1-2 is the displacement value of the collimated laser beam of the right collimated laser of the left beam end angle measurement sensor at the measuring point P2 caused by the rotation angle θ1 of the measuring point P1, δ 1-2 The distance between the coordinates of the measuring point P2 after the bridge deformation and the coordinates of the laser spot of the right collimated laser received by the left photoelectric receiver of the left beam end rotation angle measurement sensor;

[0052] Then, the rotation angle of the measuring point P1 on the left pier of the bridge is obtained, that is, the rotation angle θ1 of the left beam end of the bridge:

[0053] θ1=tg -1 (Δ 1-2 / S1);

[0054] The left collimated laser of the right beam end angle measuring sensor at the measuring point P5 emits a collimated laser beam to illuminate the right photoelectric receiver at the measuring point P4, and the measured δ 4-5 ,have to:

[0055] Δ 5-4 =δ 5-4 +Δy4;

[0056] Among them, Δ 5-4 is the displacement value of the collimated laser beam of the left collimated laser of the right beam end angle measurement sensor at the measuring point P4 caused by the rotation angle θ5 of the measuring point P5, δ 5-4 The distance between the coordinates of the measuring point P4 after the bridge deformation and the coordinates of the laser spot of the left collimated laser received by the right photoelectric receiver of the right beam end rotation angle measurement sensor;

[0057] Then, the rotation angle of the measuring point P5 on the right pier of the bridge is obtained, that is, the rotation angle θ5 of the right beam end of the bridge:

[0058] θ5=tg -1 (Δ 5-4 / S4).

[0059] Furthermore, step 21 measures the coordinate y1 of the initial position of the bridge deck corresponding to the measuring points P1, P2, P3, P4, and P5 in the coordinate system O-XY according to the following process: 0 ,y2 0 ,y3 0 、y4 0 、y5 0 :

[0060] First, based on the initial measurement benchmark C1 0 C1 0 ', measured the initial height h1 of the right photoelectric receiver center of the second sensor, the symmetrical collimated laser center of the first sensor, and the left photoelectric receiver center of the third sensor from the bridge deck at the measuring points P1, P2, and P3 of the first group of symmetrical collimated laser displacement measurement sensors SDC1 10 、h2 10 、h3 10 ; Based on the initial measurement benchmark C2 0 C2 0 ', measured the initial height h1 of the second set of symmetrical collimated laser displacement measurement sensors SDC2 at measuring points P2, P3, and P4 from the bridge deck to the right photoelectric receiver center of the second sensor, the symmetrical collimated laser center of the first sensor, and the left photoelectric receiver center of the third sensor. 20 、h2 20 、h3 20 ; Based on initial measurement benchmark C3 0 C3 0 ', measured the initial height h1 of the right photoelectric receiver center of the second sensor, the symmetrical collimated laser center of the first sensor, and the left photoelectric receiver center of the third sensor from the bridge deck at measuring points P3, P4, and P5 of the third group of symmetrical collimated laser displacement measurement sensors SDC3 30 、h2 30 、h3 30 ; C1 0 C1 0 ' is the initial measurement reference of the first set of symmetrical collimated laser displacement measurement sensors SDC1 at measuring points P1, P2, and P3, C2 0 C2 0 ' is the initial measurement reference of the second group of symmetrical collimated laser displacement measurement sensors SDC2 at measuring points P2, P3, and P4, C3 0 C3 0 ' is the initial measurement benchmark of the third group of symmetrical collimated laser displacement measurement sensors SDC3 at measuring points P3, P4, and P5, and then we get:

[0061] y3 0 =((S1+S2)y2 0 -S2y1 0+(S1+S2)h2 10 -S2h1 10 -S1h3 10 ) / S1;

[0062] y4 0 =((S2+S3)y3 0 -S3y2 0 +(S2+S3)h2 20 -S3h1 20 -S2h3 20 ) / S2;

[0063] y5 0 =((S3+S4)y4 0 -S4y3 0 +(S3+S4)h2 30 -S4h1 30 -S3h3 30 ) / S3;

[0064] Among them, S1 is the distance between measuring points P1 and P2, S2 is the distance between measuring points P2 and P3, S3 is the distance between measuring points P3 and P4, and S4 is the distance between measuring points P4 and P5; y1 0 、y5 0 The distance between the X coordinate axis and the measuring points P1 and P5 when constructing the coordinate system O-XY. When the X coordinate axis in the coordinate system O-XY passes through the bridge piers P at both ends of the bridge, 10 、P 50 When the connection line is the bridge beam end connection line, y1 0 =0,y5 0 =0;

[0065] Then, h1 10 、h2 10 、h3 10 、h1 20 、h2 20 、h3 20 、h1 30 、h2 30 、h3 30 、y1 0 、y5 0 Substitute the above y3 0 、y4 0 、y5 0 The calculation formula of y2 is solved 0 ,y3 0 、y4 0 , obtain the coordinate y1 of the initial position of the bridge deck corresponding to the measuring points P1, P2, P3, P4, and P5 0 ,y2 0 ,y3 0 、y40 、y5 0 .

[0066] Furthermore, step 22 measures the coordinates y1, y2, y3, y4, y5 of the bridge deck positions corresponding to the measuring points P1, P2, P3, P4, and P5 in the coordinate system O-XY after the bridge is deformed according to the following process:

[0067] First, based on the measurement reference C1C1', the right photoelectric receiver of the second sensor of the first group of symmetrically collimated laser displacement measurement sensors SDC1 is used to obtain the height h1 of its center from the bridge deck. 1 The height h3 of the center from the bridge deck is obtained by the left photoelectric receiver of the third sensor of the first group of symmetrically collimated laser displacement measurement sensors SDC1. 1 Based on the measurement reference C2C2', the right photoelectric receiver of the second sensor of the second group of symmetrically collimated laser displacement measurement sensors SDC2 obtains the height h1 of its center from the bridge deck 2 The height h3 of the center from the bridge deck is obtained by the left photoelectric receiver of the third sensor of the second group of symmetrically collimated laser displacement measurement sensors SDC2. 2 Based on the measurement reference C3C3', the right photoelectric receiver of the second sensor of the third group of symmetrically collimated laser displacement measurement sensors SDC3 obtains the height h1 of its center from the bridge deck 3 The height h3 of the center from the bridge deck is obtained by the left photoelectric receiver of the third sensor of the third group of symmetrical collimated laser displacement measurement sensors SDC3. 3 C1C1' is the measurement reference of the first group of symmetrical collimated laser displacement measuring sensors SDC1 at measuring points P1, P2, and P3 after the bridge is deformed; C2C2' is the measurement reference of the second group of symmetrical collimated laser displacement measuring sensors SDC2 at measuring points P2, P3, and P4 after the bridge is deformed; C3C3' is the measurement reference of the third group of symmetrical collimated laser displacement measuring sensors SDC3 at measuring points P3, P4, and P5 after the bridge is deformed, thereby obtaining:

[0068] y3=((S1+S2)y2-S2y1+(S1+S2)h2 1 -S2h1 1 -S1h3 1 ) / S1;

[0069] y4=((S2+S3)y3-S3y2+(S2+S3)h2 2 -S3h1 2 -S2h3 2 ) / S2;

[0070] y5=((S3+S4)y4-S4y3+(S3+S4)h2 3-S4h1 3 -S3h3 3 ) / S3;

[0071] Among them, S1 is the distance between measuring points P1 and P2, S2 is the distance between measuring points P2 and P3, S3 is the distance between measuring points P3 and P4, and S4 is the distance between measuring points P4 and P5; h2 1 h2 is the height from the center of the symmetrical collimated laser of the first sensor of the first set of symmetrical collimated laser displacement measurement sensors SDC1 to the bridge deck after the bridge is deformed. 2 The height of the center of the symmetrically collimated laser of the first sensor of the second set of symmetrically collimated laser displacement measurement sensors SDC2 from the bridge deck after the bridge is deformed, h2 3 The height of the center of the symmetrically collimated laser of the first sensor of the third set of symmetrically collimated laser displacement measurement sensors SDC3 from the bridge deck after the bridge is deformed, h2 1 =h2 10 , h2 2 =h2 20 , h2 3 =h2 30 y1 and y5 are the distances between the X-axis and the measuring points P1 and P5 on the bridge pier when constructing the coordinate system O-XY. When the X-axis passes through the line connecting the bridge beam ends in the coordinate system O-XY, y1 = 0 and y5 = 0.

