Steel box girder crack detection vehicle automatic rail changing device and use method

Abstract

The application discloses a kind of steel box girder crack detection vehicle automatic rail changing device and method for use. Automatic rail changing device includes power transmission device, positioning device, support device and control device;Support device is fixed on the transverse diaphragm of steel box girder by magnetic attraction mode;Power transmission device includes belt conveyor and steel box chamber;Control device includes steel box chamber transmission control module and detection trolley motion control module;Positioning device includes laser ranging device and electronic positioner. The transverse bridge movement of the inspection car is realized by the belt conveyor, and the accurate rail changing of the inspection car is realized by the positioning effect of the positioning device. The utility provides a transverse bridge rail changing device for steel box girder crack detection vehicle, which is simple to operate, easy to install, greatly improves the working efficiency of the trolley, and reduces the working cost.

Description

TECHNICAL FIELD

[0001] The present application relates to a steel box girder crack detection vehicle automatic rail changing device and a use method, and belongs to the technical field of steel box girder crack detection. BACKGROUND

[0002] The orthotropic steel bridge deck is an important component of the steel box girder structure, and its fatigue problem is difficult to avoid due to the large number of welds. The fatigue problem of the orthotropic steel bridge deck presents the characteristics of universality, multiplicity and reproducibility, which leads to significant economic losses and adverse social impacts. The current crack detection methods mainly include resistance detection, ultrasonic detection and eddy current detection, and all of them are manual inspection, which has the problems of high labor intensity, low line inspection efficiency, incomplete inspection, and difficult digital display of inspection results.

[0003] With the development and in-depth application of inspection trolleys and data processing technologies in the inspection field, intelligent inspection technology has gradually begun to be applied in the field of steel box girder crack detection, which is of great significance to improve the accuracy and efficiency of steel box girder crack detection. However, the current intelligent inspection technology has some defects. First, this technology is easily affected by the steel box girder, which makes the GPS positioning signal unstable and the navigation information incorrect. Second, the current inspection trolley can only run on a single track and cannot realize automatic rail changing. SUMMARY

[0004] The present application aims to provide a steel box girder crack detection vehicle automatic rail changing device and a use method, which fixes the conveying device and the positioning device on the steel box girder through the supporting device, realizes the transverse bridge movement of the inspection trolley through the conveying device, and realizes the accurate rail changing of the inspection trolley through the positioning action of the positioning device. The device has the advantages of simple operation and easy installation, greatly improves the working efficiency of the trolley, and reduces the working cost.

[0005] To achieve the above technical purposes, the present application will adopt the following technical solutions:

[0006] A steel box girder crack detection vehicle automatic rail changing device is used to realize the transverse bridge rail changing of the detection trolley during steel box girder detection, which comprises a power conveying device, a positioning device, a supporting device and a control device.

[0007] The supporting device is fixed on the transverse bulkhead of the steel box girder by magnetic attraction;

[0008] The power conveying device comprises a belt conveying device and a steel box chamber. The belt conveying device is installed on the supporting device and arranged along the transverse direction of the steel box girder. The steel box chamber can be assembled on the belt conveying device by a detachable connection mode and conveyed back and forth along the transverse direction of the steel box girder under the power of the belt conveying device. The detection trolley is loaded in the steel box chamber.

[0009] The control device comprises a steel box chamber conveying control module and a detection trolley motion control module.

[0010] The positioning device comprises a laser ranging device and an electronic positioner; wherein:

[0011] The laser ranging device is used to detect the distance between the steel box chamber and the motor, and can transmit the detected distance to the steel box chamber conveying control module;

[0012] The electronic positioner is used to position the position between the steel box chamber and the detection trolley, and can feed back the positioned position information to the detection trolley motion control module;

[0013] The steel box chamber conveying control module judges whether the position of the steel box chamber on the conveying belt reaches the position of the preset arc-shaped notch according to the distance feedback of the laser ranging device, and stops the motor when the judgment result shows that the position of the steel box chamber on the belt conveying device reaches the position of the preset arc-shaped notch, and triggers the detection trolley motion control module to control the detection trolley to drive out of the steel box chamber;

[0014] The detection trolley motion control module controls the detection trolley to patrol the current U rib crack of the steel box girder according to the position information feedback of the electronic positioner along the preset driving track, and controls the detection trolley to drive into the steel box chamber after completing the patrol work of the current U rib crack of the steel box girder.

