Box girder bridge disease self-adaptive detection device and method based on line-area array camera

Abstract

The invention relates to the technical field of bridge detection, and discloses a line-area array camera-based box girder bridge disease self-adaptive detection device and method.The line-area array camera-based box girder bridge disease self-adaptive detection device comprises a vehicle body device, a truss, a hydraulic lifting system, a working platform and a horizontal truss sliding rail, the working state of the working platform carried on the hydraulic lifting system can be adjusted according to the shape of an actual box-type bridge piece, the height of the working platform can be flexibly changed, a camera has a fixed shooting object distance, the working distance of the camera does not need to be adjusted, the working continuity of the camera is ensured, and the shooting quality of the camera is improved. The detection precision of the working platform is effectively improved; and meanwhile, the hydraulic lifting system and the working platform are fixed on the horizontal truss slide rail, so that the problems of working platform loss and shooting quality reduction caused by deflection of the driving of the bridge inspection vehicle are prevented, and the working efficiency and the detection quality of the bridge inspection vehicle are greatly improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of bridge detection, and in particular relates to a device and method for adaptively detecting defects of box girder bridges based on a line-area array camera. Background Art

[0002] As my country is committed to building a strong transportation country and continuously improving its transportation infrastructure, the number of bridges in newly built highways and high-speed railway networks has increased rapidly, resulting in the need for regular maintenance and inspection of many road bridges. First of all, traditional bridge beam bottom inspection mainly relies on large inspection vehicles, which operate the release, rotation and extension of the inspection arm to send inspectors to the bottom of the bridge for work. However, manual inspection is labor-intensive and time-consuming, and there are problems such as difficult for inspectors to reach some locations and corresponding safety hazards. As time goes by, the quality of inspectors' work will gradually become unstable. Therefore, the demand for unmanned inspection of bridge defects has risen sharply.

[0003] Secondly, the detection equipment currently on the market is mainly suitable for plate-type cross-section bridges, whose cross-section structure is simple and the detection range is relatively flat. In continuous beam bridges, when the span is large, the box section is the most suitable cross-section form. At the same time, the specific cross-section design of the box section will vary depending on factors such as the width of the bridge deck and the construction method.

[0004] Finally, the image quality of unmanned bridge inspection vehicles is affected by factors such as the physical location of the camera and the distance between the camera and the object. Traditional layout methods may result in a limited camera field of view, which in turn affects the image quality and accuracy of the inspection results, limiting the ability to thoroughly inspect defects in box-section bridges. Summary of the invention

[0005] The purpose of the present invention is to overcome the above problems and provide a box girder bridge defect adaptive detection device and method based on line-area array camera, which can overcome the problems of complex box-type cross-section bridge structure, limited camera field of view and time-consuming and labor-intensive manual inspection.

[0006] In order to achieve the above object, the present invention adopts the following technical solution: The present invention provides a box girder bridge disease adaptive detection device based on a line-area array camera, comprising a vehicle body device, a working platform, a truss and a hydraulic lifting system, wherein the truss is installed on the vehicle body device; the truss comprises a horizontal truss, a horizontal truss slide rail is arranged on the horizontal truss, a hydraulic lifting system is slidably arranged on the horizontal truss slide rail, and a working platform is installed above the hydraulic lifting system; The working platform comprises a platform, a pressure wheel execution system and a main camera are arranged on the platform, the working platform comprises a first working platform and a second working platform, and two web collecting devices are symmetrically installed at both ends of the first working platform; The belly plate acquisition device comprises a belly spreading camera system, which is symmetrically mounted at the centers of both ends of the first working platform, and a secondary camera is arranged on the belly spreading camera system.

[0007] A further improvement of the present invention is that the pressure wheel execution system includes a pressure wheel, a spring, a cylinder, a pressure wheel support and a guide rail bearing, the pressure wheel is connected to the cylinder, the spring is connected to the pressure wheel, the pressure wheel support is arranged on a cross guide rail, and the guide rail bearing is connected to the cross guide rail.

