Pedestrian bridge vibration comfort detection system and method

Abstract

A pedestrian bridge vibration comfort detection system disclosed by the present invention comprises a detection module and a control center electrically connected with the detection module, the detection module comprises a supporting assembly, a detection vehicle and a lifting plate, the detection vehicle is arranged at the top end of the supporting assembly, one side of the lifting plate is rotatably connected with the detection vehicle through a rotating shaft, and the detection vehicle is arranged on the supporting assembly. The other side of the rotating shaft is connected with the detection vehicle through a lifting mechanism; a vertical angle sensor is arranged on the rotating shaft; a plurality of laser distance measuring sensors are distributed above the lifting plate at equal intervals, and the measuring directions of all the laser distance measuring sensors are perpendicular to the lifting plate. The system adopts a non-contact method to avoid the influence of the detection device on the vibration of the foot bridge, and the detection result is objective. The invention further provides a pedestrian bridge vibration comfort detection method. According to the method, the transverse vibration displacement and the vertical vibration displacement of the pedestrian bridge can be measured at the same time, and the problem that in the prior art, a pedestrian bridge comfort level evaluation detection device is single in detection index is solved.

Description

Technical Field

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

[0002] As pedestrian bridge structures evolve toward longer spans, lighter weight, and lower damping, the vibration comfort issue of pedestrian bridges under human-induced loads is becoming increasingly serious. When the vibration frequency of a pedestrian bridge structure falls within the pedestrian cadence range and resonates with the pedestrian's gait, it induces significant vertical and lateral vibrations, which in turn affect pedestrian comfort. Countries have sought to mitigate these comfort issues by limiting the fundamental frequency and acceleration of pedestrian bridges. Limiting the fundamental frequency of pedestrian bridges is primarily intended to prevent structural resonance when the bridge falls within the pedestrian cadence range. When the fundamental frequency of a pedestrian bridge fails to meet the required limits, comfort requirements can be met by limiting the structural acceleration under human-induced excitation loads. Therefore, parameters typically used to assess pedestrian bridge comfort include dynamic characteristics such as vibration frequency, acceleration, and displacement. Vibration frequency and acceleration can also be determined by analyzing the temporal evolution of displacement.

[0003] Patent CN109556813A discloses a transverse vibration displacement detection device for a pedestrian bridge, comprising a support base and a pedestrian bridge. A transmission vertical rod is rotatably connected to an adjustment rod at one end outside the outer support platform. A laser calibration transmitter is fixedly connected to the top of the adjustment rod near the right side. A calibration receiver is fixedly connected to the right side of the outer top of the outer support platform and symmetrically to the laser calibration transmitter. A vertical slide is fixedly connected to the left side of the adjustment rod. Vertical inner sliders are slidably connected to the upper and lower ends of the vertical slide. A lower transmission link is rotatably connected to a transmission screw at the inner side of one end of the vertical slide. While this invention achieves accurate fixation between the pedestrian bridge and the detector, reduces the error caused by the connection mechanism in the detection results, and improves the authenticity and validity of the data to a certain extent, this method is a contact detection method and still imposes certain constraints on the bridge vibration, thereby affecting the accuracy of the detection results. Furthermore, its detection indicators are relatively simple, namely only transverse vibration displacement, without considering vertical vibration displacement. Furthermore, this method can only be used for one-time detection and cannot achieve real-time monitoring of pedestrian bridge vibration. Summary of the Invention

[0004] The first purpose of the invention is to overcome the shortcomings and deficiencies in the prior art and to provide a pedestrian bridge vibration comfort detection system. The system adopts a non-contact method to avoid the influence of the detection device on the vibration of the pedestrian bridge. The detection results are objective and can simultaneously measure the lateral vibration displacement and vertical vibration displacement of the pedestrian bridge, thereby improving the accuracy of comfort detection.

[0005] The second purpose of the present invention is to provide a method for detecting the vibration comfort of a pedestrian bridge. The method can simultaneously measure the lateral vibration displacement and vertical vibration displacement of the pedestrian bridge, thereby solving the problem of a single detection index for the comfort evaluation detection device of a pedestrian bridge in the prior art.

[0006] The object of the present invention is achieved through the following technical solution: A pedestrian bridge vibration comfort detection system includes a detection module and a control center electrically connected to the detection module, the detection module includes a support assembly, a detection vehicle and a lifting plate, the detection vehicle is arranged at the top of the support assembly, one side of the lifting plate is rotatably connected to the detection vehicle through a rotating shaft, and the other side is connected to the detection vehicle through a lifting mechanism, a vertical angle sensor is provided on the rotating shaft; a number of laser ranging sensors are equidistantly distributed above the lifting plate, and the measuring directions of all laser ranging sensors are perpendicular to the lifting plate.