[0015] Preferably, the belt conveying device comprises a motor, a conveying belt, a main drive pulley and a driven pulley;

[0016] The motor is fixedly installed on the support device; the main drive pulley and the driven pulley are respectively positioned and installed on the support device; and the main drive pulley is connected with the power output end of the motor in linkage;

[0017] The conveying belt is arranged along the transverse bridge direction of the steel box girder, and is wrapped around the periphery of the main drive pulley and the driven pulley and is respectively engaged with the main drive pulley and the driven pulley.

[0018] Preferably, the support device comprises a support frame and a magnet; the support frame is overall L-shaped, comprising a transverse support frame and a vertical support frame; the motor is installed at one end of the transverse support frame, and the conveying belt is arranged along the length extension direction of the transverse support frame; the vertical support frame is connected with the transverse partition plate of the steel box girder through a magnetic strip, and a diagonal stiffening rib is arranged between the transverse support frame and the vertical support frame.

[0019] Preferably, a clamping groove is provided on the conveying belt, and a clamping buckle is provided outside the steel box chamber, and the steel box chamber and the conveying belt are connected through the clamping groove and the clamping buckle.

[0020] Preferably, the laser ranging device comprises a laser range finder and a laser reflection plate; the laser range finder comprises a laser emitter, a laser receiver and a measuring circuit; the laser emitter, the laser receiver and the measuring circuit are integrated together.

[0021] The laser range finder is installed on the motor, the laser reflection plate is installed on the steel box chamber, and the laser emitter can emit visible red laser to the laser reflection plate and be received by the laser receiver; the laser receiver can convert the received laser into an electric signal and transmit the electric signal to the measuring circuit, and then transmit the electric signal to the steel box chamber transmission control module.

[0022] Preferably, the outer surface of the laser range finder is provided with a laser range finder switch.

[0023] Preferably, the laser reflection plate is a 15*15cm diffuse reflection standard white plate.

[0024] Preferably, the motor is provided with a motor switch and a handle.

[0025] Preferably, the electronic positioner comprises an antenna unit and a receiving unit; the antenna unit is installed on the detection trolley, and the receiving unit is installed on the steel box chamber.

[0026] Another technical purpose of the present application is to provide a use method of the automatic rail changing device of the steel box girder crack detection vehicle, comprising the following steps:

[0027] Step one, rail changing device preparation:

[0028] According to the size of the detection trolley, select a steel box chamber with appropriate size; according to the working environment, determine the length of the conveyor belt and the size of the support device, and assemble the conveyor belt to the support device;

[0029] Step two, assembly of the rail changing device:

[0030] The support device is installed on the corresponding position of the steel box girder diaphragm through magnetic fixation;

[0031] The motor is installed on the support device;

[0032] The steel box chamber is assembled to the conveyor belt, and the detection trolley is driven into the steel box chamber;

[0033] The laser reflection plate is assembled on the steel box chamber;

[0034] Step three, rail inspection:

[0035] The motor is started, the steel box chamber is driven to move along the conveying belt, and the interval distance fed back by the laser range finder is used to ensure that the steel box chamber is conveyed to the position of the first arc-shaped notch, the motor is stopped, and the inspection trolley is started to drive the inspection trolley to drive out of the steel box chamber, and the position information fed back by the electronic positioner is used to control the inspection trolley to inspect the current U rib crack of the steel box girder according to the preset driving track, until the inspection of all U rib cracks of the current steel box girder is completed, the motor is controlled to rotate reversely to drive the steel box chamber to move towards the motor until the steel box chamber returns to the initial position.

[0036] Step three is repeated until the inspection of all U rib cracks of the current steel box girder is completed, the motor is controlled to rotate reversely to drive the steel box chamber to move towards the motor until the steel box chamber returns to the initial position.

[0037] Based on the above technical purposes, compared with the prior art, the present application has the following advantages:

[0038] 1、The automatic rail changing device of the steel box girder crack detection vehicle disclosed by the present application comprises a steel box chamber for loading the detection trolley, and a motor is used to realize the step-by-step conveying of the steel box chamber through the conveying belt, and the conveying step distance is the interval distance between the centers of two adjacent arc-shaped notches, so that the rail changing operation of the U rib crack inspection work of the steel box girder is realized.

