Bridge crack depth automatic detection device and detection method thereof

Abstract

The application discloses a kind of bridge crack depth automatic detection device and its detection method, it is related to bridge detection technical field.In the present application, the top of slide rail is slidably connected with detection mechanism, and the bottom of slide rail is slidably connected with detection auxiliary mechanism;The top of the setting of detection mechanism is provided with detection table, and the top of detection table is provided with camera, ground penetrating radar and two distance sensors, and the camera, ground penetrating radar and two distance sensors are arranged in a ring;Two distance sensors are oppositely arranged, and the camera and ground penetrating radar are oppositely arranged;The tooth profile frame of detection auxiliary mechanism is engaged with the toothed disc;The inside of support seat is slidably fitted with driving assembly matched with linkage frame.In the process of horizontal movement of detection mechanism, two distance sensors are used to detect cracks on both sides of slide rail at the same time, which not only greatly increases the crack detection efficiency, but also is not easy to cause the missed detection of bridge crack, thereby ensuring the efficient performance of bridge detection work.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of bridge detection, in particular to a bridge crack depth automatic detection device and a detection method thereof. BACKGROUND

[0002] Bridge surface cracks mean that structural damage has occurred inside the bridge, and external moisture can easily enter the inside of the bridge, thereby accelerating the corrosion of the reinforcement and further causing the load-carrying capacity of the bridge to decrease, which seriously affects people's safe travel.

[0003] At present, the main bridge crack detection methods are manual detection and bridge detection vehicle detection. Manual detection mainly relies on visual observation to detect bridge bottom cracks, which is not only low in detection efficiency but also depends on personal experience, reducing the reliability of the detection results. The detection method of the bridge detection vehicle mainly moves along the extension direction of the bridge and judges whether cracks occur through camera shooting. This method is easily limited by the ground detection environment during the detection process, making it difficult to detect some positions at the bottom of the bridge, which is not conducive to improving the detection efficiency. Therefore, we provide a bridge crack depth automatic detection device and a detection method thereof to solve the above technical problems. SUMMARY

[0004] The purpose of the present application is to provide a bridge crack depth automatic detection device and a detection method thereof. Through the design of the rack assembly, the detection mechanism, the detection auxiliary mechanism and the driving assembly, the problem of the existing manual detection mainly relying on visual observation to detect bridge bottom cracks, which is not only low in detection efficiency but also depends on personal experience, reducing the reliability of the detection results, and the detection method of the bridge detection vehicle being easily limited by the ground detection environment during the detection process, making it difficult to detect some positions at the bottom of the bridge, which is not conducive to improving the detection efficiency is solved.

[0005] To solve the above technical problems, the present application is realized by the following technical scheme:

[0006] The application discloses a bridge crack depth automatic detection device, which comprises a rack assembly installed on a UAV; the rack assembly comprises a rack body moving along the bottom of a beam body, a slide rail is arranged on the inner side of the rack body, and a detection mechanism is slidably connected to the top of the slide rail; a threaded rod is rotatably connected to the inner side of the rack body, and a first motor installed on the outer side of the rack body is fixedly connected with the threaded rod; a detection auxiliary mechanism is slidably connected to the bottom of the slide rail, and the detection auxiliary mechanism is threadedly connected with the threaded rod; the detection mechanism comprises a position adjusting toothed disc, a detection table is coaxially arranged on the top of the position adjusting toothed disc, a camera, a ground penetrating radar and two distance sensors are installed on the top of the detection table, and the camera, the ground penetrating radar and the two distance sensors are arranged in a ring shape; the two distance sensors are oppositely arranged, and the camera and the ground penetrating radar are oppositely arranged; a plurality of linkage frames are arranged on the periphery of the detection table; the distance sensors and the camera are electrically connected with a processor, the processor is electrically connected with a controller, and the ground penetrating radar is electrically connected with the controller; the detection auxiliary mechanism comprises a toothed frame, and the toothed frame is engaged with the position adjusting toothed disc; two support seats are symmetrically arranged on the top of the toothed frame, a driving assembly is slidably arranged in the support seat, and the driving assembly is slidably connected with the linkage frame.