[0008] A further improvement of the present invention is that the camera belly expansion system includes a first-level telescopic arm, a second-level telescopic arm and a third-level telescopic arm, a secondary camera is installed on the midline of the first-level telescopic arm, the secondary camera moves along the guide rail on the first-level telescopic arm, a pressure wheel execution system is installed on the upper end of the first-level telescopic arm, the first-level telescopic arm and the second-level telescopic arm are arranged to be hinged, and the first-level telescopic arm, the second-level telescopic arm and the third-level telescopic arm are connected in sequence.

[0009] A further improvement of the present invention is that the web collecting device also includes a tilting claw, which includes a lifting frame motor, a lifting frame, a tilting clamp, a cross guide rail, a screw guide rail, a clamping wheel, a clamping wheel slot and a plum blossom coupling. The lifting frame motor is fixedly arranged on the platform, the lifting frame is installed above the lifting frame motor through the screw guide rail, the cross guide rail is arranged above the lifting frame, the tilting clamp is installed above the cross guide rail, a clamping wheel slot is installed above the tilting clamp, a clamping wheel is arranged on the clamping wheel slot, the tilting clamp and the clamping wheel jointly clamp the box girder foot, and the plum blossom coupling is installed on the outside of the lifting frame motor.

[0010] A further improvement of the present invention is that the truss further comprises a folding frame, a down-extending truss and a rotating frame, one end of the folding frame is fixed to the vehicle body device, the other end of the folding frame is connected to one end of the down-extending truss, the other end of the down-extending truss is connected to the rotating frame, the rotating frame is connected to the horizontal truss, and a rotating motor and a compensation device are arranged on the rotating frame; The horizontal truss is provided with a horizontal telescopic hydraulic cylinder and a folding cylinder, and the folding cylinder connects the horizontal truss and the rotating frame.

[0011] A further improvement of the present invention is that the compensation device includes an input shaft, an end cover, a gear flange, a transmission gear, a transmission rod, a locking structure, a rod end cover and an output shaft, the input shaft is connected to the gear flange and the motor, the gear flange is mounted with a transmission gear, the transmission gear is connected to the transmission rod, the transmission rod is connected to the locking structure, the locking structure is used to fix the transmission rod, the outer end of the transmission rod is provided with a rod end cover, the outer side of the compensation device is provided with an end cover, and the output shaft is provided below the compensation device.

[0012] A further improvement of the present invention is that a bottom plate collection device is provided on the first working platform, and a flange plate collection device is provided on the second working platform, and the bottom plate collection device and the flange plate collection device are both located at the center of the platform.

[0013] A further improvement of the present invention is that the bottom plate acquisition device includes a cross guide rail, a main camera and a pressure wheel execution system, the main camera is arranged at the upper end of the guide rail bearing, and the pressure wheel execution system is installed above the cross guide rail.

[0014] A further improvement of the present invention is that a camera battery is installed on the platform.

[0015] The present invention also provides a box girder bridge disease adaptive detection method based on a line-area array camera, comprising the following steps: Step 1: Stop the vehicle body device beside the guardrail of the box-type bridge to be inspected, extend the horizontal truss into the bridge hole and be parallel to the vehicle body device, and move the working platform on the horizontal truss slide rail through the hydraulic lifting system and position it to the inspection position; Step 2: Adjust the height of the working platform through the hydraulic lifting system so that the pressure wheel actuator system on the working platform touches the bottom of the bridge, start the main camera in standby mode, and control the deployment of the camera belly deployment system so that the auxiliary camera reaches the shooting position, thus completing the construction of the image acquisition working environment; Step three, start the vehicle body device to start detection, the main camera and the auxiliary camera start working, after completing the image data collection of a box beam piece, the vehicle body device moves backward, the horizontal truss continues to extend to the next beam piece to collect the image, all the image collection is completed, and the disease information is analyzed based on the image data.

[0016] Compared with the prior art, the present invention has the following beneficial effects: The present invention provides an adaptive box girder bridge defect detection device based on a line-area array camera. By installing a truss on a vehicle body device, a stable supporting foundation is provided for the entire detection system. The hydraulic lifting system can adjust the working environment of a working platform according to the shape of an actual box-type bridge piece, and flexibly adjust the height of the working platform, so that the camera has a fixed shooting object distance, and there is no need to adjust the camera working distance, thereby ensuring the continuity of the camera's work, improving the camera's shooting quality, and effectively improving the detection accuracy of the working platform; at the same time, the hydraulic lifting system and the working platform are fixed on a horizontal truss slide rail to prevent the problem of loss of the working platform and degradation of shooting quality due to deviation of the bridge inspection vehicle during driving, thereby greatly improving the work efficiency and detection quality of the bridge inspection vehicle.