[0007] Preferably, it also includes a pedestrian tracking module, which includes a pedestrian tracking camera and a horizontal angle sensor. The two pedestrian tracking cameras are respectively arranged at diagonal positions at both ends of the pedestrian bridge, and the horizontal angle sensor is arranged at the bottom of the pedestrian tracking camera. The pedestrian tracking camera and the horizontal angle sensor are respectively electrically connected to the control center.

[0008] Preferably, the support assembly includes a slide rail beam and at least two support columns, the slide rail beam is arranged on the support column and is parallel to the pedestrian bridge, and the inspection vehicle is slidably connected to the slide rail beam.

[0009] Preferably, the inspection vehicle is equipped with gears, a rotating motor and a driver, the gears are engaged with the teeth and grooves on the slide rail beam, the gears are driven by the rotating motor, the rotating motor is electrically connected to the driver, and the driver is electrically connected to the control center.

[0010] Preferably, the pedestrian tracking module further comprises vertical poles, two of the vertical poles are respectively installed at diagonal positions at both ends of the pedestrian bridge, and the pedestrian tracking camera is connected to the top of the vertical poles.

[0011] A method for detecting vibration comfort of a pedestrian bridge, applied to the above-mentioned system, comprises the following steps: S1. The control center controls the inspection vehicle to move to a set position, which corresponds to the position to be inspected on the pedestrian bridge; S2. The control center controls the horizontal deflection angle α of the lifting plate through the lifting mechanism so that the measurement range of the n laser ranging sensors covers the measuring point of the position to be measured in the vertical plane and the preset maximum vibration displacement range; S3, the control center obtains the distance measurement data in real time through n laser distance measurement sensors, and measures the horizontal deflection angle α of the lifting plate through the vertical angle sensor; S4. The control center calculates the lateral vibration displacement S of the pedestrian bridge at any time t based on the received data. x and vertical vibration displacement S y , and draw S x -t and S y -t curve; S5. According to S x -t and S y -t curve calculation to obtain other dynamic characteristic indicators, including the maximum lateral vibration acceleration a xmax , maximum vertical vibration acceleration a ymax and vibration frequency f .

[0012] Preferably, step S4 specifically includes: Calculate the lateral vibration displacement S of the pedestrian bridge according to formula (1): x : S x =S TA sinα-S TB sinα+(ba)Dcosα+(S b -S a +S TA -S TB )cosαcotα, formula (1), Calculate the vertical vibration displacement S of the pedestrian bridge according to formula (2): y : S y =S TB cosα-S TA cosα+(ba)Dsinα+(S b -S a +S TA -S TB )cosα, formula (2), Among them, S TA 、S TB They represent the vertical distances from the feature point to the lifting plate when the displacement states corresponding to the position to be measured are state A and state B, respectively. α is the horizontal deflection angle, i.e., the angle between the lifting plate and the horizontal direction. D is the distance between two adjacent laser ranging sensors. a represents the serial number of the laser ranging sensor whose rate of change suddenly changes in the ranging data when the position to be measured is state A, i.e., n=a. b represents the serial number of the laser ranging sensor whose rate of change suddenly changes in the ranging data when the position to be measured is state B, i.e., n=b. ​​S a 、S b Respectively represent the ranging data of the laser ranging sensors with serial numbers a and b; Calculate the vertical distance from the feature point to the lifting plate according to formula (3): , formula (3), Among them, S TI Indicates the vertical distance from the feature point to the lifting plate when the position to be measured is in state I, S i 、S i+1 They represent two adjacent ranging data with sudden changes in the rate of change in the ranging data.

[0013] Preferably, the method further includes: before step S1, the control center controls the pedestrian tracking module to track and monitor the position of the pedestrian in real time, selects the pedestrian position as the position to be tested, and performs dynamic detection of the vibration comfort of the pedestrian bridge, wherein the pedestrian tracking module includes a pedestrian tracking camera and a horizontal angle sensor, wherein the two pedestrian tracking cameras are respectively arranged at diagonal positions at both ends of the pedestrian bridge, and the horizontal angle sensor is arranged at the bottom of the pedestrian tracking camera, and the pedestrian tracking camera and the horizontal angle sensor are respectively electrically connected to the control center; The specific steps include: S01. When no one is passing through the pedestrian bridge, the control center controls the inspection vehicle to collect data on the entire bridge and record distance data to obtain the vertical distance from the feature point to the lifting plate when there are no pedestrians. S02: When a pedestrian approaches the footbridge, the pedestrian tracking camera automatically identifies the pedestrian and sends a feedback to the control center, which then controls the detection vehicle to move to the bridge end where the pedestrian is located. S03. When a pedestrian steps onto the footbridge, the control center controls the detection vehicle to move synchronously with the pedestrian and calculates the pedestrian's position at the corresponding moment through the angle information measured in real time by two horizontal angle sensors.