[0007] Preferably, a threaded channel coaxial with the threaded rod is arranged in the toothed frame, and the threaded channel is threadedly connected with the threaded rod; an L-shaped frame is fixedly arranged on the bottom of the toothed frame, a T-shaped seat is fixedly arranged on the surface of the L-shaped frame, and the T-shaped seat is slidably connected with a limiting groove in the bottom of the slide rail.

[0008] Preferably, a cylindrical hole is arranged on the surface of the support seat, guide slides are arranged on the bottom and the top of the cylindrical hole, a sliding hole is arranged on one end of the support seat close to the toothed frame, and the sliding hole is communicated with the cylindrical hole; a reset elastic member is arranged on the end of the guide slide away from the sliding hole.

[0009] Preferably, the driving assembly comprises a driving rod slidably connected with the linkage frame and the sliding hole, a guide plate is fixedly arranged on one end of the driving rod, the guide plate is slidably connected with the guide slide, and the reset elastic member is fixedly connected with the guide plate.

[0010] Preferably, a guide roller is rotatably connected with the position of the cylindrical hole away from the sliding hole; a support plate is fixedly arranged between the two support seats, a moving groove is arranged on the top of the support plate, and two moving seats are symmetrically and slidably arranged in the moving groove; a rope ring is arranged on the surface of the guide plate and the surface of the moving seat, a driving rope connected between the rope ring on the guide plate and the rope ring on the moving seat is attached to the inner surface of the guide roller; a second motor is installed on the inner side of one of the support seats, a bidirectional screw rod is fixedly arranged on the output end of the second motor, one end of the bidirectional screw rod is rotatably connected to the surface of the other support seat, and the two moving seats are threadedly connected with the bidirectional screw rod.

[0011] Preferably, the slide rail top array has a plurality of elastic moving positioning balls, the rack body top is provided with a rolling wheel, the rolling wheel is rolling matched with the beam body bottom, the slide rail matching seat is arranged at the bottom center of the positioning tooth disc, the slide rail matching seat is slidingly connected with the slide rail top, and the spherical groove matched with the positioning ball is arranged in the slide rail matching seat.

[0012] Preferably, the slide rail matching seat is provided with cavities on the opposite two inner side walls, the cavities are internally provided with electromagnets, the cavities are internally connected with permanent magnets through fastening elastic elements, the surface of the permanent magnet is fixedly connected with an extrusion plate closely attached to the slide rail side wall, and the electromagnet and the permanent magnet are magnetically repulsive.

[0013] A detection method of a bridge crack depth automatic detection device comprises the following steps:

[0014] SS01 moves the detection device along the beam body bottom by a set distance through the unmanned aerial vehicle, starts the first motor to drive the threaded rod to rotate, drives the detection auxiliary mechanism to drive the detection mechanism to move synchronously, and detects the cracks on the two sides of the slide rail through the two distance sensors;

[0015] SS02 when no crack information is detected in the step SS01, moves the detection device along the beam body bottom by a set distance through the unmanned aerial vehicle again, and detects the cracks on the beam body bottom in the detection mode in the step SS01;

[0016] SS03 when crack information is detected in the step SS01, starts the second motor to drive the bidirectional screw rod to rotate, moves the two driving rods to the inside of the cylindrical hole until the driving rod is separated from the corresponding linkage frame, and the electromagnet is electrified to make the extrusion plate tightly extrude on the slide rail side wall;

[0017] SS04 starts the first motor to drive the threaded rod to rotate again, drives the detection table to rotate 90° under the cooperation of the toothed frame and the positioning tooth disc, makes the camera turn to the crack to take a picture, and transmits the processing information to the controller after the processor analyzes and compares the photographed image;

[0018] SS05 when the processor determines that it is the crack of the beam body after comparison and analysis, the controller controls the first motor to drive the threaded rod to rotate reversely by 180°, makes the ground penetrating radar turn to the crack at the beam body bottom, and detects the crack depth through the ground penetrating radar;

[0019] SS06 when the crack depth detection is completed, continues to start the first motor to drive the threaded rod to rotate reversely by 90° to make the distance sensor rotate to reset, and repeats the steps SS01 to SS05 to detect the overall crack of the bridge.

