WO2014101832A1 - 敲击扫描式桥梁损伤检测系统 - Google Patents

敲击扫描式桥梁损伤检测系统 Download PDF

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Publication number
WO2014101832A1
WO2014101832A1 PCT/CN2013/090702 CN2013090702W WO2014101832A1 WO 2014101832 A1 WO2014101832 A1 WO 2014101832A1 CN 2013090702 W CN2013090702 W CN 2013090702W WO 2014101832 A1 WO2014101832 A1 WO 2014101832A1
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WO
WIPO (PCT)
Prior art keywords
bridge
percussion
signal
damage
detection system
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2013/090702
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English (en)
French (fr)
Inventor
张建初
向志海
刘弘
李植淮
陆秋海
孙耀国
王艳华
李连友
沈兆普
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Tsinghua University
China Road and Bridge Corp
Original Assignee
Tsinghua University
China Road and Bridge Corp
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Filing date
Publication date
Application filed by Tsinghua University, China Road and Bridge Corp filed Critical Tsinghua University
Priority to US14/758,234 priority Critical patent/US10132715B2/en
Publication of WO2014101832A1 publication Critical patent/WO2014101832A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M5/00—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings
    • G01M5/0008—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings of bridges
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M5/00—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings
    • G01M5/0033—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings by determining damage, crack or wear
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M5/00—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings
    • G01M5/0066—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings by exciting or detecting vibration or acceleration
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M5/00—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings
    • G01M5/0075—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings by means of external apparatus, e.g. test benches or portable test systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M7/00—Vibration-testing of structures; Shock-testing of structures
    • G01M7/08—Shock-testing
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/04—Analysing solids
    • G01N29/045—Analysing solids by imparting shocks to the workpiece and detecting the vibrations or the acoustic waves caused by the shocks
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/22—Details, e.g. general constructional or apparatus details
    • G01N29/26—Arrangements for orientation or scanning by relative movement of the head and the sensor
    • G01N29/265—Arrangements for orientation or scanning by relative movement of the head and the sensor by moving the sensor relative to a stationary material
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/44—Processing the detected response signal, e.g. electronic circuits specially adapted therefor
    • G01N29/46—Processing the detected response signal, e.g. electronic circuits specially adapted therefor by spectral analysis, e.g. Fourier analysis or wavelet analysis
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2291/00—Indexing codes associated with group G01N29/00
    • G01N2291/02—Indexing codes associated with the analysed material
    • G01N2291/023—Solids
    • G01N2291/0232—Glass, ceramics, concrete or stone

Definitions

  • the invention relates to a bridge damage detecting system, and in particular to a tapping scanning bridge damage detecting system. Background technique
  • bridge detection mainly includes two methods: periodic detection and real-time monitoring: periodic inspection, such as manual detection, bridge dynamic and static load test, etc.
  • periodic inspection such as manual detection, bridge dynamic and static load test, etc.
  • This method has high precision, but the time interval is long, which is not conducive to Timely discovery of bridge diseases, and need to interrupt bridge traffic, implementation is difficult; real-time monitoring, such as some bridge health monitoring systems, although this method is good in real-time, but the accuracy is low and the cost is high, so it is difficult to obtain a wide range in a short period of time. use.
  • Two-way offline detection refers to the use of non-destructive testing methods such as visual observation and ultrasonic waves when the bridge is not working. , electromagnetic eddy current, X-ray, etc., to carefully detect damage in the structure, such methods have high detection accuracy, but often need to interrupt traffic, affect the normal operation of the bridge, and need to know the approximate location of the damage in advance, there is detection of dead angle, detection Inefficiency; on-line overall monitoring is to preset sensors in the bridge structure, real-time acquisition of structural response signals to infer the damage situation, although this method does not need to interrupt bridge traffic, but the detection accuracy is low, and there are sensors The installation, the transmission and storage of massive signals, and the noise immunity and durability of the sensor. Summary of the invention
  • the present invention provides a tapping scanning bridge damage detecting system, comprising: a moving trolley capable of moving on a bridge to be tested; a tapping subsystem disposed on the moving trolley, the knocking The system is configured to apply a tapping load to the bridge to be tested; a signal acquisition subsystem is disposed in the mobile trolley, and the signal acquisition subsystem is configured to collect a response signal transmitted by the bridge to be tested to the mobile trolley; the signal processing device And connecting the signal acquisition subsystem, receiving the signal collected by the signal acquisition system and processing, and outputting the bridge damage information processing result.
  • the above-described striking scanning bridge damage detecting system further comprises a driving device, wherein the moving trolley is connected to the driving device and driven by the driving device to move on the bridge to be tested.
  • the above-described percussion scanning bridge damage detecting system wherein the moving trolley comprises: a vehicle body; a wheel disposed on the vehicle body, the wheel being a rigid wheel and directly contacting the surface of the bridge to be tested.
  • the wheel comprises a front wheel and two rear wheels
  • the front wheel is located on a longitudinal body axis of the moving trolley
  • the two rear wheels They are symmetrically disposed on both sides of the longitudinal body axis.
  • the tapping scanning bridge damage detecting system wherein the tapping subsystem comprises: a striking device fixed on the moving trolley, the tapping device is configured to generate a tapping load and apply a bridge to be tested; a tap control device coupled to the tap device for controlling the tap device to generate a predetermined tap load.
  • the striking device is an exciter
  • the exciter is fixed on a body of the moving trolley, and the exciter generates a shock
  • the vibration force acts on the body of the moving trolley, and the driving load is transmitted to the bridge to be tested by the moving trolley.
  • the above-mentioned tapping-scanning bridge damage detecting system wherein the signal collecting subsystem comprises one or more signal picking devices, and the signal picking device is disposed on the moving trolley for collecting a bridge to be tested A response signal that is passed to the mobile cart.
  • the signal picking device is an acceleration sensor.
  • the acceleration sensor is provided with one disposed on a through shaft of the two rear wheels of the moving trolley.
