Bridge crack detection robot and working method thereof

Abstract

The application provides a bridge crack detection robot and a working method thereof. Rotating frames are arranged at both sides of a mounting shell. The rotating frames are in a barrel-shaped structure. A power fan is arranged in the rotating frame. The power fan draws air towards the rear end of the rotating frame. The air suction end surface of the rotating frame is used for adsorption on a wall surface. The air suction end surface of the rotating frame is provided with a rubber ring. A plurality of drive wheels are arranged at the position close to the mounting shell of the rotating frame. The drive wheels are electrically connected with drive motors. The lowest end of the drive wheel is higher than the air suction end surface of the rotating frame. A driving device is further arranged in the mounting shell. The driving device drives the two rotating frames to rotate around the side of the mounting shell by a certain angle respectively. The robot can reach any specified position of the bridge. The detection cost is obviously lower than manual detection. The robot can also reach the bridge parts that cannot be reached by conventional manual detection, thereby bringing great convenience to the detection personnel.

Description

Technical Field

[0001] This invention relates to the field of bridge inspection, and in particular to a bridge crack detection robot and its working method. Background Technology

[0002] In recent years, a large number of infrastructure projects in my country have entered the later stages of management and maintenance. Bridges, as important structures, are a key focus of infrastructure maintenance, and the main technical means of this is regular bridge inspection to understand their condition and assess their operational status. Currently, the inspection cycle for bridge structures in my country is generally three years. Due to the sheer number of bridges in my country, the workload for bridge inspection is enormous. For concrete bridges, structural cracks have the greatest impact on structural safety and durability; therefore, cracks are a key focus of inspection for these bridges. The direction, length, and width of cracks must be measured simultaneously (with an accuracy requirement of 0.01 mm). Some bridges have a great many cracks, making the inspection workload equally enormous. Currently, the main methods for detecting cracks in concrete bridges include manual inspection, drone inspection, and long-distance camera recognition. Manual inspection can achieve an accuracy of 0.01 mm in width measurement, but it requires various methods to transport personnel to the crack location. For long and high bridges, the economic cost of this is very high, the inspection efficiency is very low, the safety risks are significant, and many parts (such as high piers and the spatial arch ribs of bridge towers) cannot be reached for inspection. Automated, unmanned methods such as drone inspection and long-range camera recognition can solve the problems of high personnel costs, low inspection efficiency, high risks, and inaccessibility, enabling automated, unmanned inspection of bridge cracks. However, since these two methods are non-contact and relatively long-range measurement methods, while they can meet the accuracy requirements for measuring crack length and direction, the accuracy for measuring crack width is limited to a maximum of 0.1 mm, which is insufficient to fully meet the required precision. Therefore, it is necessary to find an automated, unmanned, high-precision, and efficient bridge crack inspection technology to solve the current problems encountered in inspection.

[0003] In the prior art, patent publication number CN110816702B discloses a wing-wheel combined close-range bridge crack detection robot, belonging to the field of robotics technology. It includes a mobile vehicle, a rotor mechanism, a control system, and a mobile terminal. The rotor mechanism has two propellers that rotate in opposite directions driven by two rotary motors. The control system includes a control module, a detection module, a motor drive module, a power supply module, and a wireless communication module. The detection module's camera collects image information from the bridge surface and transmits it to the control module, which analyzes the image information to determine if there are cracks on the bridge surface. The detection module's rangefinder measures the size of the cracks. The wireless communication module interacts with the mobile terminal. This invention solves the problem that existing automated bridge crack detection equipment lacks the required accuracy. While existing technologies address the problems mentioned in the background to some extent, in practical applications, when both the piers and the lower surfaces of the beams need to be inspected, the above-mentioned solutions cannot cross right angles to inspect another mutually perpendicular plane. Therefore, a bridge crack detection robot and its operating method are needed to solve the above problems. Summary of the Invention

[0004] The main objective of this invention is to provide a bridge crack detection robot and its operating method, solving the problem of not being able to cross a right angle to detect cracks on another mutually perpendicular plane. Therefore, there is a need for a bridge crack detection robot and its operating method that solves the aforementioned problem.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is: a bridge crack detection robot, wherein a rotating frame is connected to both sides of the mounting shell, the rotating frame has a barrel-shaped structure inside, a power fan is provided inside the rotating frame, the power fan draws air towards the rear end of the rotating frame, the air intake end face of the rotating frame is used to adhere to the wall surface, and a rubber ring is provided on the air intake end face of the rotating frame.