[0020] The present application has the following beneficial effects:

[0021] 1. During the horizontal movement of the detection mechanism, the present invention utilizes two distance sensors to simultaneously detect cracks on both sides of the slide rail, which not only greatly increases the crack detection efficiency but also makes it less likely to miss bridge cracks, thereby ensuring the efficient conduct of bridge inspection work.

[0022] 2. This invention achieves synchronous movement of the detection auxiliary mechanism and the detection mechanism through the cooperation of the drive component and the linkage frame. When similar crack information is detected and the detection mechanism is positioned, the drive component disengages from the linkage frame. The toothed frame drives the adjusting toothed disc to rotate 90° and then uses a camera to confirm the crack. After the crack is confirmed, the toothed frame drives the adjusting toothed disc to rotate 180° in the opposite direction again, and the ground penetrating radar is used to perform depth detection of the crack at the bottom of the bridge, thereby greatly improving the accuracy of bridge crack detection.

[0023] 3. Through the specific design of the frame assembly, the present invention utilizes a drone to move the frame assembly along the bottom of the bridge. With the joint action of the detection mechanism and the detection auxiliary mechanism, the automatic detection of cracks at the bottom of the bridge is achieved. This detection method is not easily limited by the ground detection environment and is conducive to improving detection efficiency.

[0024] Of course, any product implementing this invention does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0025] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a schematic diagram of an automatic bridge crack depth detection device.

[0027] Figure 2 for Figure 1 Top view of the structure.

[0028] Figure 3 This is a structural diagram of the rack assembly.

[0029] Figure 4 This is a schematic diagram of the testing organization.

[0030] Figure 5 for Figure 4 A structural diagram viewed from below.

[0031] Figure 6 This is a cross-sectional view of the slide rail mating seat.

[0032] Figure 7 A structural schematic diagram of a detection auxiliary mechanism.

[0033] Figure 8 A partial structural schematic diagram of Figure 7

[0034] Figure 9 A structural side view of Figure 8

[0035] Figure 10 A structural top view of Figure 8

[0036] Figure 11 A structural schematic diagram of a driving assembly.

[0037] In the drawings, the components represented by each reference numeral are listed as follows:

[0038] 1 - rack assembly, 101 - rack body, 102 - slide rail, 103 - threaded rod, 104 - first motor, 105 - positioning ball, 106 - roller, 2 - detection mechanism, 201 - positioning toothed disc, 202 - detection table, 203 - camera, 204 - ground penetrating radar, 205 - distance sensor, 206 - linkage frame, 207 - slide rail matching seat, 208 - spherical groove, 209 - electromagnet, 210 - fastening elastic piece, 211 - permanent magnet, 212 - extrusion plate, 3 - detection auxiliary mechanism, 301 - toothed frame, 302 - support seat, 303 - threaded channel, 304 - L-shaped frame, 305 - T-shaped seat, 306 - cylindrical hole, 307 - guide slide, 308 - slide hole, 309 - reset elastic piece, 310 - guide roller, 311 - support plate, 312 - moving seat, 313 - second motor, 314 - bidirectional screw rod, 4 - driving assembly, 401 - driving rod, 402 - guide plate, 403 - tether ring. DETAILED DESCRIPTION

[0039] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0040] Embodiment 1: A device for automatically detecting the depth of a bridge crack

[0041] Please refer to Figures 1-11 ​​​The application discloses a bridge crack depth automatic detection device, which comprises a rack assembly 1 installed on a UAV, and can move along the extension direction of the bottom of a bridge for detection, is not limited by the ground detection environment, and thus ensures the efficiency of bridge detection.

[0042] The rack assembly 1 comprises a rack body 101 moving along the bottom of a beam body, the bottom of the rack body 101 is used for being installed on the UAV, a slide rail 102 is arranged on the inner side of the rack body 101, a detection mechanism 2 is slidably connected to the top of the slide rail 102, and the detection mechanism 2 can move horizontally along the slide rail 102 to realize detection of the crack at the bottom of the beam body at a specified position.