[0039] 2、The automatic rail changing device of the steel box girder crack detection vehicle disclosed by the present application can realize the installation of steel box chambers of different sizes through the setting of the clamping groove and the buckle, thereby increasing the use range of the device and enhancing the flexibility of the device installation.

[0040] 3、The automatic rail changing device of the steel box girder crack detection vehicle disclosed by the present application realizes the real-time automatic monitoring of the position of the trolley by setting a laser range finder and using the laser triangulation principle to collect data in real time, and the use of the laser range finder is facilitated through the setting of a circuit, thereby improving the continuity of the work.

[0041] 4、The automatic rail changing device of the steel box girder crack detection vehicle disclosed by the present application meets the needs of different working environments through the setting of a detachable support frame, and the device is fixed without damaging the cross partition plate through the setting of a magnetic strip on the support frame. DETAILED DESCRIPTION

[0042] Figure 1 is a structural schematic view of the automatic rail changing device of the steel box girder crack detection vehicle disclosed by the present application;

[0043] Figure 2 is a structural schematic view of the automatic rail changing device of the steel box girder crack detection vehicle disclosed by the present application assembled into the steel box girder;

[0044] Figure 3 is a structural schematic view of the steel box chamber disclosed by the present application;

[0045] Figure 4 Figure is a structural schematic diagram of the laser range finder according to the present application;

[0046] Figure 5 Figure is a structural schematic diagram of the support device according to the present application;

[0047] In the figure: support device 3; motor 4; conveyor belt 5; steel box chamber 6; motor switch 7; handle 8; clamping groove 9; clamping buckle 10; laser range finder 11; electronic positioner 12; laser range finder switch 13; laser emitter 14; laser receiver 15; laser reflector 16; measurement circuit 17; antenna unit 18; receiving unit 19; support frame 20; magnetic strip 21; oblique stiffening rib 22; bolt 23; detection trolley 24. DETAILED DESCRIPTION

[0048] 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. The following description of at least one exemplary embodiment is merely illustrative in nature and in no way limits the present application and its application or use. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of the present application. Unless otherwise specified, the relative arrangement, expressions and values of the components and steps set forth in these embodiments do not limit the scope of the present application. The technology, methods and devices known to those skilled in the related art can not be discussed in detail, but should be considered as part of the specification in appropriate cases. 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 exemplary embodiments can have different values.

[0049] For ease of description, spatial relative terms such as "over", "above", "upper surface", "upper", etc. can be used herein to describe the spatial positional relationship of one device or feature with respect to other devices or features as shown in the drawings. It should be understood that the spatial relative terms are intended to include different orientations in use or operation in addition to the orientation of the device as described in the drawings. For example, if the device in the drawing 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 exemplary term "above" can include both "above" and "below" orientations. The device can also be positioned in other different ways (rotated 90 degrees or in other orientations).

[0050] As Figures 1-5The automatic rail changing device of the steel box girder crack detection vehicle of the application is used for realizing the transverse bridge rail changing of the detection vehicle during the detection of the steel box girder, and comprises a power transmission device, a positioning device, a supporting device and a control device.

[0051] The supporting device is fixed on the diaphragm of the steel box girder by magnetic attraction, and the structure can refer to the attached Figure 5 The supporting device comprises a supporting frame and a magnet, and the supporting frame is in the shape of L as a whole and comprises a transverse supporting frame and a vertical supporting frame; the vertical supporting frame is connected with the diaphragm of the steel box girder through a magnetic strip, and a diagonal stiffening rib is arranged between the transverse supporting frame and the vertical supporting frame; in the attached drawings, there are two groups of diagonal stiffening ribs, and the two groups of diagonal stiffening ribs are arranged in parallel with each other. The magnetic strip is arranged to fix the device on the diaphragm of the steel box girder without damaging the diaphragm, and the fixed connection between the vertical supporting frame and the magnetic strip can reduce the damage to the device during the disassembly process, thereby prolonging the service life of the device.