[0017] Furthermore, a compensation device is provided on the rotating frame, which can effectively prevent the reverse torque generated between the horizontal truss and the downward truss due to inertia when the vehicle body device moves. Through the designed gear set, the reverse gear can generate a torque opposite to the load torque, thereby achieving balance. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings described herein are only for explanation purposes and are not intended to limit the scope of the present invention in any way. In addition, the shapes and proportional dimensions of the various components in the drawings are only schematic, used to help understand the present invention, and are not intended to specifically limit the shapes and proportional dimensions of the various components of the present invention.

[0019] Figure 1 It is a schematic diagram of the overall structure of the detection device of the present invention; Figure 2 It is the general assembly drawing of the working platform of the present invention; Figure 3 It is a structural diagram of the camera belly deployment system of the present invention; Figure 4 It is a structural diagram of the pressure wheel execution system of the present invention; Figure 5 This is a structural diagram of the tilting claw of the present invention; Figure 6 It is a layout diagram on the detection truss of the present invention; Figure 7 It is a structural diagram of the compensation device of the present invention; Figure 8 For the present invention Figure 1 A partial enlarged view of .

[0020] Among them: 1. Car body device; 2. Working platform; 3. Truss; 4. Pressure wheel; 5. Lifting frame motor; 6. Lifting frame; 7. Camera battery; 8. Platform; 9. Tilt fixture; 10. Cross guide rail; 11. Screw guide rail; 12. Main camera; 13. Auxiliary camera; 14. Three-stage telescopic arm; 15. Secondary telescopic arm; 16. First-stage telescopic arm; 17. Hydraulic lifting system; 18. Horizontal truss slide rail; 19. Spring; 20. Cylinder; 21. Pressure wheel support; 22. Guide bearing; 23. Clamp wheel; 24. Clamp wheel slot; 25. Bottom plate; 26. Web plate; 27. Flange plate; 28. Folding frame; 29. ​​Lower Extension truss; 30. Rotating motor; 31. Rotating frame; 32. Horizontal truss; 33. Camera belly extension system; 34. Pressure wheel execution system; 35. Tilt claw; 36. Plum coupling; 37. Second working platform; 38. Horizontal telescopic hydraulic cylinder; 39. Compensation device; 40. Folding cylinder; 41. Input shaft; 42. End cover; 43. Gear flange; 44. Transmission gear; 45. Transmission rod; 46. Locking structure; 47. Rod end cover; 48. Output shaft; 49. First working platform; 50. Bottom plate collection device; 51. Web plate collection device; 52. Flange plate collection device; 53. Slide rail bracket. DETAILED DESCRIPTION

[0021] The present invention is further described in detail below in conjunction with the accompanying drawings: like Figure 1 As shown, the present invention provides an adaptive detection device for box girder bridge defects based on a line-area array camera, which is mainly used to detect the bottom plate 25, web plate 26 and flange plate 27 of the box girder bridge. The detection device includes a vehicle body device 1, a working platform 2, a truss 3 and a hydraulic lifting system 17. The truss 3 is installed on the vehicle body device 1, and the truss 3 is unfolded to send the working platform 2 into the bridge hole.

[0022] The truss 3 includes a folding frame 28, a downward truss 29, a rotating frame 31 and a horizontal truss 32. One end of the folding frame 28 is fixed on the vehicle body device 1, and the other end of the folding frame 28 is connected to one end of the downward truss 29, and the other end of the downward truss 29 is connected to the rotating frame 31. The rotating frame 31 is connected to the horizontal truss 32. A rotating motor 30 and a compensation device 39 are provided on the rotating frame 31. The rotating motor 30 is used to drive the rotating frame 31 to drive the horizontal truss 32 to rotate. The horizontal truss 32 is arranged parallel to the vehicle body device 1, and the working platform 2 can move with the extension and retraction of the horizontal truss 32.