  • the acceleration sensor is located at an intermediate position of the through shaft, and the striking device is located directly above the acceleration sensor.
  • the above-described percussion scanning bridge damage detecting system wherein the signal processing device comprises: a spectrum acquiring device connected to the signal picking device, configured to transform a signal detected by the signal picking device Processing to obtain a signal spectrum at each position of the bridge surface; a spectral envelope intercepting device for intercepting a spectrum corresponding to the tapping force band of the tapping device from the signal spectrum a map indication line; a damage indication value calculating means, calculating a damage indication value at each position of the bridge surface to be tested according to the intercepted spectral envelope; the damage position determining means, according to each of the bridge surfaces to be tested The damage indication value at the location determines the location of the damage in the structure.
  • the tapping scanning bridge damage detection system of the invention has a strict theoretical basis, and the detection signal can be obtained by scanning one time on the bridge to be tested, and the damage information of the bridge can be obtained according to the detection signal through the corresponding processing conversion. It is not necessary to know the approximate position of the bridge damage in advance, and it is not necessary to know in advance the state of the bridge when it is not damaged, and the operation is simple and easy, and the efficiency is high. Through the detection of the tapping scanning bridge damage detection system of the invention, the damage of the bridge can be grasped conveniently and quickly, thereby discovering hidden dangers of the bridge and avoiding the occurrence of bridge accidents.
  • the tapping scanning bridge damage detection system of the invention has high sensitivity, short detection time and no special detection conditions, high detection precision and low cost, and is compared with the above existing bridge detection methods. The advantages of various existing detection methods and avoiding their drawbacks. 3.
  • the knocking and scanning bridge damage detection system of the invention has strong anti-interference ability, and the bridge detection can be carried out without interrupting the bridge traffic to obtain accurate detection results, and the implementation performance is strong and does not affect the normal transportation function of the bridge.
  • the tapping scanning bridge damage detecting system of the present invention can perform the detection conveniently and quickly without knowing the complete characteristic information of the bridge structure before performing the bridge inspection.
  • the tapping scanning bridge damage detection system of the invention has a simple structure, low labor cost required for detection, and can adapt to various detection environments, and is suitable for popularization and application.
  • FIG. 1 is a schematic view showing the composition of a tapping scanning bridge damage detecting system of the present invention
  • FIG. 2 is a schematic structural view of a knocking sub-system of a knocking scanning bridge damage detecting system according to an embodiment of the present invention
  • FIG. 3 is a schematic view showing the structure of a signal detecting device of a knock-on scanning bridge damage detecting system according to an embodiment of the present invention
  • FIG. 4 is a schematic diagram of a detection signal spectrum of an embodiment of a tapping scanning bridge damage detecting system according to the present invention.
  • FIG. 1 is a schematic diagram of a composition of a tapping scanning bridge damage detecting system according to the present invention.
  • the tapping scanning bridge damage detecting system of the present invention mainly comprises: a moving trolley 1 capable of moving on a bridge to be tested;
  • the tapping subsystem 2 is disposed on the mobile trolley 1 and can move together with the mobile trolley 1.
  • the tapping subsystem 2 is mainly used to apply a tapping load to the bridge to be tested, and it can move the mobile trolley 1 on the bridge to be tested.
  • a tapping load is applied to the bridge to be tested;
  • the signal acquisition subsystem 3 is disposed on the mobile trolley 1 for collecting a response signal of the tapping load transmitted by the bridge to be tested to the mobile trolley 1;
  • the signal processing device 4 the connection signal acquisition The system 3 receives the signals collected by the signal acquisition system 3 and processes them, and outputs a processing result reflecting the bridge damage information.
  • the mobile trolley 1 carries the tapping subsystem 2, and drives it to move on the bridge to be tested. While the mobile trolley 1 is walking, the tapping subsystem 2 can continuously apply a tapping load to achieve the tapping of the entire bridge to be tested. scanning.
  • the mobile cart 1 can be connected to a driving device 10 and driven by the driving device 10 to move on the bridge to be tested.
  • the driving device 10 is a towing vehicle, and the moving mobile cart 1 is moved.
  • the mobile cart 1 may also have its own power and be movable on the bridge.
  • the driving device 10 and the mobile trolley 1 should be kept as uniform as possible.
  • FIG. 2 is a schematic diagram of a structure of a knocking subsystem of a knock-on scanning bridge damage detecting system according to an embodiment of the present invention.
  • the striking subsystem 2 includes a tapping device 21 and a tapping control. Device 22, wherein the striking device 21 is fixed on the mobile cart 1, The striking device 21 is configured to generate a tapping load and is applied to the bridge to be tested.
  • the striking device 21 is an exciter, and the exciter is fixed on the body 11 of the moving cart 1 to generate the exciter.
  • the exciting force acts directly on the body 11 of the moving cart 1, and transmits the tapping load to the deck of the bridge to be tested by moving the body and wheels of the cart, that is, the moving cart 1 provides support, in addition to providing support.
  • the mobile trolley 1 can be designed as a rigid body, and the components of the vehicle body are connected by a fixed connection, the wheels are arranged under the vehicle body or on both sides, the wheel is a rigid wheel (such as a steel wheel), and the outer edge of the wheel No cushioning parts such as plastic tires, that is, the outer edge of the rigid wheel directly contacts the surface of the bridge to be tested, and the trolley suspension system is improved, and the above structure is used to avoid filtering the tapping.
  • the front wheel 12 of the moving trolley is provided with one, and the rear wheel 13 is provided with two, the front wheel 12 is located on the longitudinal body axis L of the moving trolley, and the two rear wheels 13 are symmetrically disposed on the body axis L.
  • the front wheel 12 and the two rear wheels 13 form an isosceles triangle, thereby making the movement of the moving cart 1 more stable, and when the body is subjected to a striking load, the cart can still be stably advanced without jumping or bumping.
  • the tapping control device 22 is connected to the tapping device 21 for controlling the tapping device 21, such as the frequency of its tapping and the magnitude of the tapping force, etc., so that the tapping device can set the predetermined frequency band and the predetermined amplitude.