[0006] The rotating frame is also equipped with multiple drive wheels near the mounting housing. The drive wheels are electrically connected to the drive motor, and the lowest point of the drive wheel is higher than the air intake end face of the rotating frame.

[0007] The mounting housing is also equipped with a drive device, which drives two rotating frames to rotate around one side of the mounting housing.

[0008] In the preferred embodiment, a camera is installed at the bottom of the mounting housing. The camera is electrically connected to a cable via a control circuit, and the cable is electrically connected to a data analysis circuit.

[0009] In the preferred embodiment, the structure of the drive device is as follows: it includes a deflection motor, which is mounted on the upper surface of the mounting housing. The deflection motor is connected to a drive shaft, which is located inside the mounting housing. Two synchronous pulleys are rotatably mounted on the drive shaft, and gears are provided on one side surface of the synchronous pulleys.

[0010] A drive gear is provided between the two synchronous pulleys, and a synchronous gear cylinder meshes with the drive gear. Gears are provided on the upper and lower end faces of the synchronous gear cylinder.

[0011] The outer surface of the synchronous gear cylinder is also equipped with a drive lever. The drive lever drives the synchronous gear cylinder to move up and down and meshes with the gear on the surface of the synchronous wheel. The rotation of the synchronous wheel drives the rotating frame to rotate by an angle.

[0012] In the preferred embodiment, the two synchronous pulleys are respectively connected to the rotating frames on both sides of the mounting housing via two synchronous belts;

[0013] The rotating shaft of the rotating frame is equipped with a worm gear, and the mounting housing contains a worm. The worm meshes with the worm gear and is connected to the timing belt.

[0014] In the preferred embodiment, the outer surface of the synchronous gear cylinder is provided with an annular groove, and the end of the drive lever is provided with a semi-annular fork. The fork is located inside the groove. One end of the drive lever is provided with an iron ring, and electromagnets are provided at the upper and lower ends of the iron ring. When the electromagnets are energized, the iron ring and the drive lever move up and down. The drive gear driven by the drive lever meshes with the synchronous wheel, and the synchronous wheel drives the rotating frame to rotate by an angle.

[0015] In the preferred embodiment, the mounting housing is further provided with a mounting rod, two electromagnets are mounted on the mounting rod, an iron ring is sleeved on the mounting rod and positioned between the two electromagnets, and springs are respectively provided between the surfaces of the two electromagnets and the iron ring, with the springs sleeved on the mounting rod.

[0016] In the preferred embodiment, the drive shaft is provided with multiple limiting grooves, the bearing is set on the limiting grooves, and the outer surface of the bearing is engaged with the synchronous pulley.

[0017] In the preferred embodiment, the movable end of the rotating frame is also equipped with multiple casters.

[0018] In the preferred embodiment, the movable end of the rotating frame is also equipped with an infrared sensor.

[0019] The method includes:

[0020] S1. Then, the device is vertically attached to the bridge pier surface, and at the same time, the power fan is started to generate negative pressure, which makes the device adhere to the bridge pier surface.

[0021] S2. Then, the drive wheel is driven to rotate by the wheel-side motor, and the drive wheel drives the device to move. At the same time, the camera collects information and then uploads the information.

[0022] S3. Through the interaction of the path planning module, obstacle avoidance sensor, and gyroscope, the controller controls the four wheel-side motors to independently control the rotation of the drive wheels, thereby realizing the path planning and movement of this device and realizing the detection of the entire bridge pier surface;

[0023] S4. When it is necessary to switch the pier face to inspect the lower surface of the bridge beam;

[0024] At this point, the device first moves to the top of the bridge pier, then the power fan below increases in power and speed, and then the electromagnet at the bottom position attracts the iron ring closer. The iron ring drives the drive lever to move downward, which in turn drives the synchronous gear cylinder to mesh with the lower end face synchronous gear cylinder. Then the deflection motor rotates, driving the synchronous gear cylinder to rotate. The rotation of the synchronous gear cylinder drives the lower end face synchronous gear cylinder to rotate. The end face synchronous gear cylinder drives the synchronous belt to rotate. The rotation of the transmission synchronous wheel drives the worm to rotate. The rotation of the worm drives the incomplete worm wheel to rotate. The rotation of the incomplete worm wheel drives the entire mounting shell and the upper rotating frame to rotate. The upper rotating frame rotates 90 degrees and then stops.