[0072] Finally, h1 1 、h2 1 、h3 1 、h1 2 、h2 2 、h3 2 、h1 3 、h2 3 、h3 3 Substitute y1, y5 into the above calculation formula of y3, y4, y5 and solve to get y2, y3, y4. From this, we can obtain the dynamic coordinates of the bridge deck line shape change corresponding to the measuring points P1, P2, P3, P4, P5: y1, y2, y3, y4, y5.

[0073] The beneficial effects of the embodiments of the present invention are:

[0074] (1) High measurement accuracy: With the help of symmetrical collimated laser displacement measurement sensor, high-resolution photoelectric chip and high-resolution lens combination, high-resolution and high-speed sampling can be performed, which can meet the requirements of different measurement accuracy of bridge deflection and can be used for high-precision measurement of static and dynamic deflection of bridges, with measurement accuracy reaching above 0.01mm;

[0075] (2) Multiple measurement functions: Three sets of symmetrical laser displacement measurement sensors are arranged at the three deflection measurement points of 1 / 4, 2 / 4 and 3 / 4 on the bridge deck to achieve high-precision measurement of the deflections of the three measurement points of 1 / 4, 2 / 4 and 3 / 4; symmetrical laser displacement measurement sensors are arranged on the bridge deck at the pier positions at both ends of the bridge to achieve high-precision measurement of the beam end angle. Pier settlement measurement sensors are arranged at two relatively stable measurement points outside the piers at both ends of the bridge to measure the settlement of the piers at both ends of the bridge; with the help of the photoelectric receiver of the two-dimensional array chip, not only the vertical static and dynamic deflection of the bridge and the beam end angle can be measured, but also the lateral displacement of the bridge can be measured; at the same time, with the help of the height measurement sensor located at each measurement point, the initial linear shape of the bridge deck can be obtained;

[0076] (3) Simple operation: The static and dynamic deflection and beam end rotation angle measurement system for small and medium-span bridges based on three sets of symmetrical collimated laser displacement measurement sensors in the embodiment of the present invention integrates symmetrical collimated laser displacement measurement sensors, angle measurement sensors, height measurement sensors, distance measurement sensors, data acquisition processors, multi-functional bases and other precision structures. When measuring the static and dynamic deflection of a bridge, the static and dynamic deflection and beam end rotation angle measurement system for small and medium-span bridges based on three sets of symmetrical collimated laser displacement measurement sensors can be directly installed and deployed on the bridge deck to measure the bridge deflection and beam end rotation angle;

[0077] To sum up, the static and dynamic deflection and beam end angle measurement system for small and medium-span bridges based on three groups of symmetrically collimated laser displacement measurement sensors in the embodiment of the present invention simultaneously realizes multi-function, high-precision measurement and convenient installation, and can measure the deflection of three measuring points of the bridge and the beam end angle of the bridge. It has high application prospects and solves the problems that the existing small and medium-span bridge deflection measurement system cannot simultaneously realize multi-function, high-precision measurement and convenient installation, and cannot simultaneously measure the bridge deflection and the beam end angle of the bridge. BRIEF DESCRIPTION OF THE DRAWINGS

[0078] 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.

[0079] Figure 1 It is a schematic diagram of the top view structure of the symmetrical collimated laser displacement measurement sensor.

[0080] Figure 2 This is a schematic diagram of the installation layout of the multi-function base.

[0081] Figure 3 This is the measurement principle diagram of the symmetrical collimated laser displacement measurement sensor.

[0082] Figure 4 This is a schematic diagram of the initial linear measurement principle of a bridge using a static and dynamic deflection measurement system for small and medium span bridges based on three sets of symmetrically collimated laser displacement measurement sensors.

[0083] Figure 5 This is a schematic diagram of the linear measurement principle of a bridge after deformation for a static and dynamic deflection measurement system for small and medium-span bridges based on three sets of symmetrically collimated laser displacement measurement sensors.

[0084] Figure 6 This is a schematic diagram of the principle of measuring the height from the bridge deck at the initial stage by the first set of symmetrically collimated laser displacement measurement sensors.

[0085] Figure 7 This is a schematic diagram of the principle of measuring the height from the bridge deck after the bridge is deformed by the first set of symmetrical collimated laser displacement measurement sensors.

[0086] Figure 8 This is a schematic diagram showing the principle of measuring the deformation line shape and beam end rotation angle of a small and medium-span bridge based on a static and dynamic deflection and beam end rotation angle measurement system for three sets of symmetrically collimated laser displacement measurement sensors.

[0087] Figure 9 yes Figure 8 Left enlarged image.

[0088] Figure 10 yes Figure 8 A partial enlarged view of .

[0089] Figure 11 This is the principle diagram of the dynamic linear measurement of the bridge at the three measuring points 1 / 4, 2 / 4 and 3 / 4 when the measuring points P1, P2, P3, P4 and P5 are evenly distributed.

[0090] In the figure, 1. Symmetrical collimated laser, 1-1. Left collimated laser, 1-2. Right collimated laser, 1-01. Laser emission direction, 2-1. Left photoelectric receiver, 2-2. Right photoelectric receiver, 3. Multifunctional base, 4. Tripod, 5. Bridge deck, 10. Bridge beam end connection line, 11. Initial line shape of bridge deck, 12. Line shape of bridge deck after deformation. DETAILED DESCRIPTION

[0091] 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.

[0092] Example 1

[0093] This embodiment provides a symmetrical collimated laser displacement measurement sensor, such as Figure 1 Shown, including:

[0094] The first sensor includes a symmetrical collimated laser 1, the symmetrical collimated laser 1 includes a left collimated laser 1-1 and a right collimated laser 1-2, and the left collimated laser 1-1 and the right collimated laser 1-2 are axially symmetrical or centrally symmetrical;

[0095] The second sensor is located on the left side of the first sensor. The second sensor includes a right photoelectric receiver 2-2. The right photoelectric receiver 2-2 of the second sensor corresponds to the left collimated laser 1-1 of the first sensor and receives the laser light emitted by the left collimated laser 1-1 of the first sensor along its laser emission direction 1-01.

[0096] The third sensor is located to the right of the first sensor. The third sensor includes a left photoelectric receiver 2-1. The left photoelectric receiver 2-1 of the third sensor corresponds to the right collimated laser 1-2 of the first sensor and receives the laser light emitted by the right collimated laser 1-2 of the first sensor along its laser emission direction 1-01.

[0097] The collimated laser beams emitted by the left collimated laser 1-1 and the right collimated laser 1-2 of the first sensor are coaxial or parallel.

[0098] In some embodiments, the first sensor, the second sensor, and the third sensor of the symmetrical collimation laser displacement measurement sensor are respectively mounted on corresponding multifunctional bases 3, such as Figure 2 As shown, the multifunctional base 3 is mounted on a tripod 4, and the tripod 4 is mounted on a bridge deck 5;

[0099] The multifunctional base 3 has the function of adjusting the height and orientation of the first sensor, the second sensor, and the third sensor thereon, and is equipped with an altitude sensor, an inclination sensor, a distance sensor, and a data acquisition processor; the altitude sensor is used to measure the initial height of the multifunctional base 3 from the bridge deck 5, the inclination sensor is used to measure the inclination of the multifunctional base 3 with the horizontal plane, and correct the measurement error caused by the inclination of the first sensor, the second sensor, and the third sensor; the distance sensor is used to measure the horizontal distance between the current measuring point and the adjacent measuring point;

[0100] The output ends of the left photoelectric receiver 2-1 of the third sensor of the symmetrical collimation laser displacement measuring sensor and the height sensor, inclination sensor, and distance sensor on the multifunctional base 3 where the left photoelectric receiver 2-1 and the multifunctional base 3 are located are electrically connected to different input ends of the corresponding data acquisition processor. The data acquisition processor calculates the relative displacement between the third sensor of the symmetrical collimation laser displacement measuring sensor and the second sensor thereof based on the measurement data of the left photoelectric receiver 2-1 of the third sensor of the symmetrical collimation laser displacement measuring sensor and the height sensor, inclination sensor, and distance sensor on the multifunctional base 3 where the left photoelectric receiver 2-1 and the multifunctional base 3 where the left photoelectric receiver 2-1 are located;

[0101] The right photoelectric receiver 2-2 of the second sensor of the symmetrical collimation laser displacement measuring sensor and the output ends of the height measuring sensor, inclination sensor and ranging sensor on the multifunctional base 3 where it is located are electrically connected to different input ends of the corresponding data acquisition processor. The data acquisition processor calculates the relative displacement between the second sensor of the symmetrical collimation laser displacement measuring sensor and its second sensor based on the measurement data of the right photoelectric receiver 2-2 of the second sensor of the symmetrical collimation laser displacement measuring sensor and the height measuring sensor, inclination sensor and ranging sensor on the multifunctional base 3 where it is located.