  • the tapping load is applied to the moving trolley body, or the bridge to be tested.
  • the striking device 21 is an exciter
  • the tapping control device 22 is corresponding to an exciter controller. The structure and principle thereof have been For the conventional technology, it will not be described again.
  • FIG. 3 is a schematic structural diagram of a signal acquisition subsystem of a knock-scanning bridge damage detection system according to an embodiment of the present invention.
  • the signal acquisition subsystem is arranged in the mobile trolley 1 for collecting the response signal transmitted by the bridge to be tested to the mobile trolley 1.
  • the mobile trolley 1 plays the role of transmitting the bridge response signal, so further requesting movement
  • the trolley is preferably a rigid structure, as described above, having sufficient rigidity so as not to reduce the transmission of the response signal, and such a rigid structure of the moving carriage does not itself generate an interference signal, affecting signal acquisition by the signal acquisition subsystem 3.
  • the signal acquisition subsystem 3 may include one or more signal pickup devices 31, and the signal pickup device 31 may be directly disposed on the mobile trolley 1 for directly collecting the bridge to be tested and transmitting
  • the signal pickup device 31 may be a sensor, such as a common acceleration sensor, a speed sensor, a displacement sensor, or the like, in response to the response of the tap load on the moving cart 1.
  • the signal pickup device 31 is an acceleration sensor, which is provided with one, and the acceleration sensor can be disposed at any position on the moving cart 1, and in order to maximize the sensitivity and accuracy of the signal acquisition, preferably, the acceleration sensor
  • the shocking device 21 is disposed directly above the acceleration sensor.
  • the middle position, and the acceleration sensor is located in the middle of the through shaft 14, which is capable of collecting the response signal of the optimum tap load.
  • the types, the number, the position, and the like of the signal pickup device 31 can be flexibly adjusted according to the actual environment and needs.
  • Those skilled in the art can modify various embodiments according to the above disclosed embodiments, but All of them should fall within the scope of protection of the present invention.
  • the signal processing device 4 is connected to the signal acquisition system 3, receives the response signal of the bridge hit load collected by the bridge, and processes the result of the reaction of the bridge damage information.
  • the signal processing device 4 can be a computer system. In practical applications, the computer system can be connected to a sensor on the mobile car through a conventional signal acquisition device to obtain a signal. In order to obtain high-quality detection data, a high-precision data acquisition card can be selected. For multi-channel data acquisition, the synchronization of each data acquisition channel should also be guaranteed.
  • the signal picking device 31 is an acceleration sensor, and the collected signal should be the tapping response acceleration spectrum of the bridge to be tested that the moving trolley 1 passes. Referring to FIG. 4, the tapping scanning bridge damage of the present invention is
  • the signal processing device of the embodiment of the present invention may include: a spectrum acquiring device, a spectral envelope intercepting device, a damage indicating value calculating device, and a damage position determining device.
  • the spectrum acquiring device is connected to the signal picking device 31, that is, the acceleration sensor, for transforming the signal detected by the acceleration sensor to obtain an acceleration signal spectrum at each position of the bridge surface.
  • the spectrum acquisition device can divide the surface of the bridge to be tested into a plurality of small parts according to the requirements of the detection accuracy and the actual environmental conditions, and the mobile trolley 1 drives the tapping subsystem 2 and the signal acquisition subsystem 3 to scan each of the The surface portion of the bridge takes a period of time. During this period, the signal acquired by the sensor corresponds to the sensor signal distribution over the period of time.
  • the spectrum acquisition device transforms the distribution of the sensor signals over time to obtain The above signals are corresponding in the frequency domain or The representation on the scale domain
  • the above-described transform processing can be performed by conventional transform processing in the related art, for example, the transform can be a short-time Fourier transform or a wavelet transform or the like.
  • the spectral acquisition device can acquire a signal spectrum or a scale spectrum at each position portion of the corresponding bridge surface.
  • the spectral envelope intercepting means intercepts the spectral envelope corresponding to the tapping force band of the tapping device from the signal spectrum acquired by the spectral acquiring means.
  • the damage indication value calculating means calculates a damage indication value at each position of the bridge surface to be tested according to the intercepted spectral envelope, the damage indication value reflecting the spectral envelope at the position and other positions The degree of similarity of the spectral envelope.
  • the damage indication value may be calculated as follows: First, the intercepted spectral envelope is converted into a spectral vector, and the step may be performed by acquiring a spectral image. The amplitude at multiple frequencies in the envelope is converted as a component of the spectral vector. The number of components of the spectrum vector can be determined based on the detection accuracy and the processing performance of the system.
  • the frequency corresponding to the component can be evenly distributed in the frequency band of the spectral envelope, or it can be unevenly distributed. However, for the bridge to be tested, the frequency band selection method at each position should be the same; after that, the MAC can be utilized.
  • the coefficient is used to obtain the damage indication value, and the calculation formula of the MAC coefficient matrix is:
  • Yi and Yj represent the spectral vectors of the i-th and j-th parts respectively on the bridge structure
  • Yi ⁇ Yj represents the inner product operation of the spectral vector
  • I Yi I and I Yj I represent the lengths of the vectors Yi and Yj .
  • Each element in the MAC coefficient matrix represents the degree of similarity between two spectral vectors, where the elements on the diagonal must be equal to one.
  • the size of the i-th row or the i-th column element of the MAC coefficient matrix can reflect the damage corresponding to a certain spectral vector Yi, and thus the damage indication value of the position corresponding to the spectral vector Yi.
  • the damage position determining means determines the damage position in the structure based on the damage indication value at each position of the bridge surface to be tested. For example, the damage position determining device may determine the position where the damage indication value suddenly drops as the position where the damage exists, because if there is no structural damage, the graphical curve of the damage indication value should be relatively smooth, if the curve suddenly drops somewhere. It means that there is damage at that place, and the greater the decline, the more serious the damage.
