Intelligent inspection robot and method for arc-shaped notch of u-rib cross diaphragm of steel box girder top plate

Abstract

The application designs an intelligent inspection robot and method capable of passing through the arc-shaped gap between the top plate and the cross diaphragm of the steel box girder U rib. The intelligent inspection robot device comprises a host 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, a magnetic wheel and a magnetic track. The motion control system comprises a main control module and a motor control module. The main control module is used for receiving the control instruction of the host computer terminal and controlling the wheel driving motor to work through the motor control module. The magnetic wheel is driven by the power of the wheel driving motor, and cooperates with the magnetic track to enable the robot vehicle to run along the top plate U rib track of the steel bridge box girder. It can be seen that the intelligent inspection robot capable of passing through the arc-shaped gap between the top plate and the cross diaphragm of the steel box girder U rib can pass through the arc-shaped gap between the top plate and the cross diaphragm, and realize the automatic inspection of the steel bridge box girder top plate U rib crack.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent detection of steel bridge fatigue damage, and particularly relates to an intelligent inspection robot capable of passing through an arc-shaped gap of a U-rib cross diaphragm of a steel box girder top plate and a method. BACKGROUND

[0002] At present, the scale and quantity of steel bridges in China rank first in the world, and are still in continuous and rapid growth. However, due to the complex structure of steel bridges, the numerous welding details, the frequent occurrence of vehicle overload problems, and the increase in the operation time of steel bridges, the problem of steel bridge fatigue cracking is becoming increasingly prominent, which will seriously affect the safe operation of steel bridges during service. Fatigue cracking of steel bridges has become a major problem faced by the steel bridge maintenance field.

[0003] The current detection methods for steel bridge fatigue cracks mainly include visual detection, ultrasonic detection, resistance detection, and eddy current detection, which are all manual inspection methods. However, these methods have problems such as high labor intensity, low line inspection efficiency, incomplete inspection, and difficulty in digital presentation of inspection results. Therefore, there is an urgent need to introduce a precise, efficient, time-saving, and labor-saving technical means in the current actual maintenance work, which requires the combination of artificial intelligence related technologies for research and development. Therefore, the steel bridge box girder top plate U-rib crack intelligent inspection robot and data processing technology have begun to be deeply applied in the inspection field, and intelligent inspection technology has gradually begun to be applied in the field of steel box girder top plate U-rib crack detection, which is of great significance to improve the accuracy and efficiency of steel box girder top plate U-rib crack detection.

[0004] However, the current intelligent inspection technology is difficult to apply to the detection of steel box girder top plate U-rib. First, steel box girder top plate U-rib cracks usually occur in a relatively concealed and high position, and human observation is affected by observation equipment, observation direction, observation angle, and human observation error, making the traditional inspection technology have the problems of inaccurate observation results and low efficiency. Second, the arc-shaped gap at the connection between the steel box girder top plate U-rib and the cross diaphragm is usually very narrow, which makes it difficult for conventional detection robots to pass through and continuously detect. SUMMARY

[0005] The present application aims to provide an intelligent inspection robot capable of passing through the arc-shaped gap of the U-rib cross diaphragm of the steel box girder top plate and a method and use method, which realizes automatic steel bridge box girder top plate U-rib crack inspection through the joint work of the upper computer terminal, the robot vehicle body, the motion control system, the communication system, and the image acquisition system device. At the same time, the device is easy to install, flexible to arrange, easy to operate, and has high automation, which improves the work efficiency of steel bridge box girder top plate U-rib crack inspection.