[0014] Preferably, step S4 specifically includes: Calculate the lateral vibration displacement S of the pedestrian bridge according to formula (4): x : S x =△S TA sinα-△S TB sinα+(ba)Dcosα+(S b -S a +△S TA -△S TB )cosαcotα, formula (4), Among them, △S TA = S TA - S' TA , Calculate the vertical vibration displacement S of the pedestrian bridge according to formula (5): y : S y =△S TB cosα-△S TA cosα+(ba)Dsinα+(S b-S a +△S TA -△S TB )cosα, formula (5), Among them, △S TB = S TB - S' TB , Among them, A and B represent the displacement state of the pedestrian bridge corresponding to the position to be measured, S TA 、S' TA They represent the vertical distance from the feature point to the lifting plate when there are pedestrians and when there are no pedestrians in state A, respectively. TB 、S' TB They represent the vertical distance from the feature point to the lifting plate when there are pedestrians and when there are no pedestrians in state B, △S TA , △S TB They represent the actual relative vertical distances from the feature point to the lifting plate in state A and state B respectively. α is the horizontal deflection angle, i.e., the angle between the lifting plate and the horizontal direction. D is the distance between two adjacent laser ranging sensors. a represents the serial number of the laser ranging sensor with a sudden change rate in the ranging data when the position to be measured is in state A, i.e., n=a. b represents the serial number of the laser ranging sensor with a sudden change rate in the ranging data when the position to be measured is in state B, i.e., n=b. ​​S a 、S b Respectively represent the ranging data of the laser ranging sensors with serial numbers a and b; Calculate the vertical distance from the feature point to the lifting plate according to formula (3): , formula (3), Among them, S TI Indicates the vertical distance from the feature point to the lifting plate when the position to be measured is in state I, S i 、S i+1 They represent two adjacent ranging data with sudden changes in the rate of change in the ranging data.

[0015] Preferably, in step S03, the pedestrian position is represented by (x, z), and the pedestrian position (x, z) is calculated according to equations (6) and (7): , formula (6), , formula (7), Wherein, x represents the transverse direction of the pedestrian bridge, z represents the longitudinal direction of the pedestrian bridge, L represents the length of the pedestrian bridge, and β and γ are the angle information measured by two horizontal angle sensors, that is, they correspond to the angles between the two horizontal angle sensors and the longitudinal direction of the pedestrian bridge.

[0016] The present invention has the following advantages and effects compared to the prior art: (1) The present invention provides a pedestrian bridge vibration comfort detection system. The system sets a detection module and uses a control center to control the operation of the detection module. The non-contact method avoids the influence of the contact detection device on the vibration of the pedestrian bridge, and the detection result is objective. Based on the setting of the lifting plate, the distance measurement data and angle data are fed back to the control center through the laser distance sensor and the vertical angle sensor respectively. Then, the control center uses analysis and calculation to simultaneously measure the lateral vibration displacement and vertical vibration displacement of the pedestrian bridge, obtain more comprehensive comfort evaluation indicators, and improve accuracy.

[0017] (2) The present invention uses a pedestrian tracking module and a control center to achieve real-time tracking and detection of pedestrian positions. It also detects the vibration conditions of pedestrians at any position on the footbridge, making the evaluation of footbridge comfort more accurate. In addition to detection purposes, it can also achieve real-time monitoring, which is highly practical.

[0018] (3) The present invention provides a method for detecting the vibration comfort of a pedestrian bridge. The method uses a pedestrian bridge vibration comfort detection system to detect various dynamic characteristic indicators of the pedestrian bridge and conduct a comprehensive and accurate evaluation of the vibration comfort of the pedestrian bridge. The method can simultaneously measure the lateral vibration displacement and vertical vibration displacement of the pedestrian bridge, solving the problem of the single detection indicator of the pedestrian bridge comfort evaluation detection device in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a structural diagram of a pedestrian bridge vibration comfort detection system in Example 1 of the present invention.

[0020] Figure 2 Schematic diagram of the structure of the detection module and pedestrian tracking module in Example 1 of the present invention.

[0021] Figure 3 This is a flow chart of a method for detecting vibration comfort of a pedestrian bridge in Example 2 of the present invention.

[0022] Figure 4 This is a flow chart of a dynamic detection mode of a method for detecting vibration comfort of a pedestrian bridge in Example 3 of the present invention.

[0023] Figure 5 This is a schematic diagram of detecting the lateral vibration displacement and vertical vibration displacement of a pedestrian bridge when the pedestrian bridge vibrates from state A to state B in embodiment 2 of the present invention.

[0024] Figure 6 This is a schematic diagram of detecting the vertical distance from a feature point of a pedestrian bridge to a lifting plate in Example 2 of the present invention.

[0025] Figure 7Schematic diagram of detecting the position of a pedestrian using a pedestrian tracking camera and two horizontal angle sensors in embodiment 3 of the present invention.

[0026] Among them, 1 is the lifting plate, 2 is the lifting mechanism, 3 is the inspection vehicle, 4 is the slide rail beam, 5 is the support column, 6 is the rotating shaft, 7 is the laser ranging sensor, 8 is the control center, 9 is the pedestrian tracking camera, and 10 is the vertical pole. DETAILED DESCRIPTION

[0027] The present invention will be further described in detail below with reference to the embodiments and drawings, but the embodiments of the present invention are not limited thereto.