[0052] The power transmission device comprises a belt transmission device and a steel box chamber; the belt transmission device is installed on the supporting device and arranged along the transverse direction of the steel box girder, and the steel box chamber can be assembled on the belt transmission device through a detachable connection mode and transmitted back and forth along the transverse direction of the steel box girder under the power of the belt transmission device; the detection vehicle is loaded in the steel box chamber. In the application, the belt transmission device comprises a motor, a transmission belt, a main drive pulley and a driven pulley; the motor is fixedly installed on the supporting device; the main drive pulley and the driven pulley are positioned and installed on the supporting device respectively; the main drive pulley is connected with the power output end of the motor in linkage; the transmission belt is arranged along the transverse direction of the steel box girder, and the transmission belt is wrapped around the main drive pulley and the driven pulley and engaged with the main drive pulley and the driven pulley respectively. In the attached drawings, the motor is fixedly installed on one end of the transverse supporting frame through bolts, and the transmission belt is arranged along the length extension direction of the transverse supporting frame. The transmission belt is a PVC transmission belt, which is provided with a clamping groove, and the steel box chamber is provided with a buckle, and the steel box chamber and the transmission belt are connected through the clamping groove and the buckle. The motor is provided with a motor switch and a handle. The motor switch is arranged on the front side of the motor, and the handle is arranged on the top of the motor. The bolt connection mode is adopted to enhance the flexibility of the device installation, improve the application range of the device, and facilitate the disassembly of the device by the workers.

[0053] The control device comprises a steel box chamber transmission control module and a detection vehicle movement control module.

[0054] The positioning device comprises a laser ranging device and an electronic positioner.

[0055] The laser ranging device is used for detecting the distance between the steel box chamber and the motor, and can transmit the detected distance to the steel box chamber conveying control module. In the present application, the laser ranging device comprises a laser range finder and a laser reflection plate; the laser range finder comprises a laser emitter, a laser receiver and a measuring circuit; the laser emitter, the laser receiver and the measuring circuit are integrated; the laser range finder is installed on the motor, the laser reflection plate is installed on the steel box chamber, and the laser emitter can emit visible red laser to the laser reflection plate and receive it by the laser receiver; the laser range finder and the laser reflection plate are connected in a separate manner, which is convenient for disassembly and maintenance, and when the device fails, only the damaged part of the instrument or component can be replaced to retain the normal working part, thereby reducing the use cost of the device and prolonging the service life of the device. The laser receiver can convert the received laser into an electrical signal and transmit it to the measuring circuit, and then to the steel box chamber conveying control module. The outer surface of the laser range finder is provided with a laser range finder switch. The laser reflection plate is a 15*15cm standard white diffuse reflection plate, which is connected by bolts to ensure the position of the laser reflection plate fixed and avoid affecting the accuracy of data acquisition due to its deviation.

[0056] The electronic positioner is used for positioning the position between the steel box chamber and the detection trolley, and can feed back the positioned position information to the detection trolley motion control module. In the drawing, the electronic positioner comprises an antenna unit and a receiving unit; the antenna unit is installed on the detection trolley, and the receiving unit is installed on the steel box chamber.

[0057] The steel box chamber conveying control module judges whether the position of the steel box chamber on the conveying belt reaches the position of the preset arc-shaped notch according to the distance fed back by the laser ranging device, and when the judgment result shows that the position of the steel box chamber on the conveying belt reaches the position of the preset arc-shaped notch, the motor is stopped, and the detection trolley motion control module is triggered to control the detection trolley to drive out of the steel box chamber.

[0058] The detection trolley motion control module controls the detection trolley to patrol the current U rib crack of the steel box girder according to the position information fed back by the electronic positioner, and after the patrol work of the current U rib crack of the steel box girder is completed, the detection trolley is controlled to drive into the steel box chamber.

[0059] Another technical purpose of the present application is to provide a use method of the steel box girder crack detection vehicle automatic rail changing device, which comprises the following steps:

[0060] Step one, rail changing device preparation:

[0061] According to the size of the detection trolley, a steel box chamber with appropriate size is selected; according to the working environment, the length of the conveying belt and the size of the supporting device are determined, and the conveying belt is assembled to the supporting device;

[0062] Step two, assembly of the rail changing device:

[0063] The support device is installed on the corresponding position of the steel box beam diaphragm by magnetic fixation;

[0064] The motor is installed on the support device;

[0065] The steel box chamber is assembled on the conveying belt, and the detection trolley is driven into the steel box chamber;

[0066] The laser reflection plate is assembled on the steel box chamber;

[0067] Step three, change the track and patrol:

[0068] The actual position of the steel box chamber is measured in real time by the laser triangulation principle (laser range finder), the relative position of the detection trolley and the steel box chamber is positioned in real time by the electronic positioner, and is uploaded to the control device, and after processing by the control device, the motor is controlled to drive the conveying belt and the steel box chamber on the conveying belt to run, realizing the lateral change of the trolley track.

