Intelligent inspection robot and method capable of passing through arc-shaped notch of transverse partition plate of U rib of top plate of steel box girder

Abstract

The invention designs an intelligent inspection robot capable of passing through an arc-shaped notch of a U-rib diaphragm plate of a steel box girder top plate and a method. The intelligent inspection robot device comprises an upper computer terminal, a robot vehicle body, a motion control system, a communication system and an image acquisition system. The robot vehicle body comprises a vehicle frame, a wheel driving motor, magnetic attraction wheels and a magnetic attraction crawler belt. The motion control system comprises a main control module and a motor control module, and the main control module is used for receiving a control instruction of the upper computer terminal and controlling a wheel driving motor to work through the motor control module; the magnetic attraction wheels are matched with the magnetic attraction crawler belt under the power driving effect of the wheel driving motor so that the robot trolley can run along a top plate U rib rail of the steel bridge box girder. Therefore, the intelligent inspection robot capable of passing through the arc-shaped notch of the steel box girder top plate U-rib diaphragm plate can pass through the arc-shaped notch between the top plate and the diaphragm plate, and automatic inspection work of steel bridge box girder top plate U-rib cracks is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent detection of fatigue damage of steel bridges, and in particular to an intelligent inspection robot and method capable of passing through an arc-shaped notch of a U-rib diaphragm on a top plate of a steel box girder. Background Art

[0002] At present, my country's steel bridges are among the largest in the world in terms of scale and quantity, and are still growing rapidly. However, due to the complex structure of steel bridges and the numerous welding details, along with the frequent occurrence of vehicle overloading and the increase in the operation time of steel bridges, the problem of fatigue cracking of steel bridges has become increasingly prominent, which will seriously affect the safe operation of steel bridges during their service. Fatigue cracking of steel bridges has become the main problem faced by the field of steel bridge maintenance.

[0003] At present, the main detection methods for fatigue cracks in steel bridges include visual inspection, ultrasonic inspection, resistance method detection, eddy current detection and other manual inspection methods. However, these methods have problems such as high labor intensity, low line inspection efficiency, inadequate inspection, and difficulty in digital display of inspection results. Therefore, the actual maintenance work urgently needs to introduce a precise, efficient, time-saving and labor-saving technical means, which requires the combination and research and development of technologies related to artificial intelligence. Therefore, the intelligent inspection robot and data processing technology for U-rib cracks on the top plate of steel bridge box girders have begun to be deeply applied in the inspection field, and then the intelligent inspection technology has gradually begun to be applied in the field of U-rib crack detection on the top plate of steel box girders, which is of great significance to improving the accuracy and efficiency of U-rib crack detection on the top plate of steel box girders.

[0004] However, the current intelligent inspection technology is difficult to apply to the inspection of U-ribs on the top plate of steel box girders. First, cracks in the U-ribs on the top plate of steel box girders usually appear in relatively hidden and high positions. Human observation is affected by factors such as observation equipment, observation orientation, observation angle, and human observation errors, which makes the traditional inspection technology have inaccurate observation results and low efficiency. Secondly, the arc-shaped gap at the connection between the U-ribs on the top plate of the steel box girder of a steel bridge and the diaphragm is generally very narrow, which also makes it impossible for conventional inspection robots to pass smoothly and conduct continuous inspections. Summary of the invention

[0005] The purpose of the present invention is to provide an intelligent inspection robot, method and use method that can pass through the arc-shaped notch of the U-rib cross diaphragm of the steel box girder top plate, and realize automated steel bridge box girder top plate U-rib crack inspection through the joint work of a host computer terminal, a robot body, a motion control system, a communication system and an image acquisition system device; at the same time, the device is easy to install, flexible in layout, easy to operate, and has a high degree of automation, thereby improving the work efficiency of the steel bridge box girder top plate U-rib crack inspection.