[0102] In some embodiments, the left photoelectric receiver 2 - 1 and the right photoelectric receiver 2 - 2 use a two-dimensional array chip, which can realize vertical and horizontal displacement measurement.

[0103] Example 2

[0104] This embodiment provides a static and dynamic deflection measurement system for small and medium span bridges based on three sets of symmetrical collimated laser displacement measurement sensors, including three sets of symmetrical collimated laser displacement measurement sensors;

[0105] In two adjacent groups of symmetrical collimated laser displacement measurement sensors:

[0106] The second sensor, the first sensor and the third sensor of the first group of symmetrical collimated laser displacement measuring sensors SDC1 are respectively arranged at measuring points P1, P2 and P3 on the upper deck 5 of the bridge from left to right;

[0107] The second sensor, the first sensor and the third sensor of the second group of symmetrical collimated laser displacement measuring sensors SDC2 are respectively arranged at measuring points P2, P3 and P4 on the upper deck 5 of the bridge from left to right;

[0108] The second sensor, the first sensor and the third sensor of the third group of symmetrical collimated laser displacement measuring sensors SDC3 are respectively arranged at measuring points P3, P4 and P5 on the upper deck 5 of the bridge from left to right;

[0109] The static and dynamic deflection measurement system for small and medium span bridges composed of three groups of symmetrical collimated laser displacement measurement sensors can realize the static and dynamic deflection measurement of beams.

[0110] In some embodiments, as Figures 4-5 As shown, the second sensor of the second group of symmetrical collimation laser displacement measurement sensors SDC2 vertically corresponds to the center of the first sensor of the first group of symmetrical collimation laser displacement measurement sensors SDC1;

[0111] The third sensor of the first group of symmetrically collimated laser displacement measuring sensors SDC1 vertically corresponds to the center of the first sensor of the second group of symmetrically collimated laser displacement measuring sensors SDC2.

[0112] In some embodiments, the first sensor of the second group of symmetrically collimated laser displacement measurement sensors SDC2 corresponds vertically to the center of the second sensor of the third group of symmetrically collimated laser displacement measurement sensors SDC3;

[0113] The third sensor of the second group of symmetrically collimated laser displacement measuring sensors SDC2 corresponds vertically to the center of the first sensor of the third group of symmetrically collimated laser displacement measuring sensors SDC3.

[0114] In some embodiments, the first sensor of the first group of symmetrical collimation laser displacement measurement sensors SDC1 located at the measuring point P2 and the second sensor of the second group of symmetrical collimation laser displacement measurement sensors SDC2 are mounted on the same multifunctional base 3 .

[0115] In some embodiments, the third sensor of the first group of symmetrical collimation laser displacement measurement sensors SDC1 located at the measuring point P3, the first sensor of the second group of symmetrical collimation laser displacement measurement sensors SDC2, and the second sensor of the third group of symmetrical collimation laser displacement measurement sensors SDC3 are installed on the same multifunctional base 3.

[0116] In some embodiments, the third sensor of the second group of symmetrical collimation laser displacement measurement sensors SDC2 located at the measuring point P4 and the first sensor of the third group of symmetrical collimation laser displacement measurement sensors SDC3 are installed on the same multifunctional base 3 .

[0117] Example 3

[0118] This embodiment provides a system for measuring the static and dynamic deflection and beam end rotation angle of small and medium span bridges based on three sets of symmetrical collimated laser displacement measurement sensors. Figure 8 As shown, the static and dynamic deflection measurement system for small and medium span bridges based on three groups of symmetrically collimated laser displacement measurement sensors as described in Example 2, wherein:

[0119] Measuring point P1 is located on the bridge deck 5 above the left pier of the bridge, measuring point P5 is located on the bridge deck 5 above the right pier of the bridge, and measuring points P2, P3, and P4 are located on the bridge deck 5 of the corresponding bridge deflection measuring points;

[0120] The static and dynamic deflection and beam end rotation angle measurement system for small and medium span bridges based on three sets of symmetrical collimated laser displacement measurement sensors also includes:

[0121] The left beam end rotation angle measurement sensor includes a right collimated laser 1-2 and a left photoelectric receiver 2-1. The right collimated laser 1-2 of the left beam end rotation angle measurement sensor is set at the measuring point P1, and the left photoelectric receiver 2-1 of the left beam end rotation angle measurement sensor is set at the measuring point P2. The left photoelectric receiver 2-1 of the left beam end rotation angle measurement sensor corresponds to its right collimated laser 1-2, receives the laser emitted by its right collimated laser 1-2, and measures the rotation angle of the measuring point P1, that is, the left beam end rotation angle of the bridge;

[0122] The right beam end angle measurement sensor includes a left collimated laser 1-1 and a right photoelectric receiver 2-2. The left collimated laser 1-1 of the right beam end angle measurement sensor is set at the measuring point P5, and the right photoelectric receiver 2-2 of the right beam end angle measurement sensor is set at the measuring point P4. The right photoelectric receiver 2-2 of the right beam end angle measurement sensor corresponds to its left collimated laser 1-1, receives the laser emitted by its left collimated laser 1-1, and measures the angle of the measuring point P5, that is, the right beam end angle of the bridge.

[0123] In some embodiments, the right collimated laser 1-2 of the left beam end angle measurement sensor is arranged on the multifunctional base 3 where the second sensor of the first group of symmetrical collimated laser displacement measurement sensors SDC1 is located, and the left photoelectric receiver 2-1 of the left beam end angle measurement sensor is arranged on the multifunctional base 3 where the first sensor of the first group of symmetrical collimated laser displacement measurement sensors SDC1 is located;

[0124] The left collimated laser 1-1 of the right beam end angle measurement sensor is set on the multifunctional base 3 where the third sensor of the third group of symmetrical collimated laser displacement measurement sensors SDC3 is located, and the right photoelectric receiver 2-2 of the right beam end angle measurement sensor is set on the multifunctional base 3 where the first sensor of the third group of symmetrical collimated laser displacement measurement sensors SDC3 is located.

[0125] In some embodiments, the static and dynamic deflection and beam end rotation angle measurement system for small and medium span bridges based on three sets of symmetrically collimated laser displacement measurement sensors further includes:

[0126] The left pier settlement measurement sensor includes a right collimated laser 1-2 and a left photoelectric receiver 2-1. The right collimated laser 1-2 of the left pier settlement measurement sensor is set at a relatively stable measuring point P outside the left pier of the bridge. L The left photoelectric receiver 2-1 of the left pier settlement measurement sensor is set at the measuring point P1. The left photoelectric receiver 2-1 of the left pier settlement measurement sensor corresponds to its right collimated laser 1-2 and receives the laser emitted by its right collimated laser 1-2 to measure the settlement of the left pier. The measuring point P L The horizontal distance from the measuring point P1 is S L ;

[0127] The right pier settlement measurement sensor includes a left collimated laser 1-1 and a right photoelectric receiver 2-2. The left collimated laser 1-1 of the right pier settlement measurement sensor is set at a relatively stable measuring point P outside the right pier of the bridge. R The right photoelectric receiver 2-2 of the right pier settlement measurement sensor is set at the measuring point P5. The right photoelectric receiver 2-2 of the right pier settlement measurement sensor corresponds to its left collimated laser 1-1 and receives the laser emitted by its left collimated laser 1-1 to measure the settlement of the right pier. The measuring point P R The horizontal distance from measuring point P5 is S R .