[0069] Specifically, the motor is started to drive the steel box chamber to move along the conveying belt, and the interval feedback by the laser range finder ensures that the steel box chamber is conveyed to the position of the first arc-shaped gap, the motor is stopped, and the patrol trolley is started to drive the patrol trolley out of the steel box chamber, and the position information feedback by the electronic positioner controls the detection trolley to patrol the current U rib crack of the steel box beam according to the preset driving track, until the detection trolley completes the patrol of the current U rib crack of the steel box beam, the detection trolley is controlled to drive into the steel box chamber;

[0070] Repeat step three until all U rib cracks of the current steel box beam are patrolled, and the motor is controlled to rotate in reverse to control the steel box chamber to move towards the motor until the steel box chamber returns to the initial position.

[0071] The electrical components appearing in this paper are connected with the main controller and 220V mains, and the main controller can be a computer or other conventional known device that can be controlled.

[0072] In summary, the steel box beam crack detection vehicle automatic track changing device and the use method have the following advantages: first, by setting the connection between the conveying belt and the support frame, the motor and the conveying belt, the flexibility of device installation is enhanced, the application range of the device is improved, and the device is convenient for workers to disassemble.

[0073] Second, the laser range finder, the motor, and the steel box chamber are connected in a separate manner, which is convenient for disassembly and maintenance. When the device fails, only the damaged parts can be replaced, and the normal working parts can be retained, thereby reducing the use cost of the device and improving the service life of the device.

[0074] Thirdly, the laser ranging device measures the actual position of the steel box chamber in real time through the laser triangulation principle, while the electronic positioner detects the relative position of the detection trolley and the steel box chamber in real time and uploads it to the data analysis system, and after processing by the data analysis system, the system sends down a command to control the motor to drive the conveyor belt and the steel box chamber on the conveyor belt to run, thereby realizing the lateral rail change of the trolley.

[0075] Fourthly, the device can be fixed on the cross diaphragm without damaging the cross diaphragm by setting the magnetic strip, and the damage to the device during disassembly can be reduced by setting the fixed connection between the vertical support frame and the magnetic strip, thereby prolonging the service life of the device.

[0076] Fifthly, the laser reflector plate and the steel box chamber are connected by bolts, which ensures the position of the laser reflector plate is fixed and avoids affecting the accuracy of data collection due to the offset of the laser reflector plate.

[0077] The above is only a preferred specific embodiment of the present application, but the protection scope of the present application is not limited to this. Any person skilled in the art can make equivalent replacements or changes within the technical scope disclosed in the present application according to the technical solution and the inventive concept of the present application, which should be covered within the protection scope of the present application.

Claims

1. A steel box girder crack detection vehicle automatic rail changing device for realizing transverse bridge rail changing of a detection trolley during steel box girder detection, characterized in that, The utility model relates to a steel box girder crack detection device, including: power transmission device, positioning device, support device and control device, wherein: The support device is fixed on the cross diaphragm of the steel box girder by magnetic attraction; The power transmission device includes a belt transmission device and a steel box chamber; the belt transmission device is installed on the support device and arranged along the transverse direction of the steel box girder, and the steel box chamber can be assembled on the belt transmission device by detachable connection and conveyed back and forth along the transverse direction of the steel box girder under the power of the belt transmission device; the detection trolley is loaded in the steel box chamber; The control device includes a steel box chamber transmission control module and a detection trolley movement control module; The positioning device includes a laser ranging device and an electronic positioner; wherein: The laser ranging device is used to detect the distance between the steel box chamber and the motor and can transmit the detected distance to the steel box chamber transmission control module; The electronic positioner is used to locate the position between the steel box chamber and the detection trolley and can feed back the located position information to the detection trolley movement control module; The steel box chamber transmission control module judges whether the position of the steel box chamber on the belt reaches the position of the preset arc-shaped notch according to the distance feedback from the laser ranging device, stops the motor when the judgment result shows that the position of the steel box chamber on the belt reaches the position of the preset arc-shaped notch, and triggers the detection trolley movement control module to control the detection trolley to drive out of the steel box chamber; The detection trolley movement control module controls the detection trolley to inspect the current U-rib crack of the steel box girder according to the preset driving track through the position information feedback from the electronic positioner, and drives the detection trolley into the steel box chamber after completing the inspection work of the current U-rib crack of the steel box girder. The belt transmission device includes a motor, a transmission belt, a main drive pulley and a driven pulley; 2. The automatic rail changing device of the steel box girder crack detection vehicle according to claim 1, characterized in that, The motor is fixedly installed on the support device; the main drive pulley and the driven pulley are positioned and installed on the support device; The main drive pulley is connected with the power output end of the motor; The transmission belt is arranged along the transverse direction of the steel box girder, and is wrapped around the main drive pulley and the driven pulley and engaged with them. The support device includes a support frame and a magnet; the support frame is L-shaped as a whole and includes a horizontal support frame and a vertical support frame; the motor is installed at one end of the horizontal support frame, and the transmission belt is arranged along the length extension direction of the horizontal support frame; the vertical support frame is connected with the cross diaphragm of the steel box girder through a magnetic strip, and a diagonal stiffening rib is arranged between the horizontal support frame and the vertical support frame.