[0023] The horizontal truss 32 is provided with a horizontal truss slide rail 18, a horizontal telescopic hydraulic cylinder 38 and a folding cylinder 40. The horizontal truss slide rail 18 is slidably provided with a hydraulic lifting system 17. A working platform 2 is installed above the hydraulic lifting system 17. The hydraulic lifting system 17 can control the lifting and lowering of the working platform 2. The working platform 2 establishes a working environment for image acquisition; the horizontal telescopic hydraulic cylinder 38 is located at the bottom of the side of the horizontal truss 32, and is used to control the extension and retraction of the horizontal truss 32; the folding cylinder 40 connects the horizontal truss 32 and the rotating frame 31.

[0024] like Figure 1 and Figure 2 As shown, the working platform 2 includes a first working platform 49 and a second working platform 37. The first working platform 49 and the second working platform 37 are respectively arranged on the horizontal truss 32 through the hydraulic lifting system 17. The horizontal distance between the first working platform 49 and the second working platform 37 is fixed.

[0025] The first working platform 49 includes a platform 8, a bottom plate acquisition device 50 and a web acquisition device 51. The bottom plate acquisition device 50 is installed at the center of the platform 8. Two web acquisition devices 51 are provided. The two web acquisition devices 51 are installed at both ends of the platform 8 and are symmetrically arranged. The bottom plate acquisition device 50 is responsible for acquiring images of the bottom plate 25, and the web acquisition device 51 is responsible for acquiring images of the web 26.

[0026] The second working platform 37 includes a platform 8 and a flange plate acquisition device 52 . The flange plate acquisition device 52 is installed at the center of the platform 8 . The flange plate acquisition device 52 is responsible for acquiring images of the flange plates 27 . The flange plate acquisition device 52 and the bottom plate acquisition device 50 have the same structure.

[0027] like Figure 2 As shown, the abdominal plate acquisition device 51 includes a camera abdominal spreading system 33 and a tilting claw 35 , both of which are installed on the platform 8 , and the camera abdominal spreading system 33 is located in the middle of the tilting claw 35 .

[0028] See also Figure 1 , Figure 2 and Figure 3The camera belly deployment system 33 includes a primary telescopic arm 16, a secondary telescopic arm 15 and a tertiary telescopic arm 14, which are connected in sequence. The secondary telescopic arm 15 and the tertiary telescopic arm 14 are responsible for the deployment and retraction of the two belly cameras. The primary telescopic arm 16 fixedly supports the camera belly deployment system 33. The secondary telescopic arm 15 extends its arm span close to the bottom of the box girder and crosses the bottom foot of the box girder. The primary telescopic arm 16 and the secondary telescopic arm 15 are arranged to be hinged, and the angle of the primary telescopic arm 16 can be adjusted. A secondary camera 13 and a pressure wheel execution system 34 are installed on the center line of the primary telescopic arm 16. The pressure wheel execution system 34 is located on the outside of the secondary camera 13. The secondary camera 13 is assisted in positioning by the belly deployment system. The secondary camera 13 moves along the guide rail on the primary telescopic arm 16, and cooperates with the main camera 12 on the first working platform 49 and the second working platform 37 to complete the integrated defect detection of the bottom plate 25, the web plate 26 and the flange plate 27 of the box girder.

[0029] See also Figure 2 and Figure 5 The platform 8 is symmetrically provided with tilting claws 35 on both sides. The tilting claws 35 include a lifting frame motor 5, a lifting frame 6, a tilting fixture 9, a cross guide rail 10, a lead screw guide rail 11, a clamping wheel 23, a clamping wheel slot 24 and a plum blossom coupling 36. The lifting frame motor 5 is fixedly arranged on the platform 8. The lifting frame 6 is installed above the lifting frame motor 5 through the lead screw guide rail 11. The cross guide rail 10 is arranged above the lifting frame 6. The tilting fixture 9 is installed above the cross guide rail 10. The position can be fine-tuned by the cross guide rail 10. A clamping wheel slot 24 is installed above the tilting fixture 9. Slot 24, the tilting clamp 9 provides support for the clamping wheel slot 24, and the clamping wheel slot 24 is provided with a clamping wheel 23. The tilting clamp 9 and the clamping wheel 23 clamp the box beam foot together. The plum blossom coupling 36 is installed on the outside of the lifting frame motor 5, which can provide power for the lifting frame motor 5, drive the screw guide rail 11 to rise, and then drive the lifting frame 6 to rise. The screw guide rail 11 is retractable, and the screw guide rail 11 is directly connected to the electric servo cylinder, which controls the extension and retraction of the lifting frame 6. The tilting claws 35 grasp the box beam feet to provide support for the camera belly deployment system 33 on both sides.