[0006] In order to achieve the above technical objectives, the present invention will adopt the following technical solutions:

[0007] An intelligent inspection robot capable of passing through an arc-shaped notch of a U-rib diaphragm on a top plate of a steel box girder comprises a host computer terminal, a robot body, a motion control system, a communication system and an image acquisition system: the host computer terminal, the motion control system, the communication system and the image acquisition system are integrated and arranged in the robot body respectively;

[0008] The image acquisition system includes a high-definition camera, a camera attitude control device and an image processor; the camera attitude control device and the image processor are respectively connected to the host computer terminal through a communication system;

[0009] The robot body is equipped with a magnetic crawler walking structure, and a laser ranging probe is installed in the middle area of ​​the front end of the robot body;

[0010] The high-definition camera is used to capture image data of the intended inspection location on the surface of the steel bridge structure, and can upload the captured image data to the image processor;

[0011] The camera posture control device is a manipulator as a whole, with a mechanical arm base at the lower end, which is installed on the robot body through a rotatable chassis, and the upper end is a power output end, which is linked to the high-definition camera;

[0012] Driven by the power of the rotatable chassis, the camera posture control device drives the high-definition camera to perform 360° dynamic rotation adjustment without blind spots;

[0013] Under the control of the control command issued by the host computer terminal, the camera attitude control device drives the high-definition camera to align with the intended detection position of the U rib of the steel box girder, and adjusts the distance and azimuth according to the command;

[0014] The image processor is used to receive and process the image data acquired by the high-definition camera, and then upload the processed image data to the host terminal for storage through the communication system;

[0015] The laser ranging probe is used to detect the distance between the robot body and the arc-shaped gap of the front diaphragm, and can transmit the detected distance to the host computer terminal;

[0016] The host computer terminal controls the actuation of the camera attitude control device according to the distance received from the laser ranging probe feedback.

[0017] Preferably, the robot body comprises a frame, and a magnetic crawler walking structure is provided at the bottom of the frame; wherein:

[0018] The vehicle frame comprises a vehicle chassis and two transverse wheel axles arranged parallel to each other below the vehicle chassis;

[0019] The magnetic crawler walking structure includes a wheel drive motor, a magnetic wheel and a magnetic crawler;

[0020] The wheel drive motor is placed inside the magnetic wheel;

[0021] There are four magnetic wheels, which are mounted on the two ends of the two transverse wheel axles in a one-to-one correspondence and are linked to the power output end of the wheel drive motor;

[0022] The magnetic tracks include two; each magnetic track is wrapped around the periphery of two magnetic wheels on the same side of the vehicle frame.

[0023] Preferably, the motion control system includes a main control module and a motor control module: the main control module is used to receive control instructions from the host computer terminal and send a control signal to the motor control module; the motor control module is used to receive the control signal of the main control module to control the operation of the wheel drive motor; the magnetic wheel is driven by the power of the wheel drive motor, so that the trolley can automatically transition at the arc-shaped gap between the top plate and the U-rib of the steel bridge box girder.

[0024] Preferably, the communication system includes a wireless serial port and a wifi network card. The wireless serial port is connected to the main control module, and is used for each main control module to receive control instructions issued by the host computer terminal; the wifi network card is connected to the image processor, and is used to transmit the image data processed by the image processor to the host computer terminal, and can also be used to provide the robot body positioning function.

[0025] Preferably, the wheel drive motors in the motion control system are 24V DC motors, and each group of wheel drive motors includes two wheel drive motors.

[0026] Preferably, the camera posture control device includes a first motor, a first connecting rod bracket, a second motor, a second telescopic connecting rod bracket and a third motor; the fixed part of the first motor is installed on the rotatable chassis, and the power output end of the first motor is linked to the lower end of the first connecting rod bracket, the fixed part of the second motor is installed on the upper end of the first connecting rod, and the power output end of the second motor is linked to the upper end of the first connecting rod and the lower end of the second telescopic connecting rod, the fixed part of the third motor is installed on the upper end of the second telescopic connecting rod bracket, and the power output end of the third motor is linked to the high-definition camera.

[0027] Another technical purpose of the present invention is to provide an intelligent inspection method for detecting cracks in the U-rib of the top plate of a steel bridge box girder, which is based on the above-mentioned intelligent inspection robot that can pass through the arc-shaped notch of the U-rib diaphragm of the top plate of the steel box girder, and includes the following steps:

[0028] Step I: Place the intelligent inspection robot at the bottom of the U-rib of the top plate of the steel bridge to be inspected, and test the power supply of the intelligent inspection robot and the operation of each module;

[0029] Step II, the intelligent inspection robot is attached to the bottom of the U-rib by the adsorption effect of the magnetic track at the bottom of the U-rib, and uses the wheel drive motor to drive the magnetic wheel to move forward, and cooperates with the camera posture control device to control the high-definition camera to shoot the cracked part of the U-rib of the top plate of the steel bridge to be inspected; when the distance relative to the arc-shaped gap between the diaphragm and the top plate reaches a preset value, the laser ranging probe will transmit the detected distance value to the upper terminal, and the upper terminal will issue a command to the camera posture control device to retract the mechanical arm and the high-definition camera, so that the robot body can smoothly pass through the arc-shaped gap, and thus reciprocate;

[0030] Step III: After completing the inspection of the U-rib of the steel bridge top plate to be inspected, the host computer terminal issues a stop command, and the intelligent inspection robot for cracks in the U-rib of the steel bridge box girder top plate stops at the designated position and is retrieved by the work team.