[0006] To achieve the above technical purposes, the present application will adopt the following technical solutions:

[0007] An intelligent inspection robot capable of inspecting the arc-shaped gap of the U rib transverse bulkhead of the top plate of a steel box girder, comprising an upper computer terminal, a robot vehicle body, a motion control system, a communication system and an image acquisition system: the upper computer terminal, the motion control system, the communication system and the image acquisition system are integrated respectively and arranged in the robot vehicle body;

[0008] The image acquisition system comprises a high-definition camera, a camera posture control device and an image processor; the camera posture control device and the image processor are connected with the upper computer terminal through the communication system;

[0009] The robot vehicle body is provided with a magnetic track type walking structure, and a laser ranging probe is installed in the middle region of the front end of the robot vehicle body;

[0010] The high-definition camera is used for shooting image data of the to-be-inspected part of the steel bridge structure surface, and can upload the shot image data to the image processor;

[0011] The camera posture control device is a mechanical hand as a whole, a mechanical arm base is arranged at the lower end, and is installed on the robot vehicle body through a rotatable chassis; the upper end is a power output end and is connected with the high-definition camera in linkage;

[0012] Under the power driving of the rotatable chassis, the camera posture control device drives the high-definition camera to rotate and adjust dynamically in 360° without dead angle;

[0013] The camera posture control device drives the high-definition camera to align the to-be-inspected part of the U rib of the steel box girder under the control of the control instruction issued by the upper computer terminal, and adjusts the distance and direction according to the instruction;

[0014] The image processor is used for receiving and processing the image data acquired by the high-definition camera, and then uploading the processed image data to the upper computer terminal for storage through the communication system;

[0015] The laser ranging probe is used to detect the distance of the robot vehicle body relative to the front transverse bulkhead arc-shaped gap, and can transmit the detected distance to the upper computer terminal;

[0016] The upper computer terminal controls the action of the camera posture control device according to the distance feedback of the laser ranging probe;

[0017] Preferably, the robot vehicle body comprises a vehicle frame, and the bottom of the vehicle frame is provided with a magnetic track type walking structure; wherein:

[0018] The vehicle frame comprises a vehicle chassis and two transverse axles arranged below the vehicle chassis in parallel;

[0019] The magnetic attraction crawler walking structure comprises a wheel driving motor, magnetic attraction wheels and magnetic attraction crawlers.

[0020] The wheel driving motor is placed in the interior of the magnetic attraction wheels.

[0021] The magnetic attraction wheels comprise four, which are correspondingly assembled at two ends of the two transverse wheel shafts and are connected with the power output end of the wheel driving motor.

[0022] The magnetic attraction crawlers comprise two; each magnetic attraction crawler is wrapped around the periphery of the two magnetic attraction wheels on the same side of the vehicle frame.

[0023] Preferably, the motion control system comprises a master control module and a motor control module; the master control module is used for receiving the control instructions of the upper computer terminal and sending control signals to the motor control module; the motor control module is used for receiving the control signals of the master control module to control the wheel driving motor to work; the magnetic attraction wheels are driven by the power of the wheel driving motor, so that the trolley can realize automatic 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 comprises a wireless serial port and a wifi card; the wireless serial port is connected with the master control module and is used for receiving the control instructions sent by the upper computer terminal; the wifi card is connected with the image processor and is used for transmitting the image data processed by the image processor to the upper computer terminal and also can be used for providing the positioning function of the robot vehicle body.

[0025] Preferably, the wheel driving motor in the motion control system is a 24V direct current motor; the number of the wheel driving motors contained in each group of wheel driving motors is two.

[0026] Preferably, the camera posture control device comprises a first motor, a first connecting rod support, a second motor, a second telescopic connecting rod support 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 connected with the lower end of the first connecting rod support; 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 connected with 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 support, and the power output end of the third motor is connected with the high-definition camera.

[0027] Another technical purpose of the present application is to provide a steel bridge box girder top plate U rib crack detection intelligent inspection method, which is realized based on the above-mentioned intelligent inspection robot capable of passing through the arc-shaped gap of the steel box girder top plate U rib transverse diaphragm, and comprises the following steps:

[0028] Step I, place the intelligent inspection robot to the bottom of the U rib of the steel bridge deck to be inspected, test the power supply of the intelligent inspection robot and the operation of each part module;