[0030] Another example Figure 2 As shown, a camera battery 7 is installed on the platform 8, and the camera battery 7 provides power for the main camera 12 and the auxiliary camera 13.

[0031] See also Figure 4, Structural diagram of the pressure wheel execution system, the pressure wheel execution system 34 includes a pressure wheel 4, a spring 19, a cylinder 20, a pressure wheel support 21 and a guide bearing 22. The pressure wheel 4 is connected to the cylinder 20, and the pressure wheel 4 is driven by the movement of the cylinder 20. The spring 19 is connected to the pressure wheel 4 to achieve a buffering effect. The pressure wheel support 21 is set on the cross guide 10 to support and fix the pressure wheel 4. The guide bearing 22 is connected to the cross guide 10 to ensure that the main camera 12 runs smoothly on the cross guide 10. Before starting work, the pressure wheel 4 first contacts the bottom surface of the box beam. After contact, the spring 19 resists the pressure, the cylinder 20 moves up and down to stabilize the pressure, and the pressure wheel support 21 provides support; when the bridge inspection vehicle deviates during driving, the pressure wheel 4 is subjected to force, so that the hydraulic lifting system 17 moves on the horizontal truss slide rail 18, and the working platform 2 is balanced again and will not be damaged.

[0032] like Figure 1 , Figure 6 and Figure 7 As shown, a rotating motor 30 and a compensation device 39 are installed on the rotating frame 31. The compensation device 39 is used to prevent the horizontal truss 32 from generating a counter-torque when the vehicle body device 1 moves. The compensation device 39 includes an input shaft 41, an end cover 42, a gear flange 43, a transmission gear 44, a transmission rod 45, a locking structure 46, a rod end cover 47 and an output shaft 48. The input shaft 41 is connected with the gear flange 43 and the motor. The gear flange 43 is installed with a transmission gear 44. The transmission gear 44 is connected with a transmission rod 45. The transmission rod 45 is connected with a locking structure 46. The locking structure 46 is used to fix the transmission rod 45 to prevent loosening due to vibration and impact. The outer end of the transmission rod 45 is provided with a rod end cover 47. The outer side of the compensation device 39 is provided with an end cover 42 to prevent impurities from entering and protect internal components. An output shaft 48 is provided below the compensation device 39 to output power and achieve compensation purposes.

[0033] See also Figure 6 The horizontal truss 32 is provided with a horizontal telescopic hydraulic cylinder 38 and a folding cylinder 40 . The folding cylinder 40 is used to fold the horizontal truss 32 , and the horizontal telescopic hydraulic cylinder 38 controls the telescopic movement of the horizontal truss 32 .

[0034] A telescopic rod is arranged inside the horizontal truss 32 , a first displacement sensor is arranged on the leftmost side of the telescopic rod, and a second displacement sensor is arranged on the upper side of the telescopic rod.

[0035] See also Figure 8A slide rail bracket 53 is provided on the horizontal truss 32, and a horizontal truss slide rail 18 is provided on the slide rail bracket 53. The hydraulic lifting system 17 and the working platform 2 installed thereon are fixedly installed on the horizontal truss slide rail 18. The horizontal truss slide rail 18 can prevent the bridge inspection vehicle from deviating during driving and causing damage to the working platform and reduced shooting quality. The two hydraulic lifting systems 17 are fixed in horizontal positions, and the hydraulic lifting systems 17 slide on the horizontal truss slide rail 18 through the slide rail bracket 53.