[0128] In some embodiments, the left photoelectric receiver 2 - 1 of the left pier settlement measurement sensor is disposed on the multifunctional base 3 where the second sensor of the first group of symmetrical collimated laser displacement measurement sensors SDC1 is located;

[0129] The right photoelectric receiver 2 - 2 of the right pier settlement measurement sensor is arranged on the multifunctional base 3 where the third sensor of the third group of symmetrical collimation laser displacement measurement sensors SDC3 is located.

[0130] Example 4

[0131] This embodiment provides a method for measuring the static and dynamic deflections and beam end rotation angles of small and medium-span bridges based on three sets of symmetrically collimated laser displacement measurement sensors, including the following steps:

[0132] Step 1: Deploy the static and dynamic deflection and beam end rotation angle measurement system for small and medium span bridges based on three sets of symmetrical collimated laser displacement measurement sensors as described in Example 1 on the bridge;

[0133] Step 2: Calculate the bridge deflection using the measurement data from the static and dynamic deflection and beam end rotation measurement system for small and medium span bridges based on three sets of symmetrically collimated laser displacement measurement sensors. The specific process is as follows:

[0134] Step 21: Measure the coordinate y1 of the initial position of the bridge deck corresponding to the measuring points P1, P2, P3, P4, and P5 in the coordinate system O-XY 0 ,y2 0 ,y3 0 、y4 0 、y5 0 , the initial bridge deck alignment 11 is obtained, and the specific process is as follows:

[0135] like Figures 3-4 As shown, S1 is the distance between measuring points P1 and P2, S2 is the distance between measuring points P2 and P3, S3 is the distance between measuring points P3 and P4, and S4 is the distance between measuring points P4 and P5; C1 0 C1 0 ' is the initial measurement reference of the first set of symmetrical collimated laser displacement measurement sensors SDC1 at measuring points P1, P2, and P3, C2 0 C2 0 ' is the initial measurement reference of the second group of symmetrical collimated laser displacement measurement sensors SDC2 at measuring points P2, P3, and P4, C3 0 C3 0 ' is the initial measurement benchmark of the third group of symmetrical collimated laser displacement measurement sensors SDC3 at measuring points P3, P4, and P5; based on the initial measurement benchmark C1 0 C1 0 ', measured the initial height h1 of the center of the right photoelectric receiver 2-2 of the second sensor, the center of the symmetrical collimated laser 1 of the first sensor, and the center of the left photoelectric receiver 2-1 of the third sensor from the bridge deck 5 at the measuring points P1, P2, and P3 of the first group of symmetrical collimated laser displacement measurement sensors SDC1 10 、h2 10 、h3 10 ; Based on the initial measurement benchmark C2 0 C2 0 ', measured the initial height h1 of the second set of symmetrical collimated laser displacement measurement sensors SDC2 at measuring points P2, P3, and P4 from the center of the right photoelectric receiver 2-2 of the second sensor, the center of the symmetrical collimated laser 1 of the first sensor, and the center of the left photoelectric receiver 2-1 of the third sensor to the bridge deck 5 20 、h2 20 、h3 20 ; Based on initial measurement benchmark C3 0 C3 0 ', measured the initial height h1 of the right photoelectric receiver 2-2 center of the second sensor, the symmetrical collimated laser 1 center of the first sensor, and the left photoelectric receiver 2-1 center of the third sensor of the third group of symmetrical collimated laser displacement measurement sensors SDC3 at measuring points P3, P4, and P5 from the bridge deck 5 30 、h230 , h3 30 ; The following proportional relationship is obtained:

[0136] ((h3 10 + y3 0 ) - (h1 10 + y1 0 )) / (S1 + S2) = ((h2 10 + y2 0 ) - (h1 10 + y1 0 )) / S1;

[0137] ((h3 20 + y4 0 ) - (h1 20 + y2 0 )) / (S2 + S3) = ((h2 20 + y3 0 ) - (h1 20 + y2 0 )) / S2;

[0138] ((h3 30 + y5 0 ) - (h1 30 + y3 0 )) / (S3 + S4) = ((h2 30 + y4 0 ) - (h1 30 + y3 0 )) / S3;

[0139] Furthermore, it is obtained that:

[0140] y3 0 = ((S1 + S2)y2 0 - S2y1 0 + (S1 + S2)h2 10 - S2h1 10 - S1h3 10 ) / S1;

[0141] y4 0 = ((S2 + S3)y3 0 - S3y2 0 + (S2 + S3)h2 20 - S3h1 20 - S2h3 20 ) / S2;

[0142] y5 0 = ((S3 + S4)y4 0 - S4y3 0 + (S3 + S4)h2 30-S4h1 30 -S3h3 30 ) / S3;

[0143] like Figure 4 As shown, y1 0 、y5 0 The distance between the X coordinate axis and the measuring points P1 and P5 when constructing the coordinate system O-XY. When the X coordinate axis in the coordinate system O-XY passes through the bridge piers P at both ends of the bridge, 10 、P 50 When the connecting line is the bridge beam end connecting line 10, y1 0 =0,y5 0 =0;

[0144] Finally, h1 10 、h2 10 、h3 10 、h1 20 、h2 20 、h3 20 、h1 30 、h2 30 、h3 30 、y1 0 、y5 0 Substitute the above y3 0 、y4 0 、y5 0 The calculation formula of y2 is solved 0 ,y3 0 、y4 0 , from which the coordinates of the initial position of the bridge deck corresponding to the measuring points P1, P2, P3, P4, and P5 can be obtained: y1 0 ,y2 0 ,y3 0 、y4 0 、y5 0 , and then the initial bridge deck line shape 11 is obtained;

[0145] Step 22: Measure the coordinates y1, y2, y3, y4, y5 of the bridge deck positions corresponding to the measuring points P1, P2, P3, P4, and P5 in the coordinate system O-XY after the bridge is deformed, and obtain the bridge deck line shape 12 after deformation. The specific process is as follows:

[0146] like Figure 5As shown, C1C1' is the measurement reference of the first group of symmetrical collimated laser displacement measuring sensors SDC1 at measuring points P1, P2, and P3 after the bridge is deformed, C2C2' is the measurement reference of the second group of symmetrical collimated laser displacement measuring sensors SDC2 at measuring points P2, P3, and P4 after the bridge is deformed, and C3C3' is the measurement reference of the third group of symmetrical collimated laser displacement measuring sensors SDC3 at measuring points P3, P4, and P5 after the bridge is deformed; based on the measurement reference C1C1', the height h1 of the center of the second sensor of the first group of symmetrical collimated laser displacement measuring sensors SDC1 from the bridge deck 5 is obtained through the right photoelectric receiver 2-2. 1 The height h3 of the center from the bridge deck 5 is obtained by the left photoelectric receiver 2-1 of the third sensor of the first group of symmetrically collimated laser displacement measurement sensors SDC1. 1 Based on the measurement reference C2C2 ', the right photoelectric receiver 2-2 of the second sensor of the second group of symmetrically collimated laser displacement measuring sensors SDC2 obtains the height h1 of its center from the bridge deck 5 2 The height h3 of the center from the bridge deck 5 is obtained by the left photoelectric receiver 2-1 of the third sensor of the second group of symmetrically collimated laser displacement measurement sensors SDC2. 2 Based on the measurement reference C3C3 ', the right photoelectric receiver 2-2 of the second sensor of the third group of symmetrically collimated laser displacement measuring sensors SDC3 obtains the height h1 of its center from the bridge deck 5 3 The height h3 of the center from the bridge deck 5 is obtained by the left photoelectric receiver 2-1 of the third sensor of the third group of symmetrically collimated laser displacement measurement sensors SDC3. 3 , and the following proportional relationship is obtained:

[0147] ((h3 1 +y3)-(h1 1 +y1)) / (S1+S2)=((h2 1 +y2)-(h1 1 +y1)) / S1;

[0148] ((h3 2 +y4)-(h1 2 +y2)) / (S2+S3)=((h2 2 +y3)-(h1 2 +y2)) / S2;

[0149] ((h3 3 +y5)-(h1 3 +y3)) / (S3+S4)=((h2 3 +y4)-(h1 3 +y3)) / S3;

[0150] Then we get:

[0151] y3=((S1+S2)y2-S2y1+(S1+S2)h2 1 -S2h1 1 -S1h3 1 ) / S1;

[0152] y4=((S2+S3)y3-S3y2+(S2+S3)h2 2 -S3h1 2 -S2h3 2 ) / S2;

[0153] y5=((S3+S4)y4-S4y3+(S3+S4)h2 3 -S4h1 3 -S3h3 3 ) / S3;

[0154] Among them, h2 1 h2 is the height from the center of the symmetrical collimated laser 1 of the first sensor of the first set of symmetrical collimated laser displacement measurement sensors SDC1 to the bridge deck 5 after the bridge is deformed, 2 The height of the center of the symmetrically collimated laser 1 of the first sensor of the second set of symmetrically collimated laser displacement measurement sensors SDC2 from the bridge deck 5 after the bridge is deformed, h2 3 The height of the center of the symmetrically collimated laser 1 of the first sensor of the third group of symmetrically collimated laser displacement measurement sensors SDC3 from the bridge deck 5 after the bridge is deformed, h2 1 =h2 10 , h2 2 =h2 20 , h2 3 =h2 30 ;

[0155] like Figure 5 As shown in the figure, y1 and y5 are the distances between the X-axis and the measuring points P1 and P5 on the bridge pier when constructing the coordinate system O-XY. When the X-axis passes through the line 10 connecting the bridge beam ends in the coordinate system O-XY, y1 = 0 and y5 = 0.