  • the information of the bridge damage such as the degree of damage and the position, etc., can be obtained. For more detailed data detection and processing contents and principles, it has been disclosed in the related patents. , no more details.
  • the detection system of the present invention can be used without interrupting the bridge traffic. Therefore, the signal separation module and the noise filter module need to be provided to process the detection signal to improve the signal-to-noise ratio of the signal, and obtain an ideal signal detection result.
  • tap control device 22 and signal processing device 4 can be integrated into one computer system, and the computer system can be integrated into the drive device 10.
  • FIG. 1 A simple application of the tapping scanning bridge damage detecting system of the present invention will be described below with reference to Figs. 1 to 3:
  • the moving device 1 is pulled by the driving device 10 to move on the bridge to be tested, and at the same time, the striking device is disposed on the moving trolley 1.
  • 21 Under the control of the tap control device 22, a tapping load is applied to the vehicle body, and the frequency and magnitude of the striking load should be in accordance with expectations.
  • the striking load is transmitted by the car body and the wheel and finally applied to the bridge to be tested, and the mobile trolley is taken away.
  • the bridge decks that were passed were scanned by tapping.
  • feedback will be generated to generate response signals such as acceleration, displacement, speed, etc.
  • the response signal is also transmitted by the trolley, and finally is set by The signal pickup device 31 on the trolley is acquired, and the instantaneous value of the response signal and the like can reflect the structural features of the bridge to be tested at the tapping position.
  • the signal pickup device is an acceleration sensor, and the obtained response signal is collected. For the acceleration spectrum.
  • the bridge response signal acquired by the signal pickup device 31 is finally transmitted to the signal processing device 4, and after the corresponding signal filtering, signal conversion, data sorting, data conversion, etc., the final output can reflect the processing result of the bridge damage information.
  • the whole detection process of the detection system of the invention only needs to scan the bridge to be tested once to obtain the detection signal, the operation is simple and easy, the efficiency is high, the detection precision is high, the cost is low, and the accurate detection result can be obtained without interrupting the bridge traffic.
  • the utility model has the advantages of strong implementation.