[0028] Example 1 like Figure 1 The figure shows a schematic structural diagram of a pedestrian bridge vibration comfort detection system, which includes a detection module and a control center electrically connected to the detection module. The detection module includes a support assembly, a detection vehicle and a lifting plate. The detection vehicle is arranged at the top of the support assembly. One side of the lifting plate is rotatably connected to the detection vehicle via a rotating shaft, and the other side is connected to the detection vehicle via a lifting mechanism. A vertical angle sensor is provided on the rotating shaft; a number of laser ranging sensors are equidistantly distributed above the lifting plate, and the measurement directions of all laser ranging sensors are perpendicular to the lifting plate.

[0029] Specifically, in this embodiment, when detecting, as Figure 2 As shown, the support assembly is set in a position parallel to the pedestrian bridge, and the control center controls the detection module to move parallel to the longitudinal direction of the support assembly, i.e., the pedestrian bridge, and to maintain the horizontal position. The lifting plate is set above the detection vehicle, with one side of the lifting plate close to the pedestrian bridge and the other side away from the pedestrian bridge. When the lifting plate rotates along the rotating shaft, a corresponding angle is formed between the lifting plate and the horizontal plane of the detection vehicle, and the vertical angle sensor is used to detect the angle. A number of laser ranging sensors are arranged equidistantly along the lifting plate above the lifting plate. The number of laser ranging sensors can be increased or decreased according to the measurement area. The measuring directions of the laser ranging sensors are parallel to each other and are located in the same handling plane. The detection module includes the detection vehicle, lifting mechanism, and vertical angle sensor, which are all wirelessly connected to the control center. The system sets up a detection module and uses a control center to control its operation. This non-contact method avoids the impact of the detection device on the vibration of the pedestrian bridge, and the detection results are objective. Based on the setting of the lifting plate, the distance measurement data and angle data are fed back to the control center through laser ranging sensors and vertical angle sensors respectively. The control center then uses analysis and calculation to simultaneously measure the lateral vibration displacement and vertical vibration displacement of the pedestrian bridge, obtain more comprehensive comfort evaluation indicators, and improve accuracy.

[0030] A pedestrian bridge vibration comfort detection system also includes a pedestrian tracking module, which includes a pedestrian tracking camera and a horizontal angle sensor. The two pedestrian tracking cameras are respectively arranged at diagonal positions at both ends of the pedestrian bridge, and the horizontal angle sensor is arranged at the bottom of the pedestrian tracking camera. The pedestrian tracking camera and the horizontal angle sensor are respectively electrically connected to the control center.

[0031] The pedestrian tracking module further includes vertical poles, two of which are respectively installed at diagonal positions at both ends of the pedestrian bridge, and the pedestrian tracking camera is connected to the top of the vertical poles.

[0032] Specifically, such as Figure 2 As shown, the control center controls the pedestrian tracking camera to realize real-time recognition and tracking of the upper position of the pedestrian bridge, and then uses the horizontal angle sensor to feed back the detected angle information to the control center to obtain the pedestrian position.

[0033] The support assembly includes a slide rail beam and at least two support columns. The slide rail beam is arranged on the support column and is parallel to the pedestrian bridge. The inspection vehicle is slidably connected to the slide rail beam.

[0034] The detection vehicle is equipped with gears, a rotating motor and a driver. The gears are engaged with the teeth and grooves on the slide rail beam. The gears are driven by the rotating motor. The rotating motor is electrically connected to the driver, and the driver is electrically connected to the control center.

[0035] Specifically, such as Figure 1 As shown, the installation of support columns ensures the stability of the inspection vehicle's installation, facilitating real-time monitoring of the pedestrian bridge under test. The gears on the inspection vehicle engage with the teeth and grooves of the slide beam. Under command from the control center, a driver activates the rotary motor to rotate the gears, which in turn drives the inspection vehicle to slide on the slide beam, achieving translational tracking. In this embodiment, the slide beam is a U-shaped one, and the inspection vehicle is an M-shaped one, which improves the stability of the connection between the two.

[0036] Example 2 like Figure 3 FIG. 1 is a flow chart of a method for detecting vibration comfort of a pedestrian bridge, which is applied to the system described in Example 1 and includes the following steps: S1. The control center controls the inspection vehicle to move to a set position, which corresponds to the position to be inspected on the pedestrian bridge; S2. The control center controls the horizontal deflection angle α of the lifting plate through the lifting mechanism so that the measurement range of the n laser ranging sensors covers the measuring point of the position to be measured in the vertical plane and the preset maximum vibration displacement range; S3, the control center obtains the distance measurement data in real time through n laser distance measurement sensors, and measures the horizontal deflection angle α of the lifting plate through the vertical angle sensor; S4. The control center calculates the lateral vibration displacement S of the pedestrian bridge at any time t based on the received data. x and vertical vibration displacement S y , and draw S x -t and S y -t curve; S5. According to S x -t and S y -t curve calculation to obtain other dynamic characteristic indicators, including the maximum lateral vibration acceleration a xmax , Maximum vertical vibration acceleration a ymax and vibration frequency f .