[0156] Then, h1 1 、h2 1 、h3 1 、h1 2 、h2 2 、h3 2 、h1 3 、h2 3 、h3 3Substitute y1, y5 into the above calculation formula of y3, y4, y5, and solve to get y2, y3, y4, thereby obtaining the dynamic coordinates of the bridge deck line shape change corresponding to the measuring points P1, P2, P3, P4, P5: y1, y2, y3, y4, y5, and then obtain the bridge deck line shape after deformation 12;

[0157] Step 23: Based on the coordinates y1, y2, y3, y4, y5 of the measuring points P1, P2, P3, P4, and P5 after the bridge is deformed, and the initial coordinate y1 of the initial position of the bridge deck corresponding to the measuring points P1, P2, P3, P4, and P5 in the coordinate system O-XY 0 ,y2 0 ,y3 0 、y4 0 、y5 0 , calculate the bridge deflections Δy1, Δy2, Δy3, Δy4, and Δy5 corresponding to the measuring points P1, P2, P3, P4, and P5 according to the following formula:

[0158] Δy1=y1-y1 0 ;

[0159] Δy2=y2-y2 0 ;

[0160] Δy3=y3-y3 0 ;

[0161] Δy4=y4-y4 0 ;

[0162] Δy5=y5-y5 0 ;

[0163] When the X-axis in the coordinate system O-XY passes through the bridge beam end connecting line 10, Δy1=0 and Δy5=0.

[0164] The bridge beam end rotation angle is measured by the following process:

[0165] like Figures 8-10 As shown, the left beam end angle measurement sensor emits a collimated laser beam from the right collimated laser 1-2 at the measuring point P1 to illuminate the left photoelectric receiver 2-1 at the measuring point P2, and the measured δ 1-2 , we can get:

[0166] Δ 1-2 =δ 1-2 +Δy2;

[0167] Among them, Δ 1-2 is the displacement value of the collimated laser beam of the right collimated laser 1-2 of the left beam end angle measurement sensor at the measuring point P2 caused by the rotation angle θ1 of the measuring point P1, δ 1-2The distance between the coordinates of the measuring point P2 after the bridge deformation and the coordinates of the laser spot of the right collimated laser 1-2 of the left beam end angle measurement sensor received by the left photoelectric receiver 2-1;

[0168] The rotation angle of the measuring point P1 on the left pier of the bridge, that is, the rotation angle θ1 of the left beam end of the bridge, can be obtained:

[0169] θ1=tg -1 (Δ 1-2 / S1);

[0170] The left collimated laser 1-1 of the right beam end angle measuring sensor at the measuring point P5 emits a collimated laser beam to illuminate the right photoelectric receiver 2-2 at the measuring point P4, and the measured δ 4-5 , we can get:

[0171] Δ 5-4 =δ 5-4 +Δy4;

[0172] Among them, Δ 5-4 is the displacement value of the collimated laser beam of the left collimated laser 1-1 of the right beam end angle measurement sensor at the measuring point P4 caused by the rotation angle θ5 of the measuring point P5, δ 5-4 The distance between the coordinates of the measuring point P4 after the bridge deformation and the coordinates of the laser spot of the left collimated laser 1-1 of the right beam end angle measurement sensor received by the right photoelectric receiver 2-2;

[0173] The rotation angle of the measuring point P5 on the right pier of the bridge, that is, the rotation angle θ5 of the right beam end of the bridge, can be obtained:

[0174] θ5=tg -1 (Δ 5-4 / S4).

[0175] In some embodiments, as Figure 6 As shown, h1 10 、h2 10 、h3 10 They correspond to the height H from the upper mounting surface of the multifunctional base 3 where the right photoelectric receiver 2-2 of the second sensor of the first group of symmetrical collimated laser displacement measurement sensors SDC1, the symmetrical collimated laser 1 of the first sensor, and the left photoelectric receiver 2-1 of the third sensor are located to the bridge deck 5. C1 10 、H C2 10 、H C3 10The height H of the center of the right photoelectric receiver 2-2 of the second sensor of the first group of symmetrical collimated laser displacement measurement sensors SDC1, the center of the symmetrical collimated laser 1 of the first sensor, and the center of the left photoelectric receiver 2-1 of the third sensor from the corresponding upper mounting surface of the multifunctional base 3 is G1 10 、H G2 10 、H G3 10 , the corresponding sum of the two values; similarly, h1 20 、h2 20 、h3 20 They are: the right photoelectric receiver 2-2 of the second sensor of the second group of symmetrical collimated laser displacement measurement sensors SDC2, the symmetrical collimated laser 1 of the first sensor, and the height H of the upper mounting surface of the multifunctional base 3 where the left photoelectric receiver 2-1 of the third sensor is located from the bridge deck 5 C1 20 、H C2 20 、H C3 20 The height H of the center of the right photoelectric receiver 2-2 of the second sensor of the second group of symmetrical collimated laser displacement measurement sensors SDC2, the center of the symmetrical collimated laser 1 of the first sensor, and the center of the left photoelectric receiver 2-1 of the third sensor from the corresponding upper mounting surface of the multifunctional base 3 is G1 20 、H G2 20 、H G3 20 , the corresponding comprehensive value of the addition of the two; h1 30 、h2 30 、h3 30 They are: the right photoelectric receiver 2-2 of the second sensor of the third group of symmetrical collimated laser displacement measurement sensors SDC3, the symmetrical collimated laser 1 of the first sensor, and the height H of the upper mounting surface of the multifunctional base 3 where the left photoelectric receiver 2-1 of the third sensor is located from the bridge deck 5 C1 30 、H C2 30 、H C3 30 The height H of the center of the right photoelectric receiver 2-2 of the second sensor of the third group of symmetrical collimated laser displacement measurement sensors SDC3, the center of the symmetrical collimated laser 1 of the first sensor, and the center of the left photoelectric receiver 2-1 of the third sensor from the corresponding upper mounting surface of the multifunctional base 3 is G1 30 、H G2 30 、H G3 30, the comprehensive value of the two corresponding additions.