[0025] S5. Then the wheel-side motor on the lower rotating frame works to drive the drive wheel to rotate, thereby raising the mounting shell and the whole device. When the moving wheel and universal wheel on the upper rotating frame contact the lower surface of the bridge beam, the contact is determined by the pressure sensor or contact switch.

[0026] S6. At this time, the upper power fan works and the power increases and the fan speed increases, and the increase is greater than that of the lower power fan, thereby providing adhesion to overcome gravity, and then the lower power fan stops.

[0027] S7. Then the wheel-side motor on the upper rotating frame works to drive the moving wheel to rotate, thereby driving the entire device away from the bridge pier. After moving away from one end, the distance to one end is determined by a delay program or by collecting the rotation angle signal of the wheel-side motor.

[0028] S8. The deflection motor drives the rotating frame to reset, and then the power fan on the rotating frame starts to work. After this power fan starts working, the other power fan appropriately reduces the wind speed. At this time, the path planning control is used to detect cracks on the lower surface of the bridge beam.

[0029] After completing its work, the robot reverses the process, moving from the pier to its lower end to finish the task. This robot can freely move and crawl close to the bridge, pier sides, and the bottom and sides of the superstructure, enabling close-range, high-precision inspection of bridge structural cracks, ensuring the inspection accuracy meets the requirements of the inspection standards. The robot can reach any designated location on the bridge, with significantly lower inspection costs than manual inspection. It can also reach bridge sections inaccessible by conventional manual methods, greatly facilitating inspection personnel. Attached Figure Description

[0030] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0031] Figure 1 This is a front view structural diagram of the overall appearance of the present invention;

[0032] Figure 2 This is a schematic diagram of the overall driving structure of the present invention;

[0033] Figure 3 This is the present invention. Figure 2 Enlarged structural diagram;

[0034] Figure 4 This is a cross-sectional view of the synchronous drive structure of the present invention.

[0035] Figure 5 This is a side view of the synchronous drive structure of the present invention;

[0036] Figure 6 This is a structural diagram showing the installation position of the drive lever of the present invention;

[0037] Figure 7 This is a preliminary bending structure diagram of the mounting shell of the present invention;

[0038] Figure 8 This is a diagram of the rotating frame bending and adsorption structure of the present invention;

[0039] Figure 9 This is a structural diagram of the bridge crack detection robot of the present invention adsorbed on the lower surface of a bridge;

[0040] In the diagram: 1. Deflection motor; 2. Mounting housing; 3. Rotating frame; 4. Power fan; 5. Caster wheel; 6. Drive wheel; 7. Camera; 8. Drive shaft; 801. Limiting groove; 9. Synchronous gear cylinder; 901. Annular groove; 10. Worm gear; 11. Worm; 12. Synchronous belt; 13. Synchronous pulley; 1301. Bearing; 14. Drive gear; 15. Drive lever; 1501. Shift fork; 16. Iron ring; 17. Electromagnet; 18. Mounting rod; 19. Spring. Detailed Implementation

[0041] Example 1

[0042] like Figures 1-9 As shown, a bridge crack detection robot has a rotating frame 3 connected to both sides of the mounting shell 2. The rotating frame 3 has a barrel-shaped internal structure and a power fan 4 inside. The power fan 4 draws air towards the rear end of the rotating frame 3. The air intake end face of the rotating frame 3 is used to adhere to the wall surface, and a rubber ring is provided on the air intake end face of the rotating frame 3. When the power fan is activated, it generates negative pressure, which makes the device adhere to the bridge pier surface.

[0043] The rotating frame 3 is also equipped with multiple drive wheels 6 near the mounting shell 2. The drive wheels 6 are electrically connected to the drive motor. The lowest point of the drive wheel 6 is higher than the air inlet end face of the rotating frame 3. The drive wheels 6 drive the detection robot to move. The height difference between the lowest point of the drive wheel 6 and the air inlet end face of the rotating frame 3 is 2-5mm.

[0044] The mounting housing 2 also houses a drive unit, which drives two rotating frames 3 to rotate around one side of the mounting housing 2. This facilitates the changing shape of the bridge crack detection robot at corners.

[0045] In the preferred embodiment, a camera 7 is installed at the bottom of the mounting housing 2. The camera 7 is electrically connected to a cable via a control circuit, and the cable is electrically connected to a data analysis circuit. The camera 7 collects information, uploads it, and analyzes the uploaded file to identify the bridge crack problem.