[0031] Preferably, the host computer terminal adjusts the moving posture and speed of the intelligent inspection robot according to the distance value between the front of the intelligent inspection robot and the arc-shaped notch of the diaphragm detected by the laser ranging probe.

[0032] Preferably, during the inspection process, image data corresponding to the current position of the intelligent inspection robot is obtained based on the time-space matching method.

[0033] Based on the above technical objectives, the present invention has the following advantages over the prior art:

[0034] (1) The intelligent inspection robot and method described in the present invention that can pass through the arc-shaped notch of the U-rib diaphragm of the top plate of the steel box girder, on the one hand, is used to obtain surface image data of the inspected steel bridge structure by setting a high-definition camera; on the other hand, a magnetic crawler is set to realize the function of the intelligent inspection robot to automatically and continuously adsorb the U-rib of the top plate, thereby improving the convenience of the device, reducing labor costs, and improving work efficiency.

[0035] (2) The intelligent inspection robot and method described in the present invention that can pass through the arc-shaped gap between the U-rib and the transverse partition of the steel box girder top plate, obtains the position information of the inspection robot trolley from the arc-shaped gap by setting a laser ranging probe, so that the on-board terminal can promptly issue instructions to adjust the robot's moving posture and route, so that the inspection robot trolley can smoothly pass through the welding hole position between the steel box girder top plate and the U-rib; after passing through the arc-shaped gap between the top plate and the transverse partition, the on-board terminal issues an instruction to unfold the robot arm to continue the inspection work.

[0036] (3) The intelligent inspection robot and method described in the present invention that can pass through the arc-shaped gap of the U-rib and the transverse partition of the top plate of the steel box girder, by providing a retractable mechanical arm and its own compact robot body, and then matching the magnetic crawler described in (1) and the laser ranging probe device described in (2), allows the robot car to freely shuttle through the arc-shaped gap between the top plate and the transverse partition, so that it can smoothly complete the inspection work of the U-rib of the top plate of the entire bridge. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a schematic diagram of the three-dimensional structure of the intelligent inspection robot that can pass through the arc-shaped notch of the U-rib diaphragm of the top plate of the steel box beam according to the present invention;

[0038] Figure 2 It is a schematic diagram of the three-dimensional structure of the intelligent inspection robot capable of passing through the arc-shaped notch of the U-rib diaphragm of the top plate of the steel box beam according to the present invention in another direction;

[0039] Figure 3 The schematic diagram of the robot body;

[0040] Figure 4 yes Figure 1 The structural diagram of the image acquisition system;

[0041] Figure 5 It is a schematic diagram of the intelligent inspection robot that can pass through the arc-shaped notch of the U-rib diaphragm of the top plate of the steel box beam according to the present invention;

[0042] In the figure: 1-wheel drive motor; 2-magnetic wheel; 3-frame; 4-magnetic track; 5-onboard terminal; 6-high-definition camera; 7-laser ranging device; 8-first motor; 9-first connecting rod bracket; 10-second motor; 11-second retractable connecting rod bracket; 12-third motor; 13-wifi network card; 14-rotatable chassis; 15-mechanical arm base; 16-vehicle-mounted 24V DC motor; 17-wireless serial port. DETAILED DESCRIPTION

[0043] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means any limitation to the present invention and its application or use. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. Unless otherwise specified, the relative arrangement, expressions and numerical values ​​of the components and steps described in these embodiments do not limit the scope of the present invention. The techniques, methods and equipment known to ordinary technicians in the relevant fields may not be discussed in detail, but in appropriate cases, the techniques, methods and equipment should be regarded as part of the specification. In all examples shown and discussed here, any specific value should be interpreted as merely exemplary, rather than as a limitation. Therefore, other examples of the exemplary embodiments may have different values.

[0044] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The component can also be positioned in other different ways (rotated 90 degrees or in other orientations).

[0045] In the present invention, unless otherwise clearly specified and limited, the terms "set", "install", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection; it can be a mechanical connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention patent can be understood according to the specific circumstances.