[0176] In some embodiments, as Figure 7 As shown, h1 1 The initial height h1 of the center of the right photoelectric receiver 2-2 of the second sensor of the first group of symmetrically collimated laser displacement measurement sensors SDC1 from the bridge deck 5 is: 10 After the bridge is deformed, the right photoelectric receiver 2-2 of the second sensor of the first group of symmetrically collimated laser displacement measurement sensors SDC1 obtains the height change ΔH of its center G1 1 , the comprehensive value of the difference between the two; h3 1 The initial height h3 of the center of the left photoelectric receiver 2-1 of the third sensor of the first group of symmetrically collimated laser displacement measurement sensors SDC1 from the bridge deck 5 is: 10 After the bridge is deformed, the left photoelectric receiver 2-1 of the third sensor of the first group of symmetrically collimated laser displacement measurement sensors SDC1 obtains the height change ΔH of its center G3 1 , the comprehensive value of the difference between the two;

[0177] Similarly, h1 2 The initial height h1 of the center of the right photoelectric receiver 2-2 of the second sensor of the second group of symmetrically collimated laser displacement measurement sensors SDC2 from the bridge deck 5 is: 20 After the bridge is deformed, the height change ΔH of the center of the right photoelectric receiver 2-2 of the second sensor of the second group of symmetrically collimated laser displacement measurement sensors SDC2 is obtained. G1 2 , the comprehensive value of the difference between the two; h3 2 The initial height h3 of the center of the left photoelectric receiver 2-1 of the third sensor of the second group of symmetrically collimated laser displacement measurement sensors SDC2 from the bridge deck 5 is: 20 After the bridge is deformed, the left photoelectric receiver 2-1 of the third sensor of the second group of symmetrically collimated laser displacement measurement sensors SDC2 obtains the height change ΔH of its center G3 2 , the comprehensive value of the difference between the two;

[0178] Similarly, h1 3 The initial height h1 of the center of the right photoelectric receiver 2-2 of the second sensor of the third group of symmetrically collimated laser displacement measurement sensors SDC3 from the bridge deck 5 is: 30 After the bridge is deformed, the right photoelectric receiver 2-2 of the second sensor of the third group of symmetrically collimated laser displacement measurement sensors SDC3 obtains the height change ΔH of its center. G1 3 , the comprehensive value of the difference between the two; h3 3The initial height h3 of the center of the left photoelectric receiver 2-1 of the third sensor of the third group of symmetrically collimated laser displacement measuring sensors SDC3 from the bridge deck 5 is: 30 After the bridge is deformed, the left photoelectric receiver 2-1 of the third sensor of the third group of symmetrically collimated laser displacement measurement sensors SDC3 obtains the height change ΔH of its center G3 3 , the comprehensive value of the difference between the two.

[0179] In some embodiments, when the measuring points P1, P2, P3, P4, and P5 are evenly distributed, S1=S2=S3=S4, the dynamic linear shape of the bridge at the three measuring points 1 / 4, 2 / 4, and 3 / 4 of the bridge can be obtained, such as Figure 11 As shown in Figure 2, the calculation of the dynamic line shape of the bridge after deformation is as follows:

[0180] y3=2y2-y1+(2h2 1 -h1 1 -h3 1 );

[0181] y4=2y3-y2+(2h2 2 -h1 2 -h3 2 );

[0182] y5=2y4-y3+(2h2 3 -h1 3 -h3 3 ).

[0183] 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 static and dynamic deflection measurement system for small and medium span bridges based on three sets of symmetrically collimated laser displacement measurement sensors, characterized by: It includes three groups of symmetrical collimated laser displacement measurement sensors; In two adjacent groups of symmetrical collimated laser displacement measurement sensors: The second sensor, the first sensor and the third sensor of the first group of symmetrical collimated laser displacement measuring sensors SDC1 are correspondingly arranged at measuring points P1, P2 and P3 on the upper deck (5) of the bridge; The second sensor, the first sensor and the third sensor of the second group of symmetrical collimated laser displacement measurement sensors SDC2 are correspondingly arranged at measuring points P2, P3 and P4 on the upper deck (5) of the bridge; The second sensor, the first sensor and the third sensor of the third group of symmetrical collimated laser displacement measurement sensors SDC3 are correspondingly arranged at measuring points P3, P4 and P5 on the upper deck (5) of the bridge; Measuring points P1, P2, P3, P4, and P5 are set on the bridge from left to right; Each group of the symmetrical collimated laser displacement measurement sensors comprises: A first sensor, the first sensor comprising a symmetrical collimating laser (1), the symmetrical collimating laser (1) comprising an axisymmetric or center-symmetrical left collimating laser (1-1) and a right collimating laser (1-2); a second sensor, the second sensor being located on the left side of the first sensor, the second sensor including a right photoelectric receiver (2-2), the right photoelectric receiver (2-2) of the second sensor corresponding to the left collimated laser (1-1) of the first sensor, and receiving the laser light emitted by the left collimated laser (1-1) of the first sensor along its laser emission direction (1-01); a third sensor, the third sensor being located on the right side of the first sensor, the third sensor comprising a left photoelectric receiver (2-1), the left photoelectric receiver (2-1) of the third sensor corresponding to the right collimated laser (1-2) of the first sensor, and receiving the laser light emitted by the right collimated laser (1-2) of the first sensor along its laser emission direction (1-01); The left photoelectric receiver (2-1) and the right photoelectric receiver (2-2) adopt two-dimensional array chips, which can realize vertical and horizontal displacement measurement.

2. The static and dynamic deflection measurement system for small and medium span bridges based on three sets of symmetrically collimated laser displacement measurement sensors according to claim 1 is characterized in that: The first sensor, the second sensor, and the third sensor of each group of symmetrical collimated laser displacement measurement sensors are respectively mounted on corresponding multifunctional bases (3); Each of the multifunctional bases (3) has the function of adjusting the height and orientation of the first sensor, the second sensor, and the third sensor thereon; Each multifunctional base (3) is equipped with a height sensor, an inclination sensor, a distance sensor and a data acquisition processor; The right photoelectric receiver (2-2) of the second sensor of each group of the symmetrical collimation laser displacement measurement sensors and the output ends of the height sensor, the tilt sensor and the distance sensor on the multifunctional base (3) where they are located are electrically connected to different input ends of the corresponding data acquisition processor; The left photoelectric receiver (2-1) of the third sensor of each group of the symmetrical collimated laser displacement measurement sensors and the output ends of the height sensor, the tilt sensor and the distance sensor on the multifunctional base (3) where they are located are electrically connected to different input ends of the corresponding data acquisition processor.

3. The static and dynamic deflection measurement system for small and medium span bridges based on three sets of symmetrically collimated laser displacement measurement sensors according to claim 1 or 2, characterized in that: The second sensor of the second group of symmetrical collimation laser displacement measurement sensors SDC2 is vertically aligned with the center of the first sensor of the first group of symmetrical collimation laser displacement measurement sensors SDC1 and is mounted on the same multifunctional base (3); The third sensor of the first group of symmetrical collimation laser displacement measurement sensors SDC1, the first sensor of the second group of symmetrical collimation laser displacement measurement sensors SDC2, and the second sensor of the third group of symmetrical collimation laser displacement measurement sensors SDC3 are vertically aligned with each other and are mounted on the same multifunctional base (3); The third sensor of the second group of symmetrical collimation laser displacement measurement sensors SDC2 and the center of the first sensor of the third group of symmetrical collimation laser displacement measurement sensors SDC3 are vertically corresponding and are installed on the same multifunctional base (3).

4. A system for measuring the static and dynamic deflection and beam end rotation angle of small and medium span bridges based on three sets of symmetrically collimated laser displacement measurement sensors, characterized in that: The static and dynamic deflection measurement system for small and medium span bridges based on three sets of symmetrically collimated laser displacement measurement sensors as described in any one of claims 1 to 3, wherein: The measuring point P1 is located on the bridge deck (5) above the left pier of the bridge, the measuring point P5 is located on the bridge deck (5) above the right pier of the bridge, and the measuring points P2, P3, and P4 are located on the bridge deck (5) of the corresponding bridge deflection measuring points; The static and dynamic deflection and beam end rotation angle measurement system for small and medium span bridges based on three sets of symmetrical collimated laser displacement measurement sensors also includes: The left beam end rotation angle measurement sensor comprises a right collimated laser (1-2) and a left photoelectric receiver (2-1); the right collimated laser (1-2) of the left beam end rotation angle measurement sensor is arranged at a measuring point P1, and the left photoelectric receiver (2-1) of the left beam end rotation angle measurement sensor is arranged at a measuring point P2; the left photoelectric receiver (2-1) of the left beam end rotation angle measurement sensor corresponds to its right collimated laser (1-2), receives the laser light emitted by its right collimated laser (1-2), and measures the rotation angle at the measuring point P1, i.e., the left beam end rotation angle of the bridge; The right beam end rotation angle measurement sensor comprises a left collimated laser (1-1) and a right photoelectric receiver (2-2); the left collimated laser (1-1) of the right beam end rotation angle measurement sensor is arranged at a measuring point P5, and the right photoelectric receiver (2-2) of the right beam end rotation angle measurement sensor is arranged at a measuring point P4; the right photoelectric receiver (2-2) of the right beam end rotation angle measurement sensor corresponds to its left collimated laser (1-1), receives the laser light emitted by its left collimated laser (1-1), and measures the rotation angle at the measuring point P5, i.e., the rotation angle of the right beam end of the bridge.