[0043] A threaded rod 103 is rotatably connected to the inner side of the rack body 101, a first motor 104 installed outside the rack body 101 is fixedly connected to the output end of the threaded rod 103, a detection auxiliary mechanism 3 is slidably connected to the bottom of the slide rail 102, and the detection auxiliary mechanism 3 is threadedly connected to the threaded rod 103; after the UAV moves the entire detection device to a required position, the first motor 104 is used to drive the threaded rod 103 to rotate, and the detection auxiliary mechanism 3 is horizontally moved under the cooperation of the threaded rod 103 and the detection auxiliary mechanism 3.

[0044] The detection mechanism 2 comprises a position adjusting toothed disc 201, the top of the position adjusting toothed disc 201 is provided with a coaxial detection table 202, a camera 203, a ground penetrating radar 204 and two distance sensors 205 are installed on the top of the detection table 202, the camera 203, the ground penetrating radar 204 and the two distance sensors 205 are arranged in a ring shape, the distance sensors 205 are used for detecting crack-like information, then the camera 203 is used for shooting to confirm whether the crack-like information is a real crack, and finally the ground penetrating radar 204 is used for detecting the crack depth; as to how the ground penetrating radar 204 detects the crack depth, it is one of the functions of the ground penetrating radar 204 in the prior art, and will not be described here; the two distance sensors 205 are oppositely arranged, and the camera 203 and the ground penetrating radar 204 are oppositely arranged; a plurality of linkage frames 206 are arranged on the periphery of the detection table 202; in the horizontal movement process of the detection mechanism 2, the two distance sensors 205 are used for simultaneously detecting cracks on both sides of the slide rail 102, which greatly increases the crack detection efficiency and prevents the bridge cracks from being missed, and thus ensures the efficient performance of the bridge detection work.

[0045] The distance sensors 205 and the camera 203 are electrically connected to a processor, the processor is electrically connected to a controller, and the ground penetrating radar 204 is electrically connected to the controller.

[0046] The detection auxiliary mechanism 3 comprises a toothed frame 301 engaged with the position adjusting toothed disc 201, and the rotation of the detection mechanism 2 is driven by the horizontal movement of the toothed frame 301; two support seats 302 are symmetrically arranged on the top of the toothed frame 301, and a driving assembly 4 is slidingly fitted in the support seat 302; the driving assembly 4 is slidingly fitted with the linkage frame 206; in the process of not detecting crack information, the driving assembly 4 in the support seat 302 is always fitted in the linkage frame 206, the detection table 202 is located between the two driving assemblies 4, the detection mechanism 2 is synchronously horizontally moved by the driving assembly 4, when the crack information is detected, the driving assembly 4 is separated from the corresponding linkage frame 206, and the rotation detection of the detection table 202 can be carried out under the action of the toothed frame 301.

[0047] In the embodiment, a threaded channel 303 coaxial with the toothed frame 301 is arranged in the toothed frame 301, and the threaded channel 303 is threadedly fitted with the threaded rod 103.

[0048] The bottom of the toothed frame 301 is fixedly provided with an L-shaped frame 304, and the surface of the L-shaped frame 304 is fixedly provided with a T-shaped seat 305 slidingly fitted with the limiting groove at the bottom of the slide rail 102; through the structure design, the detection auxiliary mechanism 3 can only move horizontally along the axial direction of the threaded rod 103 during the rotation of the threaded rod 103.

[0049] In the embodiment, the surface of the support seat 302 is provided with a cylindrical hole 306, the bottom and the top of the cylindrical hole 306 are provided with guide slides 307, one end of the support seat 302 close to the toothed frame 301 is provided with a sliding hole 308, the sliding hole 308 is communicated with the cylindrical hole 306, and the end of the guide slide 307 away from the sliding hole 308 is provided with a reset elastic piece 309.

[0050] The driving assembly 4 comprises a driving rod 401 slidingly fitted with the linkage frame 206 and the sliding hole 308, one end of the driving rod 401 is fixedly provided with a guide plate 402, the guide plate 402 is slidingly fitted with the guide slide 307, and the reset elastic piece 309 is fixedly connected with the guide plate 402; when the driving rod 401 is fitted in the linkage frame 206, the reset elastic piece 309 is in a natural state and the length is close to the guide slide 307.