[0046] In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the patent of this invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0047] like Figure 1-5 As shown, the intelligent inspection robot capable of passing through the arc-shaped notch of the U-rib diaphragm of the top plate of the steel box beam of the present invention comprises a host computer terminal, a robot body, a motion control system, a communication system and an image acquisition system, wherein:

[0048] The robot body is used to execute the forward, backward, turn and other motion instructions sent by the motion control system, and is equipped with all upper terminal systems and execution devices. The robot body includes a frame, and a magnetic crawler walking structure is provided at the bottom of the frame. The frame includes a body chassis and two transverse axles arranged parallel to each other under the body chassis; the magnetic crawler walking structure includes a wheel drive motor 1, a magnetic wheel 2 and a magnetic crawler 4; the wheel drive motor 1 is placed inside the magnetic wheel 2; there are four magnetic wheels 2, which are mounted one by one at the two ends of the two transverse axles, and are linked to the power output end of the wheel drive motor 1; there are two magnetic crawlers 4; each magnetic crawler 4 is wrapped around the periphery of the two magnetic wheels 2 on the same side of the frame.

[0049] In the present invention, the motion control system is installed in the upper terminal 5. The motion control system includes a main control module and a motor control module; the main control module is used to receive the control command of the upper terminal and send a control signal to the motor control module; the motor control module is used to receive the control signal of the main control module and drive the vehicle-mounted 24V DC motor 16 and the wheel drive motor to operate according to the control signal.

[0050] The on-board 24V DC motor 16 is used to provide power to other modules of the robot body except the wheels. The wheel drive motor 1 is connected to the magnetic wheel 2 through a coupling; the magnetic wheel 2 cooperates with the magnetic track 4 to have a magnetic suction function, which is used to adsorb the robot body to the top plate U rib surface of the box girder of the inspection steel bridge structure, and is positioned and installed on the lower surface of the corresponding position of the frame 3 through a rotating shaft; the wheel drive motor 1 provides a large driving torque that matches the rotation of the magnetic wheel 2, and the wheel drive motor 1 is connected to the robot body through bolts, that is, the fixed part of the wheel drive motor 1 is installed on the robot body, and its power output end is linked to the magnetic wheel 2. Therefore, under the power drive provided by the wheel drive motor 1, the magnetic wheel 2 drives the robot body to move along the inspection steel bridge structure. In the attached figure, there are four magnetic wheels 2, two in a row, each of which is positioned and installed on the lower surface of the corresponding position of the frame 3 through a rotating shaft, and each magnetic wheel 2 is driven by a 24V wheel drive motor 1. At the same time, the rotating shafts of the two magnetic wheels 2 in the same row are on the same straight line. The wheel drive motor 1 described in the present invention is a specific wheel drive motor that drives the magnetic wheel 2. In fact, the present invention can select other types of existing motors as wheel drive motors according to needs.

[0051] The communication system includes a wireless serial port 17 and a wifi network card 13. The wireless serial port 12 is connected to the host terminal 5 and is used for the main control module to receive control instructions issued by the host terminal; the wifi network card 13 is connected to the image processor and is used to transmit image data processed by the image processor to the host terminal.

[0052] The image acquisition system is used to obtain the surface image data of the inspected steel bridge structure, and includes an image processor, a camera attitude control device and a high-definition camera; wherein the image processor and the communication system are installed in the upper terminal 5. The image processor is used to receive and process the image data obtained by the high-definition camera 6; wherein the camera attitude control device includes a first motor 8, a first connecting rod bracket 9, a second motor 10, a second telescopic connecting rod bracket 11, a third motor 12 and a rotatable chassis 14. The rotatable chassis 14 is used to control the angle attitude of the high-definition camera 6, so that the high-definition camera 6 is directed to the intended inspection part of the surface of the steel bridge structure; such as Figure 4 As shown, the camera posture control device of the present invention is actually a mechanical arm, including a first motor 8, a first connecting rod bracket 9, a second motor 10, a second telescopic connecting rod bracket 11 and a third motor 12; the fixed part of the first motor 8 is installed on the chassis 15, and the power output end of the first motor 8 is linked to the lower end of the first connecting rod bracket 9, the fixed part of the second motor 10 is installed on the upper end of the second telescopic connecting rod bracket 11, and the power output end of the second motor 10 is linked to the lower end of the second telescopic connecting rod bracket 11, the fixed part of the third motor 12 is installed on the upper end of the second telescopic connecting rod bracket 11, and the power output end of the third motor 12 is linked to the high-definition camera 6. It can be seen that under the coordinated action of the first motor 8, the second motor 10 and the third motor 12, the high-definition camera 6 can be prompted to aim at the intended detection part of the steel bridge structure surface, that is, it can ensure that the intended detection part of the steel bridge structure surface is within the field of view of the high-definition camera 6, so as to obtain image data of the intended detection part of the steel bridge structure surface.

