【作者】 姚毅昆； 陈炳聪； 蓝涛； 刘爱荣；

【Author】 YAO Yi-kun;CHEN Bing-cong;LAN Tao;LIU Ai-rong;Wind Engineering and Engineering Vibration Research Center of Guangzhou University;

【机构】 广州大学风工程与工程振动研究中心；

【摘要】 近年来,国际上桥梁坍塌的事故时有发生,桥梁墩桩的倾斜失稳是导致桥梁坍塌的主要原因。对于涉水桥梁,由于水体的遮掩,其水下结构的情况往往不容易直接观察得到,因此,提前获取桥梁墩桩倾斜状态信息,并制定维修方案,能预防桥梁因桥墩或桩基失稳而倒塌的隐患。本文提出一种使用姿态传感器进行水下结构斜率测量的方法,并通过试验验证了其有效性。该方法的实施步骤是采用水下机器人搭载姿态传感器,对桥梁的水下结构进行检测,通过机器人贴合水下结构表面,测量结构在不同水深的斜率,对比结构在各个水深的斜率,最后得出水下结构的姿态信息。更多还原

【Abstract】 In recent years, international bridge collapse accidents have occurred frequently, with the tilt instability of bridge piers and piles being the main cause. For water-related bridges, the condition of their underwater structures is often not easy to be directly observed due to the concealment of the water body.Therefore, obtaining information on the inclined state of bridge piers and piles in advance and formulating a maintenance program can prevent the hidden danger of bridge collapse due to the instability of piers or piling foundations. In this paper, we propose a method for slope measurement of underwater structures using attitude sensors, and verify its effectiveness through experiments. The implementation steps of the methods are to use an underwater robot carrying an attitude sensor to detect the underwater structure of a bridge, measure the slope of the structure at different water depths by fitting the robot to the surface of the underwater structure, compare the slope of the structure at each water depth, and finally derive the attitude information of the underwater structure.更多还原