[0037] Specifically, the present invention provides two testing modes for evaluating the vibration comfort of pedestrian bridges: static and dynamic testing. The static testing mode involves a stationary (non-moving) testing vehicle inspecting a specific location on the bridge. This mode measures and calculates the dynamic characteristics of a fixed location on the bridge span.

[0038] In this embodiment, the process in the stationary detection mode includes: when the position to be measured is the mid-span position of the pedestrian bridge or other positions that need to be detected, first, the control center sends a command to move the detection vehicle to the set position of the support assembly. The set position on the slide beam corresponds to the position to be measured of the pedestrian bridge, and by adjusting the horizontal deflection angle of the lifting plate, the laser ranging sensor on the lifting plate can cover the measuring points (including feature points) of the bottom angle of the pedestrian bridge at the position to be measured in the vertical plane and its possible maximum vibration displacement range.

[0039] The number of laser ranging sensors is set to n. The control center calculates the lateral vibration displacement S of the pedestrian bridge based on the received data, including the ranging data fed back by the laser ranging sensor and the horizontal deflection angle of the lifting plate fed back by the vertical angle sensor. x and vertical vibration displacement S y ; By plotting displacement-time S x -t and S y -t curve, and perform two derivative calculations to obtain acceleration-time a x -t and a y -t curve, and further obtain the maximum lateral vibration acceleration a xmax , Maximum vertical vibration acceleration a ymax and vibration frequency fAt this point, the vibration comfort of a pedestrian bridge can be comprehensively and accurately evaluated using the aforementioned dynamic characteristic indicators. This method can simultaneously measure the lateral and vertical vibration displacements of a pedestrian bridge, resolving the problem of the existing technology's single-indicator testing devices for evaluating the comfort of pedestrian bridges.

[0040] Step S4 specifically includes: Calculate the lateral vibration displacement S of the pedestrian bridge according to formula (1): x : S x =sinαS TA -sinαS TB +(ba)Dcosα+(S b -S a +S TA -S TB )cosαcotα, formula (1), Calculate the vertical vibration displacement S of the pedestrian bridge according to formula (2): y : S y =cosαS TB -cosαS TA +(ba)Dsinα+(S b -S a +S TA -S TB )cosα, formula (2), Among them, S TA 、S TB They represent the vertical distances from the feature point to the lifting plate when the displacement states corresponding to the position to be measured are state A and state B, respectively. α is the horizontal deflection angle, i.e., the angle between the lifting plate and the horizontal direction. D is the distance between two adjacent laser ranging sensors. a represents the serial number of the laser ranging sensor whose rate of change suddenly changes in the ranging data when the position to be measured is state A, i.e., n=a. b represents the serial number of the laser ranging sensor whose rate of change suddenly changes in the ranging data when the position to be measured is state B, i.e., n=b. ​​S a 、S b Respectively represent the ranging data of the laser ranging sensors with serial numbers a and b; Calculate the vertical distance from the feature point to the lifting plate according to formula (3): , formula (3), Among them, S TI Indicates the vertical distance from the feature point to the lifting plate when the position to be measured is in state I, S i 、S i+1 They represent two adjacent ranging data with sudden changes in the rate of change in the ranging data.

[0041] Specifically, in this embodiment, the distance between two adjacent laser ranging sensors is D, such as Figure 5 As shown in the figure, assuming that no one passes by the pedestrian bridge, the displacement state corresponding to the position to be measured on the pedestrian bridge is in state A. When a pedestrian passes by the pedestrian bridge at time t, the displacement state corresponding to the position to be measured on the pedestrian bridge moves to state B. The lateral vibration displacement S of the pedestrian bridge is calculated according to formulas (1) and (2) respectively. x and vertical vibration displacement S y .

[0042] Since n laser ranging sensors are set at equal intervals D, when the pedestrian bridge vibrates, the feature point will fall between the measurement points of two adjacent laser ranging sensors (including the case where the feature point just falls on the measurement point of one of the laser ranging sensors), such as Figure 6 As shown, the feature point falls between the i-th and i+1-th laser ranging sensors. When the position to be measured is state A, S i 、S i+1 Corresponding to S a 、S a+1 , S a 、S a+1 Substitute α and D into formula (3) to calculate the vertical distance S from the corresponding feature point to the lifting plate TA , when the position to be measured is in state B, S i 、S i+1 Corresponding to S b 、S b+1 , S b 、S b+1 Substitute α and D into formula (3) to calculate the vertical distance S from the corresponding feature point to the lifting plate TB .