[0053] Based on the above-mentioned intelligent inspection robot that can pass through the arc-shaped notch of the U-rib diaphragm of the top plate of the steel box girder, the present invention provides an intelligent inspection method for U-rib cracks of the top plate of the steel bridge box girder, comprising the following steps:

[0054] Step I: Place the intelligent inspection robot at the bottom of the U-rib of the top plate of the steel bridge to be inspected, and test the power supply of the robot and the operation of each module;

[0055] Step II, the intelligent inspection robot is attached to the bottom of the U rib by the adsorption of the magnetic track, moves forward by the wheel drive system, and cooperates with the camera posture control device to control the camera to shoot the crack part of the U rib; when it approaches a certain position of the arc gap between the diaphragm and the top plate, the two laser ranging probes in front of the robot body will be detected and transmit information to the communication system, and then the communication system transmits the information to the upper terminal system; the upper terminal system sends a command to the camera posture control device to retract the robot arm and the camera, so that the robot body can smoothly pass through the arc gap, and thus reciprocate;

[0056] Step III: After completing the inspection of the beam section to be tested, the host computer terminal issues a stop command, and the intelligent inspection robot for U-rib cracks on the top plate of the rear steel bridge box beam stops at the designated position and is retrieved by the team members.

[0057] In addition, during the inspection process, the current position of the intelligent inspection robot can be calculated by the distance traveled on the U rib. In other words, when the position needs to be recorded, the U rib where the intelligent inspection robot is located and the distance from the partition can be output. The image data corresponding to the current position of the intelligent inspection robot can be obtained by using the time matching method. Specifically, the direction and distance of the intelligent inspection robot are first aligned with the starting time code of the captured image, and the position of the intelligent inspection robot can be matched with the video time point according to different times.

[0058] The above is only a preferred specific implementation method of the patent of the present invention, but the protection scope of the patent of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme of the patent and the invention concept of the patent within the technical scope disclosed by the patent of the present invention, which should be covered by the protection scope of the patent of the present invention.

Claims

1. An intelligent inspection robot that can pass through the arc-shaped gap of the U-rib diaphragm of the top plate of the steel box girder, characterized in that: It includes a host computer terminal, a robot body, a motion control system, a communication system and an image acquisition system: the host computer terminal, the motion control system, the communication system and the image acquisition system are integrated and arranged in the robot body respectively; The image acquisition system includes a high-definition camera, a camera attitude control device and an image processor; the camera attitude control device and the image processor are respectively connected to the host computer terminal through a communication system; The robot body is equipped with a magnetic crawler walking structure, and a laser ranging probe is installed in the middle area of ​​the front end of the robot body; The high-definition camera is used to capture image data of the intended inspection location on the surface of the steel bridge structure, and can upload the captured image data to the image processor; The camera posture control device is a manipulator as a whole, with a mechanical arm base at the lower end, which is installed on the robot body through a rotatable chassis, and the upper end is a power output end, which is linked to the high-definition camera; Driven by the power of the rotatable chassis, the camera posture control device drives the high-definition camera to perform 360° dynamic rotation adjustment without blind spots; Under the control of the control command issued by the host computer terminal, the camera attitude control device drives the high-definition camera to align with the intended detection position of the U rib of the steel box girder, and adjusts the distance and azimuth according to the command; The image processor is used to receive and process the image data acquired by the high-definition camera, and then upload the processed image data to the host terminal for storage through the communication system; The laser ranging probe is used to detect the distance between the robot body and the arc-shaped gap of the front diaphragm, and can transmit the detected distance to the host computer terminal; The host computer terminal controls the actuation of the camera attitude control device according to the distance received from the laser ranging probe feedback.