[0046] In the preferred embodiment, the structure of the drive device is as follows: it includes a deflection motor 1, which is disposed on the upper surface of the mounting shell 2. The deflection motor 1 is connected to the drive shaft 8, which is disposed inside the mounting shell 2. Two synchronous pulleys 13 are rotatably disposed on the drive shaft 8, and a gear is provided on one side surface of the synchronous pulley 13.

[0047] A drive gear 14 is provided between the two synchronous pulleys 13, and a synchronous gear cylinder 9 meshes on the drive gear 14. Gears are provided on the upper and lower end faces of the synchronous gear cylinder 9.

[0048] The outer surface of the synchronous gear cylinder 9 is also provided with a drive lever 15. The drive lever 15 drives the synchronous gear cylinder 9 to move up and down, meshing with the gear on the surface of the synchronous wheel 13. The rotation of the synchronous wheel 13 drives the rotating frame 3 to rotate by an angle. Figure 3-6 The structure shown drives the synchronous gear cylinder 9 to move up and down, thereby enabling it to mesh with the synchronous pulleys 13 at different positions.

[0049] In the preferred embodiment, two synchronous pulleys 13 are connected to the rotating frames 3 on both sides of the mounting housing 2 via two synchronous belts 12. A worm gear 10 is mounted on the rotating shaft of the rotating frame 3, and a worm 11 is installed inside the mounting housing 2. The worm 11 meshes with the worm gear 10 and is connected to the synchronous belts 12. The rotation of the synchronous pulleys drives the worm to rotate, which in turn drives the incomplete worm gear to rotate, which in turn drives the rotating frame to rotate. The rotating frame stops after rotating 90 degrees.

[0050] In the preferred embodiment, the outer surface of the synchronous gear cylinder 9 is provided with an annular groove 901, and the end of the drive lever 15 is provided with a semi-annular fork 1501, which is located inside the groove 901. One end of the drive lever 15 is provided with an iron ring 16, and electromagnets 17 are provided at the upper and lower ends of the iron ring 16. When the electromagnet 17 is energized, the iron ring 16 and the drive lever 15 move up and down. The drive gear 14 driven by the drive lever 15 meshes with the synchronous wheel 13, and the synchronous wheel 13 drives the rotating frame 3 to rotate by an angle. When the electromagnet 17 is energized, it attracts the iron ring 16, and the iron ring 16 controls the synchronous gear cylinder 9 to move up and down, thereby meshing with the synchronous wheel 13 at different positions and realizing the rotation angle of the rotating frame 3.

[0051] In the preferred embodiment, the mounting housing 2 also includes a mounting rod 18, two electromagnets 17 are mounted on the mounting rod 18, and an iron ring 16 is fitted onto the mounting rod 18, positioned between the two electromagnets 17. Springs 19 are respectively installed between the surfaces of the two electromagnets 17 and the iron ring 16, and the springs 19 are fitted onto the mounting rod 18. The springs 19 facilitate keeping the iron ring 16 in a centered position.

[0052] In a preferred embodiment, the drive shaft 8 is provided with multiple limiting grooves 801, and the bearing 1301 is disposed on the limiting grooves 801, with the outer surface of the bearing 1301 engaging with the synchronous pulley 13. This limits the position of the synchronous pulley 13, allowing the drive shaft 8 and the synchronous pulley 13 to rotate.

[0053] In the preferred embodiment, the movable end of the rotating frame 3 is also equipped with multiple casters 5. The casters 5 can move in multiple directions.

[0054] In the preferred embodiment, the movable end of the rotating frame 3 is also equipped with an infrared sensor. When the moving wheels and casters on the upper rotating frame come into contact with the lower surface of the bridge beam, the infrared sensor detects the contact between the casters and the lower surface of the bridge beam.

[0055] Example 2

[0056] Further explanation in conjunction with Example 1, such as Figure 1-9 The structure shown in the figure, the method includes: then vertically attaching the device to the bridge pier surface, while the power fan 4 is started to generate negative pressure, thereby making the device attach to the bridge pier surface.

[0057] Then, the drive wheel 6 is driven to rotate by the wheel-side motor, and the drive wheel 6 drives the device to move. At the same time, the camera 7 collects information and then uploads the information.

[0058] The path planning module, obstacle avoidance sensor, and gyroscope interact to control the four wheel-side motors to independently control the rotation of the drive wheel 6, thereby realizing the path planning and movement of this device and enabling the detection of the entire bridge pier surface.