  • the bridge damage detection system of the invention can conveniently and quickly grasp the damage condition of the bridge, thereby discovering hidden dangers of the bridge in time and avoiding the occurrence of bridge accidents.
  • any reference signs placed between parentheses shall not be construed as a limitation.
  • the word “comprising” does not exclude the presence of the elements or steps that are not in the claims.
  • the word “a” or “an” preceding a component does not exclude the presence of a plurality of such elements.
  • the invention may be by means of hardware comprising several different components And by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means can be embodied by the same hardware item.
  • the use of the words first, second, and third does not indicate any order. These words can be interpreted as names.

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Abstract

一种敲击扫描式桥梁损伤检测系统，包括：移动小车（1），能够在待测桥梁上移动；敲击子系统（2），设于所述移动小车（1），所述敲击子系统用于向待测桥梁施加敲击载荷；信号采集子系统（3），设于所述移动小车，所述信号采集子系统（3）用于采集待测桥梁传递到所述移动小车上的响应信号；信号处理装置（4），连接所述信号采集子系统（3），接收所述信号采集系统（3）所采集的信号并进行处理，输出桥梁损伤信息处理结果，该敲击扫描式桥梁损伤检测系统能够简便、高效且高精度地检测桥梁损伤。

Description

敲击扫描式桥梁损伤检测系统 技术领域
本发明涉及桥梁损伤检测系统， 具体涉及一种敲击扫描式桥梁损 伤检测系统。 背景技术
伴随着科技的进步以及交通运输需求的提高， 各式公路及轨道交 通用桥梁的数量飞速增长， 这些桥梁在使用的过程中， 不断受到温度 变化、 强风、 降雨等外界环境的侵蚀， 同时受到车辆载荷、 车辆冲击 的长期反复作用， 并且部分桥梁还会遭到洪水、 地震等自然灾害的损 伤， 随着使用年限的增加， 桥梁普遍出现不同程度的疲劳效应和老化 现象， 桥体累积了大量的外界损伤， 导致很多桥梁成为一定意义上的 危桥， 国内外的桥梁均出现过大量的垮塌实例， 严重地威胁到了人们 的生命安全和财产安全， 所以， 实时有效地对桥梁进行损伤检测十分 重要。
从实施周期和检测精度角度来说， 桥梁检测主要包括定期检测和 实时监测两种方式： 定期检测， 如人工检测、 桥梁动静载试验等， 这 种方式精度虽高， 但是时间间隔长， 不利于及时发现桥梁病害， 同时 需要中断桥梁交通， 实施难度高； 实时监测， 如一些桥梁健康监测系 统， 此种方式虽然实时性好， 但是精度低、 成本高， 因此较难在短时 期内得到广泛的使用。
从实际操作的角度来说， 现有的桥梁损伤识别技术可以分为离线 局部检测和在线整体监测两种方式： 离线局部检测是指在桥梁不工作 时， 采用无损检测手段， 如肉眼观察、 超声波、 电磁涡流、 X射线等， 来仔细探测结构中的损伤， 此类方法检测精度较高， 但是往往需要中 断交通， 影响桥梁的正常工作， 且需要事先知道损伤的大概位置， 存 在检测死角， 检测效率低； 在线整体监测则是在桥梁结构内预置传感 器， 实时的获取结构响应信号， 来推断其中的损伤情况， 此种方法虽 然不需要中断桥梁交通， 但检测精度较低， 并且还存在传感器的安装、 海量信号的传输与存储以及传感器的抗噪性、 耐久性等问题。 发明内容
鉴于上述情况，亟需研发一种简便高效、 高精度的桥梁检测方案。 本设计人借其多年相关领域的技术经验以及丰富的专业知识， 不断研 发改进， 并经大量的实践验证， 提出了本发明的敲击扫描式桥梁损伤 检测系统的技术方案。
本发明的目的在于提供一种敲击扫描式桥梁损伤检测系统， 能够 简便、 高效且高精度地检测桥梁损伤。
为了实现上述目的， 本发明提供了一种敲击扫描式桥梁损伤检测 系统， 包括： 移动小车， 能够在待测桥梁上移动； 敲击子系统， 设于 所述移动小车， 所述敲击子系统用于向待测桥梁施加敲击载荷； 信号 采集子系统， 设于所述移动小车， 所述信号采集子系统用于采集待测 桥梁传递到所述移动小车上的响应信号； 信号处理装置， 连接所述信 号采集子系统， 接收所述信号采集系统所采集的信号并进行处理， 输 出桥梁损伤信息处理结果。
优选的， 上述的敲击扫描式桥梁损伤检测系统， 其中， 还包括一 驱动装置， 所述移动小车连接所述驱动装置， 并由所述驱动装置驱动 而在待测桥梁上移动。
优选的， 上述的敲击扫描式桥梁损伤检测系统， 其中， 所述移动 小车包括： 车身； 车轮， 设置于所述车身， 所述车轮为刚性轮盘且直 接接触待测桥梁表面。
优选的， 上述的敲击扫描式桥梁损伤检测系统， 其中， 所述车轮 包括一个前车轮和两个后车轮， 所述前车轮位于所述移动小车的纵向 车身轴线上， 两个所述后车轮对称地设于所述纵向车身轴线的两侧。
优选的， 上述的敲击扫描式桥梁损伤检测系统， 其中， 所述敲击 子系统包括： 敲击装置， 固设于所述移动小车上， 所述敲击装置用于 产生敲击载荷并施加于待测桥梁； 敲击控制装置， 连接于所述敲击装 置， 用于控制所述敲击装置以产生预定的敲击载荷。