[0029] Step II, the intelligent inspection robot is attached to the bottom of the U rib by the magnetic attraction of the magnetic attraction track, and the magnetic attraction wheel is driven forward by the wheel driving motor, and the high-definition camera is controlled by the camera posture control device to shoot the crack position of the U rib of the steel bridge deck to be inspected; when the distance relative to the arc-shaped gap between the diaphragm plate and the deck reaches the preset value, the laser ranging probe transmits the detected distance value to the host terminal, and the host terminal issues an instruction to the camera posture control device to retract the mechanical arm and the high-definition camera, so that the robot vehicle body can smoothly pass through the arc-shaped gap, thereby reciprocating;

[0030] Step III, after completing the inspection of the U rib of the steel bridge deck, the host terminal issues a stop instruction, and the rear steel bridge box girder deck U rib crack intelligent inspection robot stops at the specified position, and the workers retrieve it.

[0031] Preferably, the host terminal adjusts the travel posture and speed of the intelligent inspection robot according to the distance value of the front part of the intelligent inspection robot and the arc-shaped gap of the diaphragm plate detected by the laser ranging probe.

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

[0033] Based on the above technical purpose, compared with the prior art, the present application has the following advantages:

[0034] (1) The intelligent inspection robot and method capable of passing through the arc-shaped gap of the steel box girder deck U rib diaphragm plate, on the one hand, by setting a high-definition camera, the steel bridge structure surface image data is obtained; on the other hand, by setting a magnetic track, the function of automatically and continuously adsorbing the deck U rib of the intelligent inspection robot is realized, the convenience of the device is improved, the labor cost is reduced, and the work efficiency is improved.

[0035] (2) The intelligent inspection robot and method capable of passing through the arc-shaped gap of the steel box girder deck U rib diaphragm plate, by setting a laser ranging probe, the position information of the inspection robot car from the arc-shaped gap is obtained, so that the host terminal can timely issue an instruction to adjust the travel posture and route of the robot, so that the inspection robot car can smoothly pass through the welding hole position of the steel box girder deck and the U rib; after passing through the arc-shaped gap between the deck and the diaphragm plate, the host terminal issues an instruction to deploy the mechanical arm to continue the detection work.

[0036] (3), the intelligent inspection robot and method that can pass through the arc-shaped gap of the steel box beam roof U rib cross partition board, through setting retractable mechanical arm and its own small robot car body, again matching the magnetic attraction type crawler of (1) and the laser ranging probe device of (2), so that the robot car can freely shuttle in the arc-shaped gap between roof and cross partition board, so that it can smoothly complete the inspection work for the U rib of whole bridge roof. BRIEF DESCRIPTION OF DRAWINGS

[0037] Figure 1 It is the three-dimensional structure schematic diagram of the intelligent inspection robot that can pass through the arc-shaped gap of the steel box beam roof U rib cross partition board of the application;

[0038] Figure 2 It is the three-dimensional structure schematic diagram of the intelligent inspection robot that can pass through the arc-shaped gap of the steel box beam roof U rib cross partition board of the application in another direction;

[0039] Figure 3 The structure schematic diagram of the robot car body in (3);

[0040] Figure 4 It is the structure schematic diagram of the image acquisition system in (3); Figure 1

[0041] Figure 5 It is the intelligent inspection robot that can pass through the arc-shaped gap of the steel box beam roof U rib cross partition board of the application through the arc-shaped gap;

[0042] In the figure: 1-wheel drive motor;2-magnetic attraction wheel;3-carriage;4-magnetic attraction crawler;5-upper machine terminal;6-high-definition camera;7-laser ranging device;8-first motor;9-first connecting rod support;10-second motor;11-second retractable connecting rod support;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 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. The description of the at least one example embodiment is merely illustrative in nature and not intended to be limiting on the application or its applications or uses. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of the present application. Unless otherwise specifically stated, the relative arrangement of the components and steps, expressions, and numerical values set forth in these embodiments do not limit the scope of the present application. The technology, methods, and devices known to those of ordinary skill in the relevant art can not be discussed in detail, but should be considered as part of the specification where appropriate. In all examples shown and discussed herein, any specific value should be interpreted as merely exemplary, rather than limiting. Therefore, other examples of the example embodiments can have different values.