[0043] Example 3 A method for detecting vibration comfort of a pedestrian bridge further includes the following steps: before step S1, a control center controls a pedestrian tracking module to track and monitor the position of a pedestrian in real time, selects the position of the pedestrian as a position to be tested, and performs dynamic detection of vibration comfort of the pedestrian bridge, wherein the pedestrian tracking module includes a pedestrian tracking camera and a horizontal angle sensor, wherein two pedestrian tracking cameras are respectively arranged at diagonal positions at both ends of the pedestrian bridge, and the horizontal angle sensor is arranged at the bottom of the pedestrian tracking camera, and the pedestrian tracking camera and the horizontal angle sensor are respectively electrically connected to the control center; The specific steps include: S01. When no one is passing through the pedestrian bridge, the control center controls the inspection vehicle to collect data on the entire bridge and record distance data to obtain the vertical distance from the feature point to the lifting plate when there are no pedestrians. S02: When a pedestrian approaches the footbridge, the pedestrian tracking camera automatically identifies the pedestrian and sends a feedback to the control center, which then controls the detection vehicle to move to the bridge end where the pedestrian is located. S03. When a pedestrian steps onto the footbridge, the control center controls the detection vehicle to move synchronously with the pedestrian and calculates the pedestrian's position at the corresponding moment through the angle information measured in real time by two horizontal angle sensors.

[0044] Specifically, such as Figure 4 This example illustrates the dynamic detection mode of a pedestrian bridge vibration comfort measurement method according to the present invention. This embodiment differs from Example 2 in that the detection vehicle in this dynamic detection mode is in a dynamic detection state, moving synchronously with the pedestrian. This mode measures and calculates the acceleration experienced by the pedestrian at their dynamic position during their continuous movement.

[0045] The specific process includes: locating and real-time tracking of pedestrian positions, and detecting the dynamic characteristics of the pedestrian bridge such as lateral vibration displacement, vertical vibration displacement, acceleration, etc. at any time according to the steps of the static detection mode.

[0046] Preferably, step S4 specifically includes: Calculate the lateral vibration displacement S of the pedestrian bridge according to formula (4): x : S x =△S TA sinα-△S TB sinα+(ba)Dcosα+(S b -S a +△S TA -△S TB )cosαcotα, formula (4), Among them, △S TA = S TA - S' TA , Calculate the vertical vibration displacement S of the pedestrian bridge according to formula (5): y : S y =△S TB cosα-△S TA cosα+(ba)Dsinα+(S b -S a +△S TA -△S TB )cosα, formula (5), Among them, △S TB = S TB - S' TB , Among them, A and B represent the displacement state of the pedestrian bridge corresponding to the position to be measured, STA 、S' TA They represent the vertical distance from the feature point to the lifting plate when there are pedestrians and when there are no pedestrians in state A, respectively. TB 、S' TB They represent the vertical distance from the feature point to the lifting plate when there are pedestrians and when there are no pedestrians in state B, △S TA , △S TB They represent the actual relative vertical distances from the feature point to the lifting plate in state A and state B respectively. α is the horizontal deflection angle, i.e., the angle between the lifting plate and the horizontal direction. D is the distance between two adjacent laser ranging sensors. a represents the serial number of the laser ranging sensor with a sudden change rate in the ranging data when the position to be measured is in state A, i.e., n=a. b represents the serial number of the laser ranging sensor with a sudden change rate in the ranging data when the position to be measured is in state B, i.e., n=b. ​​S a 、S b Respectively represent the ranging data of the laser ranging sensors with serial numbers a and b; Calculate the vertical distance from the feature point to the lifting plate according to formula (3): , formula (3), Among them, S TI Indicates the vertical distance from the feature point to the lifting plate when the position to be measured is in state I, S i 、S i+1 They represent two adjacent ranging data with sudden changes in the rate of change in the ranging data.

[0047] In step S03, the pedestrian position is represented by (x, z), and the pedestrian position (x, z) is calculated according to equations (6) and (7): , formula (6), , formula (7), Wherein, x represents the transverse direction of the pedestrian bridge, z represents the longitudinal direction of the pedestrian bridge, L represents the length of the pedestrian bridge, and β and γ are the angle information measured by two horizontal angle sensors, that is, they correspond to the angles between the two horizontal angle sensors and the longitudinal direction of the pedestrian bridge.

[0048] Specifically, due to the movement of the inspection vehicle, the lateral vibration displacement and vertical vibration displacement of the pedestrian bridge are calculated through the actual relative vertical distance (i.e., the displacement deviation when there are pedestrians and when there are no pedestrians) to reflect the actual displacement and acceleration of the pedestrian bridge during the movement of both the inspection vehicle and pedestrians.