3. The automatic rail changing device of the steel box girder crack detection vehicle according to claim 2, characterized in that, A clamping groove is arranged on the transmission belt, and a clasp is arranged outside the steel box chamber; the steel box chamber and the transmission belt are connected through the clamping groove and the clasp.

4. The automatic rail changing device of the steel box girder crack detection vehicle according to claim 3, characterized in that, The laser ranging device includes a laser range finder and a laser reflector; the laser range finder includes a laser emitter, a laser receiver and a measurement circuit; the laser emitter, the laser receiver and the measurement circuit are integrated.

5. The automatic rail changing device of the steel box girder crack detection vehicle according to claim 4, characterized in that, ​ The laser range finder is installed on the motor, the laser reflection plate is installed on the steel box chamber, and the laser transmitter can emit visible red laser to the laser reflection plate and be received by the laser receiver; the laser receiver can convert the received laser into an electrical signal and transmit it to the measurement circuit and then to the steel box chamber transmission control module.

6. The automatic rail changing device of the steel box girder crack detection vehicle according to claim 5, characterized in that, The outer surface of the laser range finder is provided with a laser range finder switch.

7. The automatic rail changing device of the steel box girder crack detection vehicle according to claim 5, characterized in that, The laser reflection plate is a 15*15cm diffuse reflection standard white board.

8. The automatic rail changing device of the steel box girder crack detection vehicle according to claim 7, characterized in that, The motor is provided with a motor switch and a handle.

9. The automatic rail changing device of the steel box girder crack detection vehicle according to claim 1, wherein, The electronic locator includes an antenna unit and a receiving unit; the antenna unit is installed on the detection trolley, and the receiving unit is installed on the steel box chamber.

10. A method of using the automatic rail changing device of the steel box girder crack detection vehicle according to any one of claims 1-9, characterized in that, The method comprises the following steps: Step one, rail changing device preparation: Select a steel box chamber with appropriate size according to the size of the detection trolley; determine the length of the conveyor belt and the size of the support device according to the working environment, and assemble the conveyor belt to the support device; Step two, assembly of the rail changing device: Install the support device to the corresponding position on the steel box beam cross plate by magnetic fixation; Install the motor to the support device; Assemble the steel box chamber to the conveyor belt, and drive the detection trolley into the steel box chamber; Assemble the laser reflection plate on the steel box chamber; Step three, rail changing inspection: Start the motor to drive the steel box chamber to move along the conveyor belt, and ensure that the steel box chamber is transmitted to the position of the first arc-shaped gap by the interval feedback of the laser range finder, stop the motor operation, and start the inspection trolley, so that the inspection trolley drives out of the steel box chamber, and the position information feedback by the electronic locator controls the detection trolley to inspect the current U rib crack of the steel box beam according to the preset driving track, until the inspection of the current U rib crack of the steel box beam is completed, the detection trolley drives into the steel box chamber; Repeat step three until all U rib cracks of the current steel box beam are inspected, control the motor to rotate reversely to control the steel box chamber to move towards the motor, until the steel box chamber returns to the initial position.

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