[0044] For ease of description, spatial relative terms such as "over", "above", "upper surface", "upper", and the like can be used herein to describe the spatial relationship of one device or feature to another device or feature as shown in the drawings. It should be understood that the spatial relative terms are intended to include different orientations of the device in use or operation in addition to the orientation of the device described in the drawings. For example, if the device in the drawings is inverted, the device described as "above" or "over" other devices or structures will be positioned "below" or "under" the other devices or structures. Thus, the example term "above" can include both "above" and "below" orientations. The member can also be positioned in other different ways (rotated 90 degrees or in other orientations).

[0045] In the present application, unless otherwise specifically stated and limited, the terms "set", "install", "connect", "connect", "fix", and the like should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected; it can be mechanically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0046] In addition, the terms "first", "second" are used only for descriptive purposes, and should not be construed or implied to indicate or imply relative importance or implicitly indicate the number of indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0047] As shown in Figures 1-5 The intelligent inspection robot capable of passing through the arc-shaped notch of the U-rib transverse diaphragm of the top plate of a steel box girder according to the present application comprises an upper computer terminal, a robot vehicle body, a motion control system, a communication system and an image acquisition system, wherein:

[0048] The robot vehicle body is used to execute the forward, backward and steering motion instructions sent by the motion control system, and carries all the upper terminal systems and execution devices. The robot vehicle body comprises a vehicle frame, and a magnetic absorption caterpillar track structure is arranged at the bottom of the vehicle frame. The vehicle frame comprises a vehicle chassis and two transverse wheel shafts arranged in parallel below the vehicle chassis; the magnetic absorption caterpillar track structure comprises a wheel driving motor 1, magnetic absorption wheels 2 and magnetic absorption caterpillar tracks 4; the wheel driving motor 1 is placed inside the magnetic absorption wheels 2; the magnetic absorption wheels 2 are four in total and are correspondingly arranged at the two ends of the two transverse wheel shafts and are connected with the power output end of the wheel driving motor 1; the magnetic absorption caterpillar tracks 4 are two in total; each magnetic absorption caterpillar track 4 is wrapped around the periphery of the two magnetic absorption wheels 2 on the same side of the vehicle frame.

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

[0050] The vehicle-mounted 24V DC motor 16 is used to provide power for the modules of the robot vehicle body except the wheels. The wheel driving motor 1 and the magnetic absorption wheels 2 are connected through a shaft coupling; the magnetic absorption wheels 2 have a magnetic absorption function in cooperation with the magnetic absorption caterpillar tracks 4, which are used to absorb the robot vehicle body to the surface of the top plate U-rib of the inspection steel bridge structure box girder and are positioned and installed on the lower surface of the vehicle frame 3 at the corresponding position through a rotating shaft; the wheel driving motor 1 provides a large driving torque matched with the rotation of the magnetic absorption wheels 2, and the wheel driving motor 1 and the robot vehicle body are connected through bolts, i.e. the fixed part of the wheel driving motor 1 is installed on the robot vehicle body, and the power output end thereof is connected with the magnetic absorption wheels 2, so that the magnetic absorption wheels 2 drive the robot vehicle body to move along the inspection steel bridge structure under the driving of the power provided by the wheel driving motor 1. In the drawings, the magnetic absorption wheels 2 are four in total, two in one row, each positioned and installed on the lower surface of the vehicle frame 3 at the corresponding position through a rotating shaft, and each magnetic absorption wheel 2 is driven by a 24V wheel driving motor 1, and the rotating shafts of the two magnetic absorption wheels 2 in the same row are in the same straight line. The wheel driving motor 1 according to the present application is a specific wheel driving motor for driving the magnetic absorption wheels 2, and in fact, other types of existing motors can be selected as the wheel driving motor according to the requirements.