[0059] When it is necessary to switch the pier face to inspect the lower surface of the bridge beam;

[0060] At this point, the device first moves to the top of the pier, then the power fan below increases in power and speed, and then the electromagnet at the bottom position attracts the iron ring 16 closer. The iron ring 16 drives the drive lever 15 to move downward, which in turn drives the synchronous gear cylinder 9 to mesh with the lower end face synchronous gear cylinder. Then the deflection motor 1 rotates, driving the synchronous gear cylinder 9 to rotate. The synchronous gear cylinder 9 rotates, driving the lower end face synchronous gear cylinder to rotate. The end face synchronous gear cylinder drives the synchronous belt to rotate. The transmission synchronous wheel rotates, driving the worm to rotate. The worm 11 rotates, driving the incomplete worm wheel 10 to rotate. The incomplete worm wheel 10 rotates, driving the entire mounting shell 2 and the upper rotating frame to rotate. The upper rotating frame rotates 90 degrees and then stops.

[0061] Then the wheel-side motor on the lower rotating frame works to drive the drive wheel to rotate, thereby raising the mounting shell 2 and the entire device. When the moving wheel and universal wheel on the upper rotating frame contact the lower surface of the bridge beam, the contact is determined by a pressure sensor or contact switch.

[0062] At this time, the upper power fan starts working and its power increases, and the fan speed increases, and the increase is greater than that of the lower power fan, thus providing adhesion to overcome gravity. Then the lower power fan stops.

[0063] Then, the wheel-side motor on the upper rotating frame works to drive the moving wheel to rotate, thereby driving the entire device away from the bridge pier. After moving away from one end, the distance to this end is determined by a delay program or by collecting the rotation angle signal of the wheel-side motor.

[0064] The deflection motor 1 drives the rotating frame to reset, and then the power fan on the rotating frame starts to work. After this power fan starts working, the other power fan appropriately reduces the wind speed. At this time, the path planning control is used to detect cracks on the lower surface of the bridge beam.

[0065] After the work is completed, the above process is reversed to move from the pier to the bottom of the pier to complete the work.

[0066] The above embodiments are merely preferred technical solutions of the present invention and should not be considered as limitations on the present invention. The scope of protection of the present invention should be limited to the technical solutions described in the claims, including equivalent substitutions of the technical features described in the claims. That is, equivalent substitutions and improvements within this scope are also within the scope of protection of the present invention.

Claims

1. A bridge crack detection robot, characterized in that: The mounting shell (2) has a rotating frame (3) hinged on both sides. The rotating frame (3) has a barrel-shaped structure inside. The rotating frame (3) is equipped with a power fan (4). The power fan (4) draws air towards the rear end of the rotating frame (3). The air intake end face of the rotating frame (3) is used to adhere to the bridge surface. The air intake end face of the rotating frame (3) is equipped with a rubber ring. The rotating frame (3) is also provided with multiple moving wheels (6) near the mounting shell (2). The moving wheels (6) are electrically connected to the drive motor. The lowest end of the moving wheels (6) is higher than the air intake end face of the rotating frame (3). The mounting shell (2) is also equipped with a drive device, which drives two rotating frames (3) to rotate around one side of the mounting shell (2) by an angle. It includes a deflection motor (1), which is mounted on the upper surface of the mounting housing (2). The deflection motor (1) is connected to the drive shaft (8), which is located inside the mounting housing (2). Two synchronous pulleys (13) are rotatably mounted on the drive shaft (8), and a gear is provided on one side surface of the synchronous pulley (13). A drive gear (14) is provided between the two synchronous pulleys (13), and a synchronous gear cylinder (9) meshes on the drive gear (14). Gears are provided on the upper and lower end faces of the synchronous gear cylinder (9). The outer surface of the synchronous gear cylinder (9) is also provided with a drive lever (15). The drive lever (15) drives the synchronous gear cylinder (9) to move up and down. The gear on the surface of the synchronous gear cylinder (9) meshes with the gear on the surface of the synchronous wheel (13). The synchronous wheel (13) rotates to drive the rotating frame (3) to rotate by an angle. Two synchronous pulleys (13) are connected to the rotating frames (3) on both sides of the mounting housing (2) via two synchronous belts (12); The rotating shaft of the rotating frame (3) is provided with an incomplete worm gear (10), and the mounting shell (2) is provided with a worm (11). The worm (11) meshes with the incomplete worm gear (10), and the worm (11) is connected to the timing belt (12). The outer surface of the synchronous gear cylinder (9) is provided with an annular groove (901). The end of the drive lever (15) is provided with a semi-annular structure fork (1501). The fork (1501) is located inside the groove (901). One end of the drive lever (15) is provided with an iron ring (16). Electromagnets (17) are provided at the upper and lower ends of the iron ring (16). When the electromagnet (17) is energized, it drives the iron ring (16) and the drive lever (15) to move up and down. The drive lever (15) drives the drive gear (14) to mesh with the synchronous wheel (13). The synchronous wheel (13) drives the rotating frame (3) to rotate by an angle.