优选的， 上述的敲击扫描式桥梁损伤检测系统， 其中， 所述敲击 装置为激振器， 所述激振器固设于所述移动小车的车身上， 所述激振 器产生的激振力作用于所述移动小车的车身， 通过所述移动小车将敲 击载荷传递到待测桥梁。 优选的， 上述的敲击扫描式桥梁损伤检测系统， 其中， 所述信号 采集子系统包括一个或者多个信号拾取装置， 所述信号拾取装置设置 于所述移动小车上， 用于采集待测桥梁传递到所述移动小车上的响应 信号。
优选的， 上述的敲击扫描式桥梁损伤检测系统， 其中， 所述信号 拾取装置为加速度传感器。
优选的， 上述的敲击扫描式桥梁损伤检测系统， 其中， 所述加速 度传感器设有一个， 其设置于所述移动小车两个所述后车轮的通轴上。
优选的， 上述的敲击扫描式桥梁损伤检测系统， 其中， 所述加速 度传感器位于所述通轴的中间位置， 所述敲击装置位于所述加速度传 感器的正上方。
优选的， 上述的敲击扫描式桥梁损伤检测系统， 其中， 所述信号 处理装置包括： 谱图获取装置， 连接于所述信号拾取装置， 用于对所 述信号拾取装置检测到的信号进行变换处理， 以获取在桥梁表面的每 个位置处的信号谱图； 谱图包络线截取装置， 用于从所述信号谱图中 截取与所述敲击装置的敲击力频段相对应的谱图包络线； 损伤指示值 计算装置， 根据所述截取的谱图包络线来计算待测桥梁表面的每个位 置处的损伤指示值； 损伤位置确定装置， 根据待测桥梁表面的每个位 置处的所述损伤指示值来确定结构中的损伤位置。
本发明的敲击扫描式桥梁损伤检测系统至少具有以下优点及特 点：
1、 本发明的敲击扫描式桥梁损伤检测系统具有严格的理论基础， 其在待测桥梁上扫描一遍即可获得检测信号， 并可根据检测信号经过 相应的处理转换而得到桥梁的损伤信息， 不需要预先知道桥梁损伤的 大致位置， 也不需要预先知道桥梁未损时的状态， 操作简单易行， 效 率高。 通过本发明的敲击扫描式桥梁损伤检测系统的检测， 即可方便 快捷地掌握桥梁损伤情况， 从而及时发现桥梁隐患， 避免桥梁事故的 发生。
2、 本发明的敲击扫描式桥梁损伤检测系统的灵敏度很高， 检测时 间短且不需要特殊的检测条件， 检测精度高， 成本低廉， 与上述现有 的桥梁检测方式相比， 是集合了各种现有检测方式的优点， 且避免了 其缺陷。 3、 本发明的敲击扫描式桥梁损伤检测系统抗干扰性很强， 进行桥 梁检测时不需要中断桥梁交通即可得到准确的检测结果， 可实施性强 且不影响桥梁的正常交通运输功能。
4、 本发明的敲击扫描式桥梁损伤检测系统在进行桥梁检测之前， 不需要事先知道桥梁结构的完整特征信息， 即可方便快捷的实施检测。
5、 本发明的敲击扫描式桥梁损伤检测系统结构简单， 检测时所需 的人力成本低， 且能够适应各种检测环境， 适于推广应用。
上述说明仅是本发明技术方案的概述， 为了能够更清楚了解本发 明的技术手段， 而可依照说明书的内容予以实施， 并且为了让本发明 的上述和其它目的、 特征和优点能够更明显易懂， 以下特举本发明的 具体实施方式。 附图说明
通过阅读下文优选实施方式的详细描述， 各种其他的优点和益处 对于本领域普通技术人员将变得清楚明了。 附图仅用于示出优选实施 方式的目的， 而并不认为是对本发明的限制。 而且在整个附图中， 用 相同的参考符号表示相同的部件。 在附图中：
图 1为本发明敲击扫描式桥梁损伤检测系统组成示意图；
图 2 为本发明敲击扫描式桥梁损伤检测系统一实施例的敲击子系 统设于移动小车结构示意图；
图 3 为本发明敲击扫描式桥梁损伤检测系统一实施例的信号检测 装置设于移动小车结构示意图；
图 4 为本发明敲击扫描式桥梁损伤检测系统一实施例的检测信号 频谱示意图。
主要元件标号说明：
1 移动小车
10 驱动装置
11 车身
12 前车轮
13 后车轮
14 通轴
2 敲击子系统 敲击装置
敲击控制装置
信号采集子系
信号拾取装置
信号处理装置
车身轴线 具体实施方式
下面将参照附图更详细地描述本公开的示例性实施例。 虽然附图 中显示了本公开的示例性实施例， 然而应当理解， 可以以各种形式实 现本公开而不应被这里阐述的实施例所限制。 相反， 提供这些实施例 是为了能够更透彻地理解本公开， 并且能够将本公开的范围完整的传 达给本领域的技术人员。
请参考图 1， 为本发明敲击扫描式桥梁损伤检测系统组成示意图， 如图所示， 本发明的敲击扫描式桥梁损伤检测系统主要包括： 移动小 车 1， 能够在待测桥梁上移动； 敲击子系统 2， 设于移动小车 1， 能够 随移动小车 1一同运动， 敲击子系统 2主要用于向待测桥梁施加敲击 载荷， 并且其能够使移动小车 1在待测桥梁移动的同时向待测桥梁施 加敲击载荷； 信号采集子系统 3， 设于移动小车 1， 用于采集待测桥梁 传递到移动小车 1上的敲击载荷的响应信号； 信号处理装置 4， 连接信 号采集系统 3， 接收信号采集系统 3所采集到的信号并进行处理， 输出 反映桥梁损伤信息的处理结果。
移动小车 1承载敲击子系统 2， 带动其在待测桥梁上移动， 在移动 小车 1行走的同时， 载敲击子系统 2可持续施加敲击载荷， 以实现对 整个待测桥梁的敲击扫描。 移动小车 1可连接一驱动装置 10， 并由该 驱动装置 10驱动而在待测桥梁上移动， 本实施例中， 驱动装置 10为 一牵引车辆， 牵引移动小车 1运动。 在其他实施例中， 移动小车 1也 可自身具有动力， 而可在桥梁上移动。 另外， 为了后期能够方便准确 的确定桥梁损伤位置，驱动装置 10和移动小车 1应尽量保持匀速运动。
请参考图 2，为本发明敲击扫描式桥梁损伤检测系统一实施例的敲 击子系统设于移动小车结构示意图， 如图所示， 敲击子系统 2包括敲 击装置 21和敲击控制装置 22，其中敲击装置 21固设于移动小车 1上， 敲击装置 21用于产生敲击载荷并施加于待测桥梁， 本实施例中， 敲击 装置 21为激振器， 激振器固设于移动小车 1的车身 11上， 激振器的 产生的激振力直接作用于移动小车 1的车身 11， 通过移动小车的车身 及车轮等将敲击载荷传递到待测桥梁的桥面， 也就是说， 移动小车 1 除了提供支承作用之外， 还负责传递由激振器产生的敲击载荷， 所以， 移动小车本身应经过特殊设计以降低或者完全消除对敲击载荷的缓冲 作用， 使敲击载荷能够完整有效地传递到待测桥梁， 例如本实施例中， 移动小车 1可设计为刚性车身， 车身各零部件之间采用固接方式连接， 车轮设置于车身下方或两侧， 车轮为刚性轮盘（如钢制轮盘）， 车轮外 缘无塑胶轮胎等缓冲部件， 也就是说刚性轮盘外缘直接接触待测桥梁 表面， 小车悬挂系统进行改进， 以上述结构来避免过滤掉敲击载荷， 进一步优选的， 移动小车的前车轮 12设有一个， 后车轮 13设有两个， 前车轮 12位于移动小车的纵向车身轴线 L上， 两个后车轮 13对称地 设于车身轴线 L的两侧， 前车轮 12和两个后车轮 13形成等腰三角形， 从而使移动小车 1的移动更加稳定， 并且当车身承受敲击载荷时， 小 车依然能够稳定前行， 不发生跳动或者颠簸。