2. The intelligent inspection robot capable of passing through the arc-shaped notch of the U-rib diaphragm of the top plate of the steel box beam according to claim 1 comprises a robot body, characterized in that: The robot body comprises a frame, and a magnetic crawler walking structure is arranged at the bottom of the frame; wherein: The vehicle frame comprises a vehicle chassis and two transverse wheel axles arranged parallel to each other below the vehicle chassis; The magnetic crawler walking structure includes a wheel drive motor, a magnetic wheel and a magnetic crawler; The wheel drive motor is placed inside the magnetic wheel; There are four magnetic wheels, which are mounted on the two ends of the two transverse wheel axles in a one-to-one correspondence and are linked to the power output end of the wheel drive motor; The magnetic tracks include two; each magnetic track is wrapped around the periphery of two magnetic wheels on the same side of the vehicle frame.

3. The intelligent inspection robot capable of passing through the arc-shaped notch of the U-rib diaphragm of the top plate of the steel box beam according to claim 2 is characterized in that: The motion control system includes a main control module and a motor control module: the main control module is used to receive control instructions from a host computer terminal and send a control signal to the motor control module; the motor control module is used to receive the control signal from the main control module to control the operation of the wheel drive motor; the magnetic wheel is driven by the power of the wheel drive motor, so that the trolley can automatically transition at the arc-shaped gap between the top plate and the U-rib of the steel bridge box girder.

4. The intelligent inspection robot capable of passing through the arc-shaped notch of the U-rib diaphragm of the top plate of the steel box beam according to claim 3 is characterized in that: The communication system includes a wireless serial port and a wifi network card. The wireless serial port is connected to the main control module, and is used for each main control module to receive control instructions issued by the host computer terminal; the wifi network card is connected to the image processor, and is used to transmit the image data processed by the image processor to the host computer terminal, and is used to provide the robot body positioning function.

5. The intelligent inspection robot capable of passing through the arc-shaped notch of the U-rib diaphragm of the top plate of the steel box beam according to claim 4 is characterized in that: The wheel drive motors in the motion control system are 24V DC motors, and each group of wheel drive motors includes two wheel drive motors.

6. The intelligent inspection robot capable of passing through the arc-shaped notch of the U-rib diaphragm of the top plate of the steel box beam according to claim 1 is characterized in that: The camera posture control device includes a first motor, a first connecting rod bracket, a second motor, a second telescopic connecting rod bracket and a third motor; the fixed part of the first motor is installed on the rotatable chassis, and the power output end of the first motor is linked to the lower end of the first connecting rod bracket, the fixed part of the second motor is installed on the upper end of the first connecting rod, and the power output end of the second motor is linked to the upper end of the first connecting rod and the lower end of the second telescopic connecting rod, the fixed part of the third motor is installed on the upper end of the second telescopic connecting rod bracket, and the power output end of the third motor is linked to the high-definition camera.

7. An intelligent inspection method for detecting cracks in U-ribs of steel bridge box girder top plates, based on the intelligent inspection robot capable of passing through the arc-shaped notch of U-rib diaphragms of steel box girder top plates as described in claim 1, characterized in that: The steps include: Step I: Place the intelligent inspection robot at the bottom of the U-rib of the top plate of the steel bridge to be inspected, and test the power supply of the intelligent inspection robot and the operation of each module; Step II, the intelligent inspection robot is attached to the bottom of the U-rib by the adsorption effect of the magnetic track at the bottom of the U-rib, and uses the wheel drive motor to drive the magnetic wheel to move forward, and cooperates with the camera posture control device to control the high-definition camera to shoot the cracked part of the U-rib of the top plate of the steel bridge to be inspected; when the distance relative to the arc-shaped gap between the diaphragm and the top plate reaches a preset value, the laser ranging probe will transmit the detected distance value to the upper terminal, and the upper terminal will issue a command to the camera posture control device to retract the mechanical arm and the high-definition camera, so that the robot body can smoothly pass through the arc-shaped gap, and thus reciprocate; Step III: After completing the inspection of the U-rib of the steel bridge top plate to be inspected, the host computer terminal issues a stop command, and the intelligent inspection robot for cracks in the U-rib of the steel bridge box girder top plate stops at the designated position and is retrieved by the work team.

8. The intelligent inspection method for U-rib cracks on the top plate of a steel bridge box girder according to claim 7 is characterized in that: During the inspection process, the host computer terminal adjusts the moving posture and speed of the intelligent inspection robot according to the distance between the front of the intelligent inspection robot and the arc-shaped gap of the diaphragm detected by the laser ranging probe.

9. The intelligent inspection method for U-rib cracks on the top plate of a steel bridge box girder according to claim 7, characterized in that: During the inspection process, the image data corresponding to the current position of the intelligent inspection robot is obtained based on the time-space matching method.

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