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

[0052] The image acquisition system is used to acquire image data of the steel bridge structure surface for inspection. It includes an image processor, a camera attitude control device, and a high-definition camera. The image processor and communication system are installed in the upper terminal 5. The image processor receives and processes image data acquired by the high-definition camera 6. The camera attitude control device includes a first motor 8, a first connecting rod support 9, a second motor 10, a second telescopic connecting rod support 11, a third motor 12, and a rotatable chassis 14. The rotatable chassis 14 controls the angle and attitude of the high-definition camera 6, directing it towards the area to be inspected on the steel bridge structure surface. Figure 4 As shown, the camera posture control device of this invention is actually a robotic arm, including a first motor 8, a first linkage bracket 9, a second motor 10, a second telescopic linkage bracket 11, and a third motor 12. The fixed part of the first motor 8 is mounted on the chassis 15, and the power output end of the first motor 8 is linked to the lower end of the first linkage bracket 9. The fixed part of the second motor 10 is mounted on the upper end of the second telescopic linkage bracket 11, and the power output end of the second motor 10 is linked to the lower end of the second telescopic linkage bracket 11. The fixed part of the third motor 12 is mounted on the upper end of the second telescopic linkage bracket 11, and the power output end of the third motor 12 is linked to the high-definition camera 6. Therefore, 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 aligned with the area to be detected on the surface of the steel bridge structure, ensuring that the area to be detected on the surface of the steel bridge structure is within the field of view of the high-definition camera 6, thereby obtaining image data of the area to be detected on the surface of the steel bridge structure.

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

[0054] Step 1: 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 robot's power supply and the operation of each module.

[0055] Step II, the intelligent inspection robot is attached to the bottom of the U-rib by the magnetic attraction of the crawler belt, and moves forward by the action of the wheel driving system, and cooperates with the camera posture control device to control the camera to shoot the crack position of the U-rib; when approaching the arc-shaped gap between the transverse diaphragm and the top plate, the two laser ranging probes in front of the robot body will be detected and information will be transmitted to the communication system, and then the information will be transmitted to the upper computer terminal system by the communication system; the upper computer terminal system sends an instruction to the camera posture control device to retract the mechanical arm and the camera, so that the robot body can smoothly pass through the arc-shaped gap, and thus reciprocate;

[0056] Step III, after completing the inspection of the beam segment to be tested, the upper computer terminal sends an instruction to stop moving, and the rear steel bridge box girder top plate U-rib crack intelligent inspection robot stops at the specified position and is retrieved by the work team.

[0057] In addition, during the inspection process, the position of the current 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 transverse diaphragm can be output. By using the time matching method, the image data corresponding to the position of the current intelligent inspection robot can be obtained. Specifically, the direction of the intelligent inspection robot, the distance, and the starting time code of the collected image are aligned, so that the position of the intelligent inspection robot and the video time point can be corresponded according to different times.

[0058] The above is only a preferred specific embodiment of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art can make equivalent replacement or change according to the technical solution and the inventive concept of the present application within the technical range disclosed by the present application, which should be covered within the protection scope of the present application.

Claims

1. An intelligent inspection robot that can pass through the arc-shaped notch of the U-rib transverse diaphragm on the top plate of a 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 each integrated and deployed inside the robot body; The image acquisition system includes a high-definition camera, a camera posture control device, and an image processor; the camera posture control device and the image processor are respectively connected to a host computer terminal through a communication system. The robot body is equipped with a magnetic track walking structure, and a laser rangefinder is installed in the middle area of ​​the front end of the robot body. High-definition cameras are used to capture image data of the areas to be inspected on the surface of the steel bridge structure and can upload the captured image data to an image processor. The camera posture control device is a robotic arm with a robotic arm base at the bottom, which is mounted on the robot body via a rotatable chassis. The upper end is the power output end, which is linked and connected to the high-definition camera. Driven by the rotatable chassis, the camera attitude control device drives the high-definition camera to perform 360° dynamic rotation adjustment without blind spots. Under the control of the control commands issued by the host computer terminal, the camera attitude control device drives the high-definition camera to align with the part to be detected on the U-rib of the steel box girder, and adjusts the distance and orientation according to the commands. The image processor is used to receive and process image data acquired by the high-definition camera, and then upload the processed image data to the host computer 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 notch in the front horizontal partition, and can transmit the detected distance to the host computer terminal. The host computer terminal controls the operation of the camera attitude control device based on the distance fed back by the laser ranging probe. When the distance between 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 host computer terminal. The host computer terminal will then issue a command to the camera attitude control device to retract the robotic arm and the high-definition camera so that the robot body can pass smoothly through the arc-shaped gap.

