A vibration comfort detection system and method for pedestrian bridge

Abstract

The present invention discloses a pedestrian bridge vibration comfort detection system, including 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 arranged on the rotating shaft; a plurality of laser ranging sensors are evenly distributed above the lifting plate, and the measuring directions of all laser ranging 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 pedestrian bridge, and the detection result is objective. At the same time, a pedestrian bridge vibration comfort detection method is also provided. The method can realize the simultaneous measurement of the lateral vibration displacement and the vertical vibration displacement of the pedestrian bridge, and solves the problem of a single detection index for the pedestrian bridge comfort evaluation detection device in the prior art.

Description

Technical Field

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

[0002] As the structure of pedestrian bridges develops in the direction of "large span, lightweight, and low damping", the vibration comfort problem of pedestrian bridges under human-induced loads is becoming increasingly serious. When the vibration frequency of the pedestrian bridge structure falls within the range of pedestrian walking frequency and resonates with the pedestrian walking frequency, it causes large vertical and lateral vibrations, which in turn affects the comfort of pedestrians. Countries avoid comfort problems by limiting the fundamental frequency and acceleration of pedestrian bridges. Limiting the fundamental frequency of pedestrian bridges is mainly to prevent the pedestrian bridge from falling within the range of pedestrian walking frequency and causing structural resonance. When the fundamental frequency of the pedestrian bridge cannot meet the limit requirements, the comfort requirements are met by limiting its structural acceleration under human-induced excitation loads. Therefore, the detection parameters for the comfort of pedestrian bridges are generally dynamic characteristic indicators such as vibration frequency, vibration acceleration, and vibration displacement, and the vibration frequency and vibration acceleration can also be obtained through the change of vibration displacement over time.

[0003] Invention patent CN109556813A discloses a transverse vibration displacement detection device for a pedestrian bridge, including a supporting base plate and a pedestrian bridge, a transmission vertical rod is rotatably connected to an adjustment movable rod at one end outside the outer support platform, a laser calibration transmitter is fixedly connected to the top of the adjustment movable rod near the right side, a calibration receiver is fixedly connected to the right side of the top of the outer support platform and symmetrical to the laser calibration transmitter, a vertical slide is fixedly connected to the left side of the adjustment movable rod, and a vertical inner slider is slidably connected to the upper and lower ends of the vertical slide, and a lower transmission connecting rod is rotatably connected to the transmission screw rod at the inner side of one end outside the vertical slide. Although the invention achieves the accuracy of fixing between the pedestrian bridge and the detector, reduces the error of the connection mechanism on the detection result, and improves the authenticity and validity of the data to a certain extent, the method is a contact detection method, which will still constrain the vibration of the bridge to a certain extent, thereby affecting the accuracy of the detection result. In addition, its detection index is relatively single, which is only the transverse vibration displacement, and the vertical vibration displacement is not considered. At the same time, the method can only be used for one-time detection and cannot realize 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 result is 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 the vertical vibration displacement of the pedestrian bridge, thereby solving the problem of the single detection index of the pedestrian bridge comfort evaluation detection device in the prior art.

[0006] The objective of the present invention is achieved through the following technical scheme: a pedestrian bridge vibration comfort detection system, comprising a detection module and a control center electrically connected to the detection module, the detection module comprising 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 plurality 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 meshed 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.

[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 steps of:

[0012] 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;

[0013] 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;

[0014] 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;

[0015] 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;

[0016] 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 .

[0017] Preferably, step S4 specifically includes:

[0018] According to formula (1), the lateral vibration displacement S of the pedestrian bridge is calculated x :

[0019] S x =S TA sinα-S TB sinα+(ba)Dcosα+(S b -S a +S TA -S TB )cosαcotα, formula (1),

[0020] The vertical vibration displacement S of the pedestrian bridge is calculated according to formula (2): y :

[0021] S y =S TB cosα-S TA cosα+(ba)Dsinα+(S b -S a +S TA -S TB )cosα, formula (2),

[0022] Among them, S TA , S TBThey 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;

[0023] The vertical distance from the feature point to the lifting plate is calculated according to formula (3):

[0024] , formula (3),

[0025] 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.