2. The bridge crack detection robot according to claim 1, characterized in that: The bottom of the mounting housing (2) is equipped with a camera (7). The camera (7) is electrically connected to the cable through the control circuit, and the cable is electrically connected to the data analysis circuit.

3. The bridge crack detection robot according to claim 1, characterized in that: The mounting housing (2) is also provided with a mounting rod (18), two electromagnets (17) are set on the mounting rod (18), an iron ring (16) is sleeved on the mounting rod (18), and the iron ring (16) is set between the two electromagnets (17). Springs (19) are provided between the surfaces of the two electromagnets (17) and the iron ring (16), and the springs (19) are sleeved on the mounting rod (18).

4. The bridge crack detection robot according to claim 1, characterized in that: The drive shaft (8) is provided with multiple limiting grooves (801), and the bearing (1301) is set on the limiting groove (801), and the outer surface of the bearing (1301) is engaged with the synchronous pulley (13).

5. The bridge crack detection robot according to claim 1, characterized in that: The rotating frame (3) is also equipped with multiple casters (5) at its movable end.

6. The bridge crack detection robot according to claim 1, characterized in that: The rotating frame (3) is also equipped with an infrared sensor at its movable end.

7. The working method of a bridge crack detection robot according to any one of claims 1-6, characterized in that: The method includes: S1. The bridge crack detection robot is vertically attached to the bridge pier surface, and the power fan (4) is started to generate negative pressure, thereby making the bridge crack detection robot attach to the bridge pier surface. S2. Then, the moving wheel (6) is driven to rotate by the drive motor. The moving wheel (6) drives the bridge crack detection robot to move. At the same time, the information is collected by the camera (7) and then uploaded. S3. Through the interaction of the path planning module, obstacle avoidance sensor and gyroscope, the controller controls the four drive motors to independently control the rotation of the moving wheels (6), thereby realizing the path planning and movement of the bridge crack detection robot and realizing the detection of the entire bridge pier surface. S4. When it is necessary to switch the pier face to inspect the lower surface of the bridge beam; First, the bridge crack detection robot is moved to the top of the bridge pier. Then, the power of the power fan located below increases and the speed increases. Then, the electromagnet at the bottom position moves to attract the iron ring (16) to approach. The iron ring (16) drives the drive lever (15) to move downward, which in turn drives the synchronous gear cylinder (9) to mesh with the lower end face synchronous wheel (13). Then, the deflection motor (1) rotates and drives the synchronous gear cylinder (9) to rotate. The synchronous gear cylinder (9) rotates and drives the lower synchronous wheel (13) to rotate. The synchronous wheel (13) drives the synchronous belt to rotate. The synchronous belt rotates and drives the worm to rotate. The worm (11) rotates and drives the incomplete worm wheel (10) to rotate. The incomplete worm wheel (10) rotates and drives the entire mounting shell (2) and the upper rotating frame to rotate. The upper rotating frame rotates 90 degrees and then stops. S5. Then the drive motor on the lower rotating frame works to drive the moving wheels to rotate, thereby driving the bridge crack detection robot to rise as a whole. When the moving wheels and casters on the upper rotating frame contact the lower surface of the bridge beam, the contact is determined by pressure sensor or contact switch. S6. At this time, the upper power fan works and the power increases and the fan speed increases, and the increase is greater than that of the lower power fan, thereby providing adhesion to overcome gravity, and then the lower power fan stops. S7. Then the drive motor on the upper rotating frame works to drive the moving wheel to rotate, thereby driving the bridge crack detection robot away from the bridge pier. After moving a certain distance, the distance is determined by the delay program or by collecting the rotation angle signal of the drive motor. S8. The deflection motor (1) drives the rotating frame to reset, and then the power fan on this rotating frame starts to work. When this power fan starts to work, another power fan appropriately reduces the wind speed. At this time, the crack detection of the lower surface of the bridge beam is carried out by path planning control. After the work is completed, the process from S4 to S7 above is reversed to move from the bottom of the beam to the pier and then to the bottom of the pier to complete the work.

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