[0051] In the embodiment, the guide roller 310 is rotationally connected to the position inside the cylindrical hole 306 away from the sliding hole 308; the support plate 311 is fixed between the two support seats 302, the top of the support plate 311 is provided with a moving groove, and the two moving seats 312 are symmetrically slidingly connected in the moving groove.

[0052] The surface of the guide plate 402 and the surface of the moving seat 312 are provided with a tether ring 403, the driving rope connected between the tether ring 403 on the guide plate 402 and the tether ring 403 on the moving seat 312 is attached to the inner surface of the guide roller 310; one of the support seats 302 is internally provided with a second motor 313, the output end of the second motor 313 is fixedly provided with a bidirectional screw rod 314, one end of the bidirectional screw rod 314 is rotatably connected to the surface of the other support seat 302; the two moving seats 312 are in threaded cooperation with the bidirectional screw rod 314; when the crack-like information at the bottom of the beam body is detected, the second motor 313 is used to drive the bidirectional screw rod 314 to rotate, so that the two moving seats 312 move towards the center of the support plate 311, and the driving rod 401 is pulled out from the corresponding linkage frame 206 under the traction of the driving rope, when the two moving seats 312 are attached, one end of the driving rod 401 is completely inserted into the sliding hole 308, so that the driving rod 401 does not affect the rotation detection of the detection mechanism 2.

[0053] In the embodiment, the top of the slide rail 102 is arrayed with a plurality of positioning balls 105 that are elastically movable up and down, and the top of the rack body 101 is provided with a roller 106 that is rollingly fitted to the bottom of the beam body, so as to facilitate the movement detection of the entire detection device at the bottom of the beam body.

[0054] The bottom center of the positioning tooth disc 201 is provided with a slide rail fitting seat 207 that is slidably connected to the top of the slide rail 102; the inner top of the slide rail fitting seat 207 is provided with a spherical groove 208 that cooperates with the positioning ball 105, so that the preliminary positioning of the detection mechanism 2 can be realized after the crack-like information at the bottom of the beam body is detected, and the detection mechanism 2 can be rotated in situ.

[0055] In the embodiment, the slide rail fitting seat 207 is provided with cavities relative to the two inner side walls, and an electromagnet 209 is arranged inside the cavities, and a permanent magnet 211 is connected in the cavities through a fastening elastic member 210, and the surface of the permanent magnet 211 is fixedly provided with an extrusion plate 212 that is closely attached to the side wall of the slide rail 102, and the electromagnet 209 and the permanent magnet 211 repel each other magnetically; after the preliminary positioning of the detection mechanism 2 is realized when the crack-like information at the bottom of the beam body is detected, the electromagnet 209 is energized by the controller, and the extrusion plate 212 is tightly extruded on the side wall of the slide rail 102 under the magnetic repulsion of the electromagnet 209 and the permanent magnet 211, so as to realize the secondary positioning of the detection mechanism 2, greatly increasing the positioning effect of the detection mechanism 2 and ensuring that the position of the detection mechanism 2 does not change randomly during the horizontal movement of the tooth-shaped frame 301 driving the detection mechanism 2 to rotate.

[0056] A detection method of a bridge crack depth automatic detection device

[0057] A detection method of a bridge crack depth automatic detection device, comprising the following steps:

[0058] SS01 through the unmanned aerial vehicle along the beam body bottom move set distance, through the controller set program automatically start the first motor 104 drive screw rod 103 rotation, drive detection auxiliary mechanism 3 drive detection mechanism 2 synchronous movement, using two distance sensors 205 on the slide rail 102 both sides crack detection;

[0059] SS02 when step SS01 in the crack information is not detected, again through the unmanned aerial vehicle along the beam body bottom move set distance, according to the detection method in step SS01 in the beam body bottom crack detection;

[0060] SS03 when step SS01 in the similar crack information is detected, through the controller set program automatically start the second motor 313 drive screw rod 314 rotation, so that two drive rod 401 to the cylindrical hole 306 inside movement until the drive rod 401 from the corresponding linkage frame 206, while the electromagnet 209 power supply with magnetic make extrusion plate 212 tightly extruded on the slide rail 102 side wall;