5. The static and dynamic deflection and beam end rotation angle measurement system for small and medium span bridges based on three sets of symmetrically collimated laser displacement measurement sensors according to claim 4 is characterized in that: Also includes: The left pier settlement measurement sensor includes a right collimated laser (1-2) and a left photoelectric receiver (2-1); the right collimated laser (1-2) of the left pier settlement measurement sensor is set at a relatively stable measuring point P outside the left pier of the bridge. L The left photoelectric receiver (2-1) of the left pier settlement measurement sensor is set at the measuring point P1; the left photoelectric receiver (2-1) of the left pier settlement measurement sensor corresponds to its right collimated laser (1-2), receives the laser emitted by its right collimated laser (1-2), and measures the settlement of the left pier; The right pier settlement measurement sensor includes a left collimating laser (1-1) and a right photoelectric receiver (2-2); The left collimated laser (1-1) of the right pier settlement measurement sensor is set at a relatively stable measuring point P outside the right pier of the bridge. R The right photoelectric receiver (2-2) of the right pier settlement measuring sensor is set at the measuring point P5. The right photoelectric receiver (2-2) of the right pier settlement measuring sensor corresponds to its left collimated laser (1-1), receives the laser emitted by its left collimated laser (1-1), and measures the settlement of the right pier.

6. The static and dynamic deflection and beam end rotation angle measurement system for small and medium span bridges based on three sets of symmetrically collimated laser displacement measurement sensors according to claim 5 is characterized in that: The left photoelectric receiver (2-1) of the left pier settlement measurement sensor and the right collimated laser (1-2) of the left beam end rotation angle measurement sensor are arranged on a multifunctional base (3) where the second sensor of the first group of symmetrical collimated laser displacement measurement sensors SDC1 is located; The left photoelectric receiver (2-1) of the left beam end rotation angle measurement sensor is arranged on a multifunctional base (3) where the first sensor of the first group of symmetrical collimation laser displacement measurement sensors SDC1 is located; The right photoelectric receiver (2-2) of the right pier settlement measurement sensor and the left collimated laser (1-1) of the right beam end rotation angle measurement sensor are arranged on a multifunctional base (3) where the third sensor of the third group of symmetrical collimated laser displacement measurement sensors SDC3 is located; The right photoelectric receiver (2-2) of the right beam end rotation angle measurement sensor is arranged on a multifunctional base (3) where the first sensor of the third group of symmetrical collimation laser displacement measurement sensors SDC3 is located.

7. A method for measuring static and dynamic deflections and beam end rotation angles of small and medium-span bridges based on three sets of symmetrically collimated laser displacement measurement sensors, characterized in that: The following steps are involved: Step 1: Deploy the static and dynamic deflection and beam end rotation angle measurement system for small and medium span bridges based on three sets of symmetrical collimated laser displacement measurement sensors as described in any one of claims 4 to 6 on the bridge; Step 2: Calculate the bridge deflection and beam end rotation angle using the measurement data from the static and dynamic deflection and beam end rotation angle measurement system for small and medium span bridges based on three sets of symmetrically collimated laser displacement measurement sensors. The specific process is as follows: Step 21: Measure the coordinate y1 of the initial position of the bridge deck corresponding to the measuring points P1, P2, P3, P4, and P5 in the coordinate system O-XY 0 ,y2 0 ,y3 0 、y4 0 、y5 0 ; Step 22, measuring the coordinates y1, y2, y3, y4, y5 of the bridge deck positions corresponding to the measuring points P1, P2, P3, P4, and P5 in the coordinate system O-XY after the bridge is deformed; Step 23: Based on the coordinates y1, y2, y3, y4, y5 of the measuring points P1, P2, P3, P4, and P5 after the bridge is deformed, and the initial coordinate y1 of the initial position of the bridge deck corresponding to the measuring points P1, P2, P3, P4, and P5 in the coordinate system O-XY 0 ,y2 0 ,y3 0 、y4 0 、y5 0 , calculate the bridge deflections Δy1, Δy2, Δy3, Δy4, and Δy5 corresponding to the measuring points P1, P2, P3, P4, and P5 according to the following formula: Δy1=y1-y1 0 ; Δy2=y2-y2 0 ; <h2 style=";text-align:left;direction:ltr">Δy3=y3-y3<h2 style=";text-align:left;direction:ltr"> 0 <h2 style=";text-align:left;direction:ltr"> ; Δy4=y4-y4 0 ; Δy5=y5-y5 0 ; When the X coordinate axis in the coordinate system O-XY passes through the bridge beam end connection line (10), Δy1=0, Δy5=0; The bridge beam end rotation angle is measured by the following process: The left beam end angle measurement sensor emits a collimated laser beam at the right collimated laser (1-2) at the measuring point P1 to illuminate the left photoelectric receiver (2-1) at the measuring point P2, and measures δ 1-2 ,have to: D 1-2 =d 1-2 +Δy2; Among them, Δ 1-2 is the displacement of the collimated laser beam of the right collimated laser (1-2) of the left beam end angle measurement sensor at the measuring point P2 caused by the rotation angle θ1 of the measuring point P1, δ 1-2 The distance between the coordinates of the measuring point P2 after the bridge deformation and the coordinates of the laser spot of the right collimated laser (1-2) received by the left photoelectric receiver (2-1) of the left beam end rotation angle measurement sensor; Then, the rotation angle of the measuring point P1 on the left pier of the bridge is obtained, that is, the rotation angle θ1 of the left beam end of the bridge: θ1=tg -1 (D 1-2 / S1); The left collimated laser (1-1) of the right beam end angle measurement sensor at the measuring point P5 emits a collimated laser beam to illuminate the right photoelectric receiver (2-2) at the measuring point P4, and the measured δ 4-5 ,have to: D 5-4 =d 5-4 +Δy4; Among them, Δ 5-4 is the displacement value of the collimated laser beam of the left collimated laser (1-1) of the right beam end angle measurement sensor at the measuring point P4 caused by the rotation angle θ5 of the measuring point P5, δ 5-4 The distance between the coordinates of the measuring point P4 after the bridge deformation and the coordinates of the laser spot of the left collimated laser (1-1) received by the right photoelectric receiver (2-2) of the right beam end rotation angle measurement sensor; Then, the rotation angle of the measuring point P5 on the right pier of the bridge is obtained, that is, the rotation angle θ5 of the right beam end of the bridge: θ5=tg -1 (D 5-4 / S4).