上述的激振器已为常规器件， 市面上有多种规格可供选择， 故其 结构及功能不再详细说明。
敲击控制装置 22与敲击装置 21连接， 其用于控制敲击装置 21， 例如其敲击的频率以及敲击力的幅值等等， 使敲击装置能够将预定频 段及预定幅值的敲击载荷施加到移动小车车身上， 或者说是待测桥梁 上， 本实施例中敲击装置 21为激振器， 敲击控制装置 22相应的为激 振器控制器， 其结构和原理已为常规技术， 不再赘述。
请结合参考图 3，为本发明敲击扫描式桥梁损伤检测系统一实施例 的信号采集子系统设于移动小车的结构示意图。 如图所示， 信号采集 子系统设于移动小车 1，用于采集待测桥梁传递到移动小车 1上的响应 信号， 此处移动小车 1又起到了传递桥梁响应信号的作用， 所以进一 步要求移动小车优选为刚性结构， 如上所述， 具有足够的刚性从而不 削减响应信号的传递， 并且移动小车的这种刚性结构使得其本身也不 会产生干扰信号， 影响信号采集子系统 3的信号采集。
信号采集子系统 3可包括一个或者多个信号拾取装置 31， 信号拾 取装置 31可直接设置于移动小车 1上， 用于直接采集待测桥梁传递到 移动小车 1上的敲击载荷的响应信号， 信号拾取装置 31可为传感器， 例如常见的加速度传感器、 速度传感器、 位移传感器等。 本实施例中， 信号拾取装置 31为加速度传感器， 其设置有一个， 该加速度传感器可 设置于移动小车 1上的任何位置， 而为了使信号采集的灵敏度最高、 精确度最高， 优选的， 加速度传感器设置于移动小车 2两个后车轮 13 的通轴 14上， 且敲击装置 21 (即激振器）位于加速度传感器的正上方， 一般来说， 激振器为直接固设于移动小车车身 11的中部位置， 而加速 度传感器则是位于通轴 14的中间位置， 此位置能够采集到最佳的敲击 载荷的响应信号。
当然， 信号拾取装置 31所采用的种类、 所设置的数量及位置等， 都可以根据实际环境和需要进行灵活调整， 本领域技术人员可根据上 述公开的实施例内容变通出多种实施例， 但其均应属于本发明的保护 范围。
信号处理装置 4连接信号采集系统 3，接收其采集到的桥梁敲击载 荷的响应信号并进行处理， 输出反应桥梁损伤信息的处理结果。 信号 处理装置 4可为一计算机系统， 实际应用中， 计算机系统可通过一常 规的信号采集设备与移动小车上的传感器相连， 以获得信号。 为了获 得高质量的检测数据， 可选配高精度的数据采集卡， 若为多通道数据 采集， 还应保证各个数据采集通道的同步性。 本实施例中， 信号拾取 装置 31为加速度传感器， 所采集到的信号应为移动小车 1所走过的待 测桥梁的敲击响应加速度频谱， 参考图 4， 为本发明敲击扫描式桥梁 损伤检测系统一实施例的检测信号频谱示意图， 相应的， 本实施例的 信号处理装置可包括有： 谱图获取装置、 谱图包络线截取装置、 损伤 指示值计算装置和损伤位置确定装置。
其中， 谱图获取装置， 连接于信号拾取装置 31， 即加速度传感器， 用于对加速度传感器检测到的信号进行变换处理， 以获取在桥梁表面 的每个位置处的加速度信号谱图。 具体来说， 谱图获取装置根据检测 精度的要求和实际环境情况， 可以将待测桥梁表面划分为多个小部分， 移动小车 1带动敲击子系统 2和信号采集子系统 3扫描过每一个桥梁 表面部分均需要一段时间， 这期间， 传感器所获取的信号对应为该段 时间上的传感器信号分布， 随后， 谱图获取装置对一系列的传感器信 号在时间上的分布进行变换处理， 以获取上述信号相应的在频率域或 者尺度域上的表示， 上述的变换处理可利用现有的相关技术领域的常 规变换处理进行， 例如， 该变换可以是短时傅立叶变换或小波变换等 等。 经过变换， 谱图获取装置可获取对应桥梁表面的每个位置部分处 的信号频谱或尺度谱。
谱图包络线截取装置从谱图获取装置所获取的信号谱图中截取与 敲击装置的敲击力频段相对应的谱图包络线。
损伤指示值计算装置根据所截取的谱图包络线来计算待测桥梁表 面的每个位置处的损伤指示值， 该损伤指示值反映了该位置处的谱图 包络线与其他位置处的谱图包络线的相似程度。 计算损伤指示值的方 法可有多种， 根据本发明的一个实施例， 可如下述来计算损伤指示值: 首先将截取的谱图包络线转换为谱图向量， 此步骤可以通过获取谱图 包络线中的多个频率处的幅值作为谱图向量的分量来进行转换。 谱图 向量的分量数量可以根据检测精度以及系统的处理性能等来确定。 分 量对应的频率可以均匀分布在谱图包络线的频段中， 也可以不均匀分 布， 但是， 对于待测桥梁而言， 每个位置处的频段选择方式应该是相 同的； 之后， 可以利用 MAC系数来获取损伤指示值， MAC系数矩阵的计 算公式为：
MACfu) -
Figure imgf000010_0001
其中 Yi和 Yj分别表示在桥梁结构上的第 i个和第 j个部分的谱 图向量， Yi · Yj表示谱图向量的内积运算， I Yi I和 I Yj I表示向量 Yi和 Yj的长度。 MAC系数矩阵中的每个元素都表示了两个谱图向量之 间的相似程度， 其中对角线上的元素一定等于 1。 MAC系数矩阵的第 i 行或第 i列元素的大小就能反映出对应于某个谱图向量 Yi的损伤情 况， 因而也就是该谱图向量 Yi所对应位置的损伤指示值。
损伤位置确定装置根据待测桥梁表面的每个位置处的损伤指示值 来确定结构中的损伤位置。 例如， 损伤位置确定装置可以将损伤指示 值发生突然下降的位置确定为存在损伤的位置， 由于若没有结构损伤， 那么损伤指示值的图形曲线应该是比较光滑的， 如果曲线在某处出现 突然下降， 也就说明该处存在损伤， 下降的幅度越大， 损伤也就越严 重。 经过信号处理装置的上述一系列的处理， 即可得到桥梁损伤的信 息， 例如损伤的程度以及位置等等， 关于更加详细的数据检测及处理 内容和原理， 在现有的相关专利中已有公开， 不再过多赘述。
另外， 本发明的检测系统可在不中断桥梁交通的情况下使用， 因 此需要设置信号分离模块和噪声过滤模块对检测信号进行处理， 以提 高信号的信噪比， 得到理想的信号检测结果。
上述的敲击控制装置 22和信号处理装置 4可整合为一个计算机系 统， 而该计算机系统可整合到驱动装置 10之中。