[0026] Preferably, the method further includes: before step S1, the control center performs real-time tracking and monitoring of the position of pedestrians by controlling a 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, the pedestrian tracking module comprises a pedestrian tracking camera and a horizontal angle sensor, two pedestrian tracking cameras are respectively arranged at diagonal positions at both ends of the pedestrian bridge, 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;

[0027] The specific steps include:

[0028] 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;

[0029] 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;

[0030] 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.

[0031] Preferably, step S4 specifically includes:

[0032] According to formula (4), the lateral vibration displacement S of the pedestrian bridge is calculatedx :

[0033] S x =△S TA sinα-△S TB sinα+(ba)Dcosα+(S b -S a +△S TA -△S TB )cosαcotα, formula (4),

[0034] Among them, △S TA = S TA - S' TA ,

[0035] According to formula (5), the vertical vibration displacement S of the pedestrian bridge is calculated y :

[0036] S y =△S TB cosα-△S TA cosα+(ba)Dsinα+(S b -S a +△S TA -△S TB )cosα, formula (5),

[0037] Among them, △S TB = S TB - S' TB ,

[0038] 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;

[0039] The vertical distance from the feature point to the lifting plate is calculated according to formula (3):

[0040] , formula (3),

[0041] 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.

[0042] Preferably, in step S03, the pedestrian position is represented by (x, z), and the pedestrian position (x, z) is calculated according to equation (6) and equation (7):

[0043] , formula (6),

[0044] , formula (7),

[0045] 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.

[0046] Compared with the prior art, the present invention has the following advantages and effects:

[0047] (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 measurement 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, thereby obtaining a more comprehensive comfort evaluation index and improving accuracy.

[0048] (2) The present invention uses a pedestrian tracking module and a control center to achieve real-time tracking and detection of pedestrian positions, and detects the vibration conditions of pedestrians at any position on the footbridge, making the evaluation of the comfort level of the footbridge more accurate. In addition to detection purposes, it can also achieve real-time monitoring, which is highly practical.

[0049] (3) The present invention provides a method for detecting 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 to 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 a single detection indicator for the pedestrian bridge comfort evaluation detection device in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 This is a schematic structural diagram of a pedestrian bridge vibration comfort detection system in Example 1 of the present invention.

[0051] Figure 2 Schematic diagram of the structure of the detection module and the pedestrian tracking module in Example 1 of the present invention.

[0052] Figure 3 It is a flow chart of a method for detecting vibration comfort of a pedestrian bridge in Embodiment 2 of the present invention.

[0053] Figure 4 It 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.

[0054] Figure 5 It is a schematic diagram of detecting the lateral vibration displacement and the vertical vibration displacement of the pedestrian bridge when the pedestrian bridge vibrates from state A to state B in embodiment 2 of the present invention.

[0055] Figure 6 It is a schematic diagram of detecting the vertical distance from the characteristic point of the pedestrian bridge to the lifting plate in Example 2 of the present invention.

[0056] Figure 7 It is a schematic diagram of detecting the position of a pedestrian by using a pedestrian tracking camera and two horizontal angle sensors in Embodiment 3 of the present invention.

[0057] Among them, 1 is a lifting plate, 2 is a lifting mechanism, 3 is a detection vehicle, 4 is a slide rail beam, 5 is a support column, 6 is a rotating shaft, 7 is a laser ranging sensor, 8 is a control center, 9 is a pedestrian tracking camera, and 10 is a vertical pole. DETAILED DESCRIPTION

[0058] The present invention will be further described in detail below in conjunction with embodiments and drawings, but the embodiments of the present invention are not limited thereto.

[0059] Example 1

[0060] like Figure 1The figure shows a schematic diagram of the structure of a pedestrian bridge vibration comfort detection system, including 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, and 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.