8. The method for measuring static and dynamic deflections and beam end rotation angles of small and medium span bridges based on three sets of symmetrically collimated laser displacement measurement sensors according to claim 7 is characterized in that: Step 21: Measure the coordinate y1 of the initial position of the bridge deck corresponding to the measuring points P1, P2, P3, P4, and P5 in the coordinate system O-XY according to the following process: 0 ,y2 0 ,y3 0 、y4 0 、y5 0 : First, based on the initial measurement benchmark C1 0 C1 0 ', measured and obtained the initial height h1 of the center of the right photoelectric receiver (2-2) of the second sensor, the center of the symmetrical collimated laser (1) of the first sensor and the center of the left photoelectric receiver (2-1) of the third sensor from the bridge deck (5) at the measuring points P1, P2 and P3 of the first group of symmetrical collimated laser displacement measurement sensors SDC1 10 、h2 10 、h3 10 ; Based on the initial measurement benchmark C2 0 C2 0 ', the initial height h1 of the center of the right photoelectric receiver (2-2) of the second sensor, the center of the symmetrical collimated laser (1) of the first sensor and the center of the left photoelectric receiver (2-1) of the third sensor from the bridge deck (5) at the measuring points P2, P3 and P4 of the second group of symmetrical collimated laser displacement measuring sensors SDC2 is measured. 20 、h2 20 、h3 20 ; Based on initial measurement benchmark C3 0 C3 0 ', measured and obtained the initial height h1 of the center of the right photoelectric receiver (2-2) of the second sensor, the center of the symmetrical collimated laser (1) of the first sensor and the center of the left photoelectric receiver (2-1) of the third sensor from the bridge deck (5) at the measuring points P3, P4 and P5 of the third group of symmetrical collimated laser displacement measuring sensors SDC3 30 、h2 30 、h3 30 ; C1 0 C1 0 ' is the initial measurement reference of the first set of symmetrical collimated laser displacement measurement sensors SDC1 at measuring points P1, P2, and P3, C2 0 C2 0 ' is the initial measurement reference of the second group of symmetrical collimated laser displacement measurement sensors SDC2 at measuring points P2, P3, and P4, C3 0 C3 0 ' is the initial measurement benchmark of the third group of symmetrical collimated laser displacement measurement sensors SDC3 at measuring points P3, P4, and P5, and then we get: <h2 style=";text-align:left;direction:ltr">y3<h2 style=";text-align:left;direction:ltr"> 0 <h2 style=";text-align:left;direction:ltr"> =((S1+S2)y2<h2 style=";text-align:left;direction:ltr"> 0 <h2 style=";text-align:left;direction:ltr"> -S2y1<h2 style=";text-align:left;direction:ltr"> 0 <h2 style=";text-align:left;direction:ltr"> +(S1+S2)h2<h2 style=";text-align:left;direction:ltr"> 10 <h2 style=";text-align:left;direction:ltr"> -S2h1<h2 style=";text-align:left;direction:ltr"> 10 <h2 style=";text-align:left;direction:ltr"> -S1h3<h2 style=";text-align:left;direction:ltr"> 10 <h2 style=";text-align:left;direction:ltr"> ) / S1; <h2 style=";text-align:left;direction:ltr">y4<h2 style=";text-align:left;direction:ltr"> 0 <h2 style=";text-align:left;direction:ltr"> =((S2+S3)y3<h2 style=";text-align:left;direction:ltr"> 0 <h2 style=";text-align:left;direction:ltr"> -S3y2<h2 style=";text-align:left;direction:ltr"> 0 <h2 style=";text-align:left;direction:ltr"> +(S2+S3)h2<h2 style=";text-align:left;direction:ltr"> 20 <h2 style=";text-align:left;direction:ltr"> -S3h1<h2 style=";text-align:left;direction:ltr"> 20 <h2 style=";text-align:left;direction:ltr"> -S2h3<h2 style=";text-align:left;direction:ltr"> 20 <h2 style=";text-align:left;direction:ltr"> ) / S2; y5 0 =((S3+S4)y4 0 -S4y3 0 +(S3+S4)h2 30 -S4h1 30 -S3h3 30 ) / S3; Among them, S1 is the distance between measuring points P1 and P2, S2 is the distance between measuring points P2 and P3, S3 is the distance between measuring points P3 and P4, and S4 is the distance between measuring points P4 and P5; y1 0 、y5 0 The distance between the X coordinate axis and the measuring points P1 and P5 when constructing the coordinate system O-XY. When the X coordinate axis in the coordinate system O-XY passes through the bridge piers P at both ends of the bridge, 10 、P 50 When the connecting line is the bridge beam end connecting line (10), y1 0 =0,y5 0 =0; Then, h1 10 、h2 10 、h3 10 、h1 20 、h2 20 、h3 20 、h1 30 、h2 30 、h3 30 、y1 0 、y5 0 Substitute the above y3 0 、y4 0 、y5 0 The calculation formula of y2 is solved 0 ,y3 0 、y4 0 , obtain the coordinate y1 of the initial position of the bridge deck corresponding to the measuring points P1, P2, P3, P4, and P5 0 ,y2 0 ,y3 0 、y4 0 、y5 0 .

9. The method for measuring static and dynamic deflections and beam end rotation angles of small and medium span bridges based on three sets of symmetrically collimated laser displacement measurement sensors according to claim 7, characterized in that: Step 22 measures the coordinates y1, y2, y3, y4, y5 of the bridge deck positions corresponding to the measuring points P1, P2, P3, P4, and P5 in the coordinate system O-XY after the bridge is deformed according to the following process: First, based on the measurement reference C1C1', the right photoelectric receiver (2-2) of the second sensor of the first group of symmetrical collimated laser displacement measurement sensors SDC1 is used to obtain the height h1 of its center from the bridge deck (5). 1 The height h3 of the center from the bridge deck (5) is obtained by the left photoelectric receiver (2-1) of the third sensor of the first group of symmetrical collimated laser displacement measurement sensors SDC1. 1 Based on the measurement reference C2C2', the right photoelectric receiver (2-2) of the second sensor of the second group of symmetrical collimated laser displacement measurement sensors SDC2 obtains the height h1 of its center from the bridge deck (5) 2 The height h3 of the center from the bridge deck (5) is obtained by the left photoelectric receiver (2-1) of the third sensor of the second group of symmetrical collimated laser displacement measurement sensors SDC2. 2 Based on the measurement reference C3C3 ', the right photoelectric receiver (2-2) of the second sensor of the third group of symmetrical collimated laser displacement measurement sensors SDC3 obtains the height h1 of its center from the bridge deck (5) 3 The height h3 of the center from the bridge deck (5) is obtained by the left photoelectric receiver (2-1) of the third sensor of the third group of symmetrical collimated laser displacement measurement sensors SDC3. 3 C1C1' is the measurement reference of the first group of symmetrical collimated laser displacement measuring sensors SDC1 at measuring points P1, P2, and P3 after the bridge is deformed; C2C2' is the measurement reference of the second group of symmetrical collimated laser displacement measuring sensors SDC2 at measuring points P2, P3, and P4 after the bridge is deformed; C3C3' is the measurement reference of the third group of symmetrical collimated laser displacement measuring sensors SDC3 at measuring points P3, P4, and P5 after the bridge is deformed, thereby obtaining: <h2 style=";text-align:left;direction:ltr">y3=((S1+S2)y2-S2y1+(S1+S2)h2<h2 style=";text-align:left;direction:ltr"> 1 <h2 style=";text-align:left;direction:ltr"> -S2h1<h2 style=";text-align:left;direction:ltr"> 1 <h2 style=";text-align:left;direction:ltr"> -S1h3<h2 style=";text-align:left;direction:ltr"> 1 <h2 style=";text-align:left;direction:ltr"> ) / S1; <h2 style=";text-align:left;direction:ltr">y4=((S2+S3)y3-S3y2+(S2+S3)h2<h2 style=";text-align:left;direction:ltr"> 2 <h2 style=";text-align:left;direction:ltr"> -S3h1<h2 style=";text-align:left;direction:ltr"> 2 <h2 style=";text-align:left;direction:ltr"> -S2h3<h2 style=";text-align:left;direction:ltr"> 2 <h2 style=";text-align:left;direction:ltr"> ) / S2; y5=((S3+S4)y4-S4y3+(S3+S4)h2 3 -S4h1 3 -S3h3 3 ) / S3; Among them, S1 is the distance between measuring points P1 and P2, S2 is the distance between measuring points P2 and P3, S3 is the distance between measuring points P3 and P4, and S4 is the distance between measuring points P4 and P5; h2 1 h2 is the height from the center of the symmetrical collimated laser (1) of the first sensor of the first set of symmetrical collimated laser displacement measurement sensors SDC1 to the bridge deck (5) after the bridge is deformed, 2 The height of the center of the symmetrical collimated laser (1) of the first sensor of the second set of symmetrical collimated laser displacement measurement sensors SDC2 from the bridge deck (5) after the bridge is deformed, h2 3 The height of the center of the symmetrical collimated laser (1) of the first sensor of the third group of symmetrical collimated laser displacement measurement sensors SDC3 from the bridge deck (5) after the bridge is deformed, h2 1 =h2 10 , h2 2 =h2 20 , h2 3 =h2 30 ; y1, y5 are the distances between the X-axis and the measuring points P1, P5 on the bridge pier when constructing the coordinate system O-XY. When the X-axis passes through the bridge beam end connecting line (10) in the coordinate system O-XY, y1=0, y5=0; Finally, h1 1 、h2 1 、h3 1 、h1 2 、h2 2 、h3 2 、h1 3 、h2 3 、h3 3 Substitute y1, y5 into the above calculation formula of y3, y4, y5 and solve to get y2, y3, y4. From this, we can obtain the dynamic coordinates of the bridge deck line shape change corresponding to the measuring points P1, P2, P3, P4, P5: y1, y2, y3, y4, y5.

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