2. The intelligent inspection robot that can pass through the arc-shaped notch of the U-rib transverse diaphragm on the top plate of the steel box girder according to claim 1, is characterized in that, The robot body includes a frame, and the bottom of the frame is equipped with a magnetic track-type walking structure; wherein: The frame includes a chassis and two transverse axles arranged parallel to each other below the chassis; The magnetic tracked walking structure includes a wheel drive motor, magnetic wheels, and magnetic tracks; The wheel drive motor is placed inside the magnetic wheel; The magnetic wheels consist of four, which are fitted one-to-one at the two ends of the two transverse axles and are linked to the power output of the wheel drive motor. The magnetic track consists of two tracks; each magnetic track covers the outer perimeter of the two magnetic wheels on the same side of the chassis.

3. The intelligent inspection robot that can pass through the arc-shaped notch of the U-rib transverse diaphragm on the top plate of the steel box girder 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 receives control commands from the host computer terminal and sends control signals to the motor control module. The motor control module receives control signals from the main control module to control the wheel drive motor. Under the power drive of the wheel drive motor, the magnetic wheels enable the robot body to 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 that can pass through the arc-shaped notch of the U-rib transverse diaphragm on the top plate of the steel box girder according to claim 3, is characterized in that, The communication system includes a wireless serial port and a Wi-Fi network card. The wireless serial port is connected to the main control module and is used by the main control module to receive control commands issued by the host computer terminal. The Wi-Fi 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 to provide positioning function for the robot body.

5. The intelligent inspection robot that can pass through the arc-shaped notch of the U-rib transverse diaphragm on the top plate of the steel box girder 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 contains two wheel drive motors.

6. The intelligent inspection robot that can pass through the arc-shaped notch of the U-rib transverse diaphragm on the top plate of the steel box girder according to claim 1, characterized in that, The camera posture control device includes a first motor, a first linkage bracket, a second motor, a second telescopic linkage bracket, and a third motor. The fixed part of the first motor is mounted on a rotatable chassis, and the power output end of the first motor is linked to the lower end of the first linkage bracket. The fixed part of the second motor is mounted on the upper end of the first linkage bracket, and the power output end of the second motor is linked to both the upper end of the first linkage bracket and the lower end of the second telescopic linkage bracket. The fixed part of the third motor is mounted on the upper end of the second telescopic linkage bracket, and the power output end of the third motor is linked to the high-definition camera.

7. A smart inspection method for detecting cracks in the U-ribs of the top plate of a steel bridge box girder, based on the smart inspection robot described in claim 1 that can detect the arc-shaped notch in the transverse diaphragm of the U-rib on the top plate of the steel box girder, characterized in that... Includes the following steps: Step 1: 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 attaches to the bottom of the U-rib using magnetic tracks. It then uses a wheel drive motor to propel the magnetic wheels forward and coordinates with a camera attitude control device to control a high-definition camera to photograph the cracked areas of the U-rib on the top plate of the steel bridge under inspection. When the distance relative to the arc-shaped gap between the diaphragm and the top plate reaches a preset value, the laser ranging probe transmits the detected distance value to the host computer terminal. The host computer terminal then issues a command to the camera attitude control device to retract the robotic arm and the high-definition camera, so that the robot body can smoothly pass through the arc-shaped gap, and repeats this process. Step III: After completing the inspection of the U-ribs on the top plate of the steel bridge to be inspected, the host computer terminal issues a stop command, and the intelligent inspection robot for cracks in the U-ribs on the top plate of the steel bridge box girder stops at the designated position and is retrieved by the work team.

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

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

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