[0061] 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 keep it horizontal. 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, the lifting mechanism, and the 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 the operation of the detection module. This non-contact method avoids the influence of the 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 laser ranging sensors and vertical angle sensors 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.

[0062] 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.

[0063] The pedestrian tracking module also 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.

[0064] Specifically, Figure 2As shown, the control center controls the pedestrian tracking camera to realize real-time recognition and tracking of the upward 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.

[0065] 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.

[0066] 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.

[0067] Specifically, Figure 1 As shown, the installation of the support column ensures the installation stability of the inspection vehicle, which is convenient for real-time monitoring of the pedestrian bridge to be tested. Through the meshing connection between the gears on the inspection vehicle and the tooth grooves of the slide rail beam, under the command information of the control center, the driver prompts the rotating motor to drive the gear to rotate, thereby driving the inspection vehicle to slide on the slide rail beam to achieve translation tracking. In this embodiment, the slide rail beam adopts a U-shaped slide rail beam, and the inspection vehicle adopts an M-shaped inspection vehicle, which can improve the connection stability between the two.

[0068] Example 2

[0069] like Figure 3 The figure shows 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:

[0070] 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;

[0071] 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;

[0072] 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;

[0073] 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;

[0074] S5. According to S x -t and Sy -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 .

[0075] Specifically, the present invention provides two detection modes, including static detection and dynamic detection, for evaluating the vibration comfort of a pedestrian bridge. The static detection mode refers to the detection vehicle being fixed (not moving) to detect a certain position to be tested on the pedestrian bridge, which is to measure and calculate the dynamic characteristic index of a certain fixed position of the span of the pedestrian bridge.

[0076] 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, a command is issued by the control center to move the detection vehicle to the set position of the support assembly, and the set position on the slide rail 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.

[0077] 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 the 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 f . At this point, the vibration comfort of the pedestrian bridge can be comprehensively and accurately evaluated through the above dynamic characteristic indicators of the pedestrian bridge. This method can simultaneously measure the lateral vibration displacement and vertical vibration displacement of the pedestrian bridge, solving the problem of a single detection indicator for the pedestrian bridge comfort evaluation detection device in the prior art.

[0078] Step S4 specifically includes:

[0079] According to formula (1), the lateral vibration displacement S of the pedestrian bridge is calculated x :

[0080] S x =sinαS TA-sinαS TB +(ba)Dcosα+(S b -S a +S TA -S TB )cosαcotα, formula (1),

[0081] The vertical vibration displacement S of the pedestrian bridge is calculated according to formula (2): y :

[0082] S y =cosαS TB -cosαS TA +(ba)Dsinα+(S b -S a +S TA -S TB )cosα, formula (2),

[0083] 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;

[0084] The vertical distance from the feature point to the lifting plate is calculated according to formula (3):

[0085] , formula (3),

[0086] 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.

[0087] 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 Sy .

[0088] Since n laser distance measuring sensors are set at equal intervals D, when the footbridge vibrates, the feature point will fall between the measuring points of two adjacent laser distance measuring sensors (including the case where the feature point happens to fall on the measuring point of one of the laser distance measuring sensors), such as Figure 6 As shown in Figure 1, the feature point falls between the i-th and i+1-th laser ranging sensors. When the position to be measured is in 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 .

[0089] Example 3

[0090] The steps of a pedestrian bridge vibration comfort detection method also include: before step S1, the control center controls the pedestrian tracking module to track and monitor the pedestrian position in real time, selects the pedestrian position as the position to be tested, so as to perform dynamic detection of the vibration comfort of the pedestrian bridge, the pedestrian tracking module includes a pedestrian tracking camera and a horizontal angle sensor, two of the pedestrian tracking cameras are respectively arranged at diagonal positions at both ends of the pedestrian bridge, 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;

[0091] The specific steps include:

[0092] 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;

[0093] 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;

[0094] 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.