[0061] SS04 start the first motor 104 again drive screw rod 103 rotation, in the gear rack 301 and the matching of the position adjusting gear plate 201 drive detection platform 202 rotation 90 °, so that the camera 203 to the similar crack crack shooting, after the processor analysis comparison, the processing information is transmitted to the controller;

[0062] SS05 when the processor excludes for example beam body butt joint seam and determines the crack of the beam body after the interference factor, the controller controls the first motor 104 drive screw rod 103 reverse rotation 180 °, so that the ground penetrating radar 204 to the crack at the bottom of the beam body, through the ground penetrating radar 204 crack depth detection;

[0063] SS06 when the crack depth detection is completed, continue to start the first motor 104 drive screw rod 103 reverse rotation 90 ° make distance sensor 205 rotation reset, repeat step SS01 to SS05 for the overall crack detection of bridge.

[0064] In the description of the present specification, the description of the terms "one embodiment", "example", "specific example" and the like means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are contained in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0065] The preferred embodiments of the application disclosed above are only to facilitate the elucidation of the application. The preferred embodiments do not describe all the details of the application and limit the application to the specific embodiments described. Obviously, many modifications and variations can be made in light of the teachings above. The description is chosen and described in order to best explain the principles of the application and its practical application to thereby enable others skilled in the art to best utilize the application and get the best results from the application. The application is only limited by the claims and their full scope and equivalents.

Claims

1. A device for automatically detecting the depth of cracks in bridges, characterized in that: Including frame assembly (1), the frame assembly (1) is installed on unmanned aerial vehicle; The frame assembly (1) includes a frame body (101) moving along the beam body bottom, the slide rail (102) is arranged in the frame body (101) inside, and the detection mechanism (2) is slidably connected to the top of the slide rail (102); The threaded rod (103) is rotatably connected to the inside of the frame body (101), and the output end of the first motor (104) installed outside the frame body (101) is fixedly connected with the threaded rod (103);The detection auxiliary mechanism (3) is slidably connected to the bottom of the slide rail (102), and the detection auxiliary mechanism (3) is threadedly connected between the threaded rod (103); The detection mechanism (2) includes a positioning tooth disc (201), the detection table (202) is coaxially arranged on the top of the positioning tooth disc (201), the camera (203), the ground penetrating radar (204) and the two distance sensors (205) are installed on the top of the detection table (202), and the camera (203), the ground penetrating radar (204) and the two distance sensors (205) are arranged in a ring shape;The two distance sensors (205) are oppositely arranged, the camera (203) and the ground penetrating radar (204) are oppositely arranged;A plurality of linkage frames (206) are arranged on the side of the detection table (202); The distance sensor (205) and the camera (203) are electrically connected with the processor, the processor is electrically connected with the controller, and the ground penetrating radar (204) is electrically connected with the controller; The detection auxiliary mechanism (3) includes a toothed frame (301), and the toothed frame (301) is engaged with the positioning tooth disc (201);Two support seats (302) are symmetrically arranged on the top of the toothed frame (301), the drive assembly (4) is slidably connected in the support seat (302), and the drive assembly (4) is slidably connected with the linkage frame (206); The toothed frame (301) is provided with a threaded channel (303) coaxially arranged in the toothed frame (301), and the threaded channel (303) is threadedly connected with the threaded rod (103);The L-shaped frame (304) is fixedly connected to the bottom of the toothed frame (301), the T-shaped seat (305) is fixedly connected to the surface of the L-shaped frame (304), and the T-shaped seat (305) is slidably connected with the limiting groove on the bottom of the slide rail (102); The surface of the support seat (302) is provided with a cylindrical hole (306), the bottom and the top of the cylindrical hole (306) are provided with guide slides (307), and one end of the support seat (302) close to the toothed frame (301) is provided with a sliding hole (308) communicated with the cylindrical hole (306). The guiding slide (307) is provided with a reset elastic member (309) away from the end of the sliding hole (308); the driving assembly (4) comprises a driving rod (401) in sliding fit with the linkage frame (206) and the sliding hole (308), one end of the driving rod (401) is fixedly provided with a guide plate (402), the guide plate (402) is in sliding fit with the guiding slide (307), and the reset elastic member (309) is fixedly connected with the guide plate (402); The guiding roller (310) is rotationally connected to the position inside the cylindrical hole (306) away from the sliding hole (308); the support plate (311) is fixed between the two support bases (302), the support plate (311) is provided with a moving groove at the top, and the moving groove is symmetrically and slidably connected with two moving bases (312); the guide plate (402) and the moving base (312) are both provided with a tether ring (403), and the driving rope connected between the tether ring (403) on the guide plate (402) and the tether ring (403) on the moving base (312) is attached to the inner surface of the guiding roller (310); One of the support bases (302) is internally mounted with a second motor (313), the output end of the second motor (313) is fixedly provided with a bidirectional screw rod (314), and one end of the bidirectional screw rod (314) is rotationally connected to the surface of the other support base (302); the two moving bases (312) are in threaded fit with the bidirectional screw rod (314).