[0049] First, pedestrians are located in real time. When a pedestrian approaches a footbridge, a pedestrian tracking camera identifies the pedestrian and moves to the bridge end where the pedestrian is located, then waits for action. A horizontal angle sensor transmits the camera's horizontal rotation angle to the control center in real time. When a pedestrian steps onto the footbridge, the control center uses the angle information provided by the horizontal angle sensor to determine the pedestrian's position on the bridge. Then, the bridge vibration conditions at the pedestrian's location are detected in real time: In this embodiment, the following is established: Figure 2 In the three-dimensional coordinate system shown, the x-axis represents the horizontal direction of the pedestrian bridge, the y-axis represents the vertical direction of the pedestrian bridge, and the z-axis represents the longitudinal direction of the bridge. The pedestrian position is represented by (x, z). First, the control center controls the detection vehicle to move synchronously to the vertical plane perpendicular to the axis of the pedestrian bridge. Figure 2 and Figure 7 As shown, the detection vehicle moves to the position Department; Next, according to the process of steps S1 to S5, the dynamic characteristic indicators of the pedestrian bridge, such as lateral vibration displacement, vertical vibration displacement, acceleration, etc., that is, pedestrian comfort, are detected.

[0050] The above process realizes the real-time positioning detection of pedestrians and can detect the vibration conditions of pedestrians at any position when they walk on the pedestrian bridge in real time. The comfort evaluation of the pedestrian bridge is more accurate and can be used for real-time monitoring to obtain the real-time vibration conditions of the pedestrian bridge.

[0051] The above embodiments are preferred implementations of the present invention and are not intended to limit the present invention. Any other changes or other equivalent replacements that do not deviate from the technical solutions of the present invention are included in the protection scope of the present invention.

Claims

1. A pedestrian bridge vibration comfort detection system, characterized in that: The invention comprises a detection module and a control center electrically connected to the detection module, wherein the detection module comprises a support assembly, a detection vehicle and a lifting plate, wherein the detection vehicle is arranged at the top of the support assembly, one side of the lifting plate is rotatably connected to the detection vehicle through a rotating shaft, and the other side of the lifting plate is connected to the detection vehicle through a lifting mechanism, and a vertical angle sensor is arranged on the rotating shaft; a plurality of laser ranging sensors are equidistantly distributed above the lifting plate, and the measuring directions of all the laser ranging sensors are perpendicular to the lifting plate.

2. A pedestrian bridge vibration comfort detection system according to claim 1, characterized in that: It also includes a pedestrian tracking module, which includes a pedestrian tracking camera and a horizontal angle sensor. The two pedestrian tracking cameras are respectively arranged at diagonal positions at both ends of the pedestrian bridge, and the horizontal angle sensor is arranged at the bottom of the pedestrian tracking camera. The pedestrian tracking camera and the horizontal angle sensor are respectively electrically connected to the control center.

3. A pedestrian bridge vibration comfort detection system according to claim 1, characterized in that: The support assembly includes a slide rail beam and at least two support columns. The slide rail beam is arranged on the support column and is parallel to the pedestrian bridge. The inspection vehicle is slidably connected to the slide rail beam.

4. A pedestrian bridge vibration comfort detection system according to claim 3, characterized in that: The detection vehicle is equipped with gears, a rotating motor and a driver. The gears are engaged with the teeth on the slide rail beam, the gears are driven by the rotating motor, the rotating motor is electrically connected to the driver, and the driver is electrically connected to the control center.

5. A pedestrian bridge vibration comfort detection system according to claim 2, characterized in that: The pedestrian tracking module also includes vertical poles, two of which are installed at diagonal positions at both ends of the pedestrian bridge, and the pedestrian tracking camera is connected to the top of the vertical poles.

6. A method for detecting vibration comfort of a pedestrian bridge, characterized in that: The system applied to any one of claims 1 to 5 comprises the steps of: S1. The control center controls the inspection vehicle to move to a set position, which corresponds to the position to be inspected on the pedestrian bridge; S2. The control center controls the horizontal deflection angle α of the lifting plate through the lifting mechanism so that the measurement range of the n laser ranging sensors covers the measurement points of the position to be measured in the vertical plane and the preset maximum vibration displacement range; S3, the control center obtains the distance measurement data in real time through n laser distance measurement sensors, and measures the horizontal deflection angle α of the lifting plate through the vertical angle sensor; S4. The control center calculates the lateral vibration displacement S of the pedestrian bridge at any time t based on the received data. x and vertical vibration displacement S y , and plot S x -t and S y -t curve; S5. According to S x -t and S y -t curve calculation to obtain other dynamic characteristic indicators, the dynamic characteristic indicators include the maximum lateral vibration acceleration a xmax , Maximum vertical vibration acceleration a ymax and vibration frequency f .