[0095] Specifically, Figure 4 The figure shows a dynamic detection mode in a pedestrian bridge vibration comfort detection method of the present invention. The difference between this embodiment and embodiment 2 is that in this dynamic detection mode, the detection vehicle is in a state of dynamic detection and synchronous movement with pedestrians, and measures and calculates the acceleration felt by pedestrians in their dynamic positions during the continuous movement of pedestrians.

[0096] The specific process includes: positioning 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.

[0097] Preferably, step S4 specifically includes:

[0098] According to formula (4), the lateral vibration displacement S of the pedestrian bridge is calculated x :

[0099] S x =△S TA sinα-△S TB sinα+(ba)Dcosα+(S b -S a +△S TA -△S TB )cosαcotα, formula (4),

[0100] Among them, △S TA = S TA - S' TA ,

[0101] According to formula (5), the vertical vibration displacement S of the pedestrian bridge is calculated y :

[0102] S y =△S TB cosα-△S TA cosα+(ba)Dsinα+(S b -S a +△S TA -△S TB )cosα, formula (5),

[0103] Among them, △S TB = S TB - S' TB ,

[0104] Among them, A and B represent the displacement state of the pedestrian bridge corresponding to the position to be measured, S TA , S' TAThey 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;

[0105] The vertical distance from the feature point to the lifting plate is calculated according to formula (3):

[0106] , formula (3),

[0107] 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.

[0108] 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):

[0109] , formula (6),

[0110] , formula (7),

[0111] 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.

[0112] 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 the inspection vehicle and pedestrians.

[0113] First, the real-time positioning of pedestrians: When pedestrians approach the footbridge, the pedestrian tracking camera identifies the pedestrians and moves to the bridge end where the pedestrians are standing by. The horizontal angle sensor feeds back the horizontal rotation angle of the pedestrian tracking camera to the control center in real time. When pedestrians step onto the footbridge, the control center obtains the position information of the pedestrians on the bridge through the angle information fed back by the horizontal angle sensor.

[0114] Then, the vibration of the bridge at the location of the pedestrian is detected in real time:

[0115] In this embodiment, the following is established: Figure 2 In the three-dimensional coordinate system shown in the figure, 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 where the pedestrian is located, as shown in the figure below. Figure 2 and Figure 7 As shown, the detection vehicle moves to the position Department;

[0116] 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.

[0117] The above process realizes the real-time positioning detection of the pedestrian's position, and can detect the vibration conditions of the pedestrian's position when the pedestrian walks at any position 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.

[0118] 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 replacement methods 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 method for detecting vibration comfort of a pedestrian bridge, characterized in that: The invention is applied to a pedestrian bridge vibration comfort detection system, which comprises a detection module and a control center electrically connected to the detection module. The detection module comprises 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 arranged on the rotating shaft. A plurality of laser distance measuring sensors are evenly distributed above the lifting plate, and the measuring directions of all the laser distance measuring sensors are perpendicular to the lifting plate. The detection method includes the following steps: S0, the control center tracks and monitors the position of pedestrians in real time 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, the pedestrian tracking module 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, 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; 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 to calculate other dynamic characteristic indicators, which include the maximum lateral vibration acceleration a xmax , Maximum vertical vibration acceleration a ymax and vibration frequency f ; Among them, the specific steps of S0 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.

2. A method for detecting vibration comfort of a pedestrian bridge 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.

3. A pedestrian bridge vibration comfort detection method according to claim 2, 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.

4. A pedestrian bridge vibration comfort detection method according to claim 1, characterized in that: The pedestrian tracking module also 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.

5. The method for detecting vibration comfort of a pedestrian bridge according to claim 1, 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), Among them, △S TA = S TA - S' TA , The vertical vibration displacement S of the pedestrian bridge is calculated according to formula (2): 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 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.

6. A pedestrian bridge vibration comfort detection method according to claim 1, 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 (4) and (5): , formula (4), , formula (5), Among them, x represents the lateral position of the pedestrian on the pedestrian bridge, z represents the longitudinal position of the pedestrian on 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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