2. The device for automatic detection of crack depth of a bridge according to claim 1, wherein The slide rail (102) is arrayed with a plurality of positioning balls (105) that are elastically movable up and down at the top, and the rack body (101) is mounted with a roller (106) at the top, which is in rolling fit with the bottom of the beam body; The bottom center of the position adjusting toothed disc (201) is provided with a slide rail fit base (207) that is in sliding connection with the top of the slide rail (102); the inner top of the slide rail fit base (207) is provided with a spherical groove (208) that is in fit with the positioning ball (105).

3. The apparatus for automatic detection of crack depth of a bridge according to claim 2, wherein The opposite two inner side walls of the slide rail fit base (207) are both provided with cavities, the cavities are provided with electromagnets (209) inside, the cavities are connected with permanent magnets (211) through fastening elastic members (210), the surface of the permanent magnets (211) is fixedly provided with extrusion plates (212) that are closely attached to the side walls of the slide rail (102), and the electromagnets (209) and the permanent magnets (211) repel each other magnetically.

4. The detection method of the automatic bridge crack depth detection device as described in claim 3, characterized in that, The method comprises the following steps: SS01: the detection device is moved along the bottom of the beam body by a set distance through the unmanned aerial vehicle, the first motor (104) is started to drive the threaded rod (103) to rotate, the detection auxiliary mechanism (3) is driven to move synchronously with the detection mechanism (2), and the two distance sensors (205) are used to detect the cracks on both sides of the slide rail (102); SS02: when no crack information is detected in step SS01, the detection device is moved along the bottom of the beam body by a set distance through the unmanned aerial vehicle again, and the crack detection of the bottom of the beam body is performed according to the detection mode in step SS01. SS03 When the similar crack information is detected in step SS01, the second motor (313) is started to drive the bidirectional screw rod (314) to rotate, so that the two driving rods (401) move to the inside of the cylindrical hole (306) until the driving rods (401) are separated from the corresponding linkage frames (206), and the electromagnet (209) is energized to magnetize the extrusion plate (212) to tightly extrude on the side wall of the slide rail (102); SS04 The first motor (104) is started to rotate the threaded rod (103) again, and under the cooperation of the toothed frame (301) and the position adjusting toothed disc (201), the detection table (202) is driven to rotate by 90°, so that the camera (203) is turned to the similar crack position for crack shooting, and after the processor analyzes and compares the shooting image, the processing information is transmitted to the controller; SS05 After the processor compares and analyzes to determine that it is a crack of the beam body, the controller controls the first motor (104) to drive the threaded rod (103) to rotate in the opposite direction by 180°, so that the ground penetrating radar (204) is turned to the crack at the bottom of the beam body, and the crack depth is detected by the ground penetrating radar (204); SS06 After the crack depth detection is completed, the first motor (104) is continuously started to drive the threaded rod (103) to rotate in the opposite direction by 90°, so that the distance sensor (205) is reset, and steps SS01 to SS05 are repeated for overall crack detection of the bridge.

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