7. A pedestrian bridge vibration comfort detection method according to claim 6, characterized in that: Step S4 specifically includes: According to formula (1), the lateral vibration displacement S of the pedestrian bridge is calculated x : S x =S TA sinα - S TB sinα+(b - a)Dcosα+(S b -S a +S TA -S TB )cosαcotα, Equation (1), According to formula (2), the vertical vibration displacement S of the pedestrian bridge is calculated y : S y =S TB cosα - S TA cosα+(b - a)Dsinα+(S b -S a +S TA -S TB )cosα, Equation (2), Among them, S TA , S TB They represent the vertical distances from the feature point to the lifting plate when the displacement states corresponding to the position to be measured are state A and state B, respectively. α is the horizontal deflection angle, i.e., the angle between the lifting plate and the horizontal direction. D is the distance between two adjacent laser ranging sensors. a represents the serial number of the laser ranging sensor with a sudden change rate in the ranging data when the position to be measured is state A, i.e., n=a. b represents the serial number of the laser ranging sensor with a sudden change rate in the ranging data when the position to be measured is state B, i.e., n=b. ​​S a , S b Respectively represent the ranging data of the laser ranging sensors with serial numbers a and b; The vertical distance from the feature point to the lifting plate is calculated according to formula (3): , formula (3), Among them, S TI Indicates the vertical distance from the feature point to the lifting plate when the position to be measured is in state I, S i , S i+1 They respectively represent two adjacent ranging data with a sudden change rate in the ranging data.

8. A method for detecting vibration comfort of a pedestrian bridge according to claim 6, characterized in that: Also includes: Before step S1, the control center performs real-time tracking and monitoring of the position of pedestrians by controlling the pedestrian tracking module, and selects the position of pedestrians as the position to be tested, so as to perform dynamic detection of vibration comfort of the pedestrian bridge, wherein the pedestrian tracking module includes a pedestrian tracking camera and a horizontal angle sensor, wherein two pedestrian tracking cameras are respectively arranged at diagonal positions at both ends of the pedestrian bridge, and the horizontal angle sensor is arranged at the bottom of the pedestrian tracking camera, and the pedestrian tracking camera and the horizontal angle sensor are respectively electrically connected to the control center; The specific steps include: S01. When no one passes by the pedestrian bridge, the control center controls the detection vehicle to collect data on the entire bridge and record the distance measurement data to obtain the vertical distance from the feature point to the lifting plate when there is no pedestrian; S02, when a pedestrian approaches the footbridge, the pedestrian tracking camera automatically identifies the pedestrian and feeds back to the control center, which then controls the detection vehicle to move to the end of the bridge where the pedestrian is located; S03. When a pedestrian steps onto the footbridge, the control center controls the detection vehicle to move synchronously with the pedestrian, and calculates the pedestrian's position at the corresponding moment through the angle information measured in real time by two horizontal angle sensors.

9. A pedestrian bridge vibration comfort detection method according to claim 8, characterized in that: Step S4 specifically includes: According to formula (4), the lateral vibration displacement S of the pedestrian bridge is calculated x : S x =△S TA sinα - △S TB sinα+(b - a)Dcosα+(S b -S a +△S TA -△S TB )cosαcotα, Equation (4), Among them, △S TA = S TA - S' TA , According to formula (5), the vertical vibration displacement S of the pedestrian bridge is calculated y : S y =△S TB cosα - △S TA cosα+(b - a)Dsinα+(S b - S a +△S TA - △S TB )cosα, Equation (5), Among them, △S TB = S TB - S' TB , Among them, A and B represent the displacement state of the pedestrian bridge corresponding to the position to be measured, S TA , S' TA They represent the vertical distance from the feature point to the lifting plate when there are pedestrians and when there are no pedestrians in state A, respectively. TB , S' TB They represent the vertical distance from the feature point to the lifting plate when there are pedestrians and when there are no pedestrians in state B, △S TA , △S TB represents the actual relative vertical distance from the feature point to the lifting plate in state A and state B respectively, α is the horizontal deflection angle, that is, the angle between the lifting plate and the horizontal direction, D is the distance between two adjacent laser ranging sensors, a represents the serial number of the laser ranging sensor with a sudden change rate in the ranging data when the position to be measured is in state A, that is, n=a, b represents the serial number of the laser ranging sensor with a sudden change rate in the ranging data when the position to be measured is in state B, that is, n=b, S a , S b Respectively represent the ranging data of the laser ranging sensors with serial numbers a and b; The vertical distance from the feature point to the lifting plate is calculated according to formula (3): , formula (3), Among them, S TI Indicates the vertical distance from the feature point to the lifting plate when the position to be measured is in state I, S i , S i+1 They respectively represent two adjacent ranging data with a sudden change rate in the ranging data.

10. A pedestrian bridge vibration comfort detection method according to claim 8, characterized in that: In step S03, the pedestrian position is represented by (x, z), and the pedestrian position (x, z) is calculated according to equations (6) and (7): , formula (6), , formula (7), Among them, x represents the transverse direction of the pedestrian bridge, z represents the longitudinal direction of the pedestrian bridge, L represents the length of the pedestrian bridge, β and γ are the angle information measured by two horizontal angle sensors, that is, they correspond to the angles between the two horizontal angle sensors and the longitudinal direction of the pedestrian bridge.

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