下面结合图 1至图 3来说明本发明敲击扫描式桥梁损伤检测系统 的简单应用： 由驱动装置 10牵引移动小车 1在待测桥梁上移动， 同时， 设置于移动小车 1上的敲击装置 21在敲击控制装置 22的控制下对车 身施加敲击载荷， 敲击载荷的频率及大小均应符合预期， 敲击载荷由 小车车身、 车轮传递而最终施加于待测桥梁， 移动小车所走过的桥面， 均受到敲击扫描。 待测桥梁受到敲击载荷的同时， 将作出反馈， 产生 如加速度、 位移、 速度等的响应信号， 由于桥梁表面和移动小车的相 互作用， 该响应信号同样由小车进行传递， 而最终由设置于小车上的 信号拾取装置 31采集获得， 该响应信号的瞬时值大小等将可反映待测 桥梁在敲击位置处的结构特征， 本实施例中信号拾取装置为加速度传 感器， 则采集获得的响应信号为加速度频谱。 由信号拾取装置 31采集 获得的桥梁响应信号最终被传送至信号处理装置 4，经过相应的信号过 滤、 信号转换、 数据整理、 数据换算等等， 最终输出能够反应桥梁损 伤信息的处理结果。 本发明检测系统的整个检测过程只需要移动小车 对待测桥梁扫描一遍即可获得检测信号， 操作简单易行， 效率高， 检 测精度高， 成本低， 不需要中断桥梁交通即可得到准确的检测结果， 可实施性强， 通过本发明的桥梁损伤检测系统， 可方便快捷的掌握桥 梁损伤情况， 从而及时发现桥梁隐患， 避免桥梁事故的发生。
应该注意的是上述实施例对本发明进行说明而不是对本发明进行 限制， 并且本领域技术人员在不脱离所附权利要求的范围的情况下可 设计出替换实施例。 在权利要求中， 不应将位于括号之间的任何参考 符号构造成对权利要求的限制。 单词 "包含" 不排除存在未列在权利 要求中的元件或步骤。 位于元件之前的单词 "一" 或 "一个" 不排除 存在多个这样的元件。 本发明可以借助于包括有若干不同元件的硬件 以及借助于适当编程的计算机来实现。 在列举了若干装置的单元权利 要求中， 这些装置中的若干个可以是通过同一个硬件项来具体体现。 单词第一、 第二、 以及第三等的使用不表示任何顺序。 可将这些单词 解释为名称。
此外， 还应当注意， 本说明书中使用的语言主要是为了可读性和 教导的目的而选择的， 而不是为了解释或者限定本发明的主题而选择 的。 因此， 在不偏离所附权利要求书的范围和精神的情况下， 对于本 技术领域的普通技术人员来说许多修改和变更都是显而易见的。 对于 本发明的范围， 对本发明所做的公开是说明性的， 而非限制性的， 本 发明的范围由所附权利要求书限定。

Claims

权 利 要 求
1、 一种敲击扫描式桥梁损伤检测系统， 包括：
移动小车， 能够在待测桥梁上移动；
敲击子系统， 设于所述移动小车， 所述敲击子系统用于向待测桥 梁施加敲击载荷；
信号采集子系统， 设于所述移动小车， 所述信号采集子系统用于 采集待测桥梁传递到所述移动小车上的响应信号；
信号处理装置， 连接所述信号采集子系统， 接收所述信号采集系 统所采集的信号并进行处理， 输出桥梁损伤信息处理结果。
2、 根据权利要求 1所述的敲击扫描式桥梁损伤检测系统， 还包括 一驱动装置， 所述移动小车连接所述驱动装置， 并由所述驱动装置驱 动而在待测桥梁上移动。
3、 根据权利要求 1所述的敲击扫描式桥梁损伤检测系统， 其中， 所述移动小车包括：
车身；
车轮， 设置于所述车身， 所述车轮为刚性轮盘且直接接触待测桥 梁表面。
4、 根据权利要求 3所述的敲击扫描式桥梁损伤检测系统， 其中， 所述车轮包括一个前车轮和两个后车轮， 所述前车轮位于所述移动小 车的纵向车身轴线上， 两个所述后车轮对称地设于所述纵向车身轴线 的两侧。
5、 根据权利要求 1至 4任一项所述的敲击扫描式桥梁损伤检测系 统， 其中， 所述敲击子系统包括：
敲击装置， 固设于所述移动小车上， 所述敲击装置用于产生敲击 载荷并施加于待测桥梁；
敲击控制装置， 连接于所述敲击装置， 用于控制所述敲击装置以 产生预定的敲击载荷。
6、 根据权利要求 5所述的敲击扫描式桥梁损伤检测系统， 其中， 所述敲击装置为激振器， 所述激振器固设于所述移动小车的车身上， 所述激振器产生的激振力作用于所述移动小车的车身， 通过所述移动 小车将敲击载荷传递到待测桥梁。
7、 根据权利要求 5所述的敲击扫描式桥梁损伤检测系统， 其中， 所述信号采集子系统包括一个或者多个信号拾取装置， 所述信号拾取 装置设置于所述移动小车上， 用于采集待测桥梁传递到所述移动小车 上的响应信号。
8、 根据权利要求 7所述的敲击扫描式桥梁损伤检测系统， 其中， 所述信号拾取装置为加速度传感器。
9、 根据权利要求 8所述的敲击扫描式桥梁损伤检测系统， 其中， 所述加速度传感器设有一个， 其设置于所述移动小车两个所述后车轮 的通轴上。
10、 根据权利要求 9所述的敲击扫描式桥梁损伤检测系统， 其中， 所述加速度传感器位于所述通轴的中间位置， 所述敲击装置位于所述 加速度传感器的正上方。
11、 根据权利要求 5所述的敲击扫描式桥梁损伤检测系统， 其中， 所述信号处理装置包括：
谱图获取装置， 连接于所述信号拾取装置， 用于对所述信号拾取 装置检测到的信号进行变换处理， 以获取在桥梁表面的每个位置处的 信号谱图；
谱图包络线截取装置， 用于从所述信号谱图中截取与所述敲击装 置的敲击力频段相对应的谱图包络线；
损伤指示值计算装置， 根据所述截取的谱图包络线来计算待测桥 梁表面的每个位置处的损伤指示值；
损伤位置确定装置， 根据待测桥梁表面的每个位置处的所述损伤 指示值来确定结构中的损伤位置。
PCT/CN2013/090702 2012-12-28 2013-12-27 敲击扫描式桥梁损伤检测系统 Ceased WO2014101832A1 (zh)

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CN114323512A (zh) * 2021-12-17 2022-04-12 中铁桥隧技术有限公司 一种重载车辆识别方法及系统
CN114295310A (zh) * 2021-12-21 2022-04-08 重庆大学 用于强化桥梁间接测量功效的“无频”检测车及设计方法
CN114295310B (zh) * 2021-12-21 2023-06-06 重庆大学 用于强化桥梁间接测量功效的“无频”检测车及设计方法

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