[0036] The present invention also provides a box girder bridge disease adaptive detection method based on a line-area array camera, comprising the following steps: Step 1, unfolding of the bridge inspection vehicle before inspection: stop the vehicle body device 1 at the guardrail of the inspected bridge, control the rotating frame 31 and the horizontal truss 32 to a position exceeding the bottom surface of the beam slab through the downward truss 29, drive the horizontal truss 32 to fold, start the rotating motor 30 at the rotating frame 31 to control the rotating frame 31 to drive the horizontal truss 32 to rotate, and make the retractable horizontal truss 32 parallel to the vehicle body device 1, and install the first working platform 49 and the second working platform 37 on the horizontal truss slide rail 18 of the horizontal truss 32 through the hydraulic lifting system 17, and move the first working platform 49 and the second working platform 37 with the extension and retraction of the horizontal truss 32, and control the arrival at the inspection position through the first displacement sensor.

[0037] Step 2: Setting up the working environment for image data acquisition and detection: the hydraulic lifting system 17 adjusts the position of the working platform 2 installed thereon, and obtains the distance between the working platform 2 and the base plate through the second displacement sensor. After it reaches a certain height, the cross guide rail 10 installed on the platform 8 adjusts the position of the platform 8, the pressure wheel 4 first contacts the bottom of the bridge, the tilting claw 35 clamps the bottom angle of the box girder, the camera belly expansion system 33 is unfolded, and the main camera 12 and the auxiliary camera 13 are in standby mode.

[0038] Step three, start image acquisition: start the bridge inspection vehicle to start inspection, the main camera 12 and the auxiliary camera 13 start working, when the working platform 2 moves along the bottom of the box beam and generates vibration, the pressure wheel 4 drives the spring 19 to move up and down to reduce the impact of the vibration on the working platform 2, and the compensation device 39 plays a compensating role to prevent the horizontal truss 32 from generating a torque release effect. During image acquisition, the main camera 12 and the auxiliary camera 13 capture and collect image information, and the working platform 2 is installed on the horizontal truss slide rail 18 through the hydraulic lifting system 17. The horizontal positions of the first working platform 49 and the second working platform 37 are relatively fixed. When the bridge inspection vehicle deviates during driving, the pressure wheel 4 on the camera belly expansion system 33 is stressed, and the working platform 2 and the hydraulic lifting system 17 will slide accordingly on the horizontal truss slide rail 18 to prevent damage to the working platform 2 and the image shooting quality.

[0039] Step 4, image data analysis: After completing the image data acquisition and detection of a box beam piece, the vehicle body device 1 moves backward, and the horizontal truss 32 continues to extend to the next beam piece, and continues the acquisition of the next beam piece; when all the acquisitions are completed, the captured image data is imported into the image acquisition card, and these image data are processed later to analyze and obtain the disease information.

[0040] The above content is a further detailed description of the present invention. It cannot be determined that the specific implementation methods of the present invention are limited to these. For ordinary technicians in the technical field to which the present invention belongs, without departing from the concept of the present invention, they can also make several simple deductions or substitutions, which should be regarded as belonging to the protection scope of the present invention determined by the submitted claims.

Claims

1. An adaptive detection device for box girder bridge defects based on line-area array cameras, characterized in that: The vehicle comprises a vehicle body device (1), a working platform (2), a truss (3) and a hydraulic lifting system (17), wherein the truss (3) is mounted on the vehicle body device (1); the truss (3) comprises a horizontal truss (32), a horizontal truss slide rail (18) is arranged on the horizontal truss (32), a hydraulic lifting system (17) is slidably arranged on the horizontal truss slide rail (18), and a working platform (2) is mounted above the hydraulic lifting system (17); The working platform (2) comprises a platform (8), on which a pressure wheel execution system (34) and a main camera (12) are arranged, and the working platform (2) comprises a first working platform (49) and a second working platform (37), and two web collecting devices (51) are symmetrically installed at both ends of the first working platform (49); The belly plate acquisition device (51) comprises a belly camera system (33), wherein the belly camera system (33) is symmetrically mounted at the centers of both ends of the first working platform (49), and a secondary camera (13) is arranged on the belly camera system (33).

2. The box girder bridge defect adaptive detection device based on line-area array camera according to claim 1, characterized in that: The pressure wheel actuator system (34) comprises a pressure wheel (4), a spring (19), a cylinder (20), a pressure wheel support (21) and a guide rail bearing (22); the pressure wheel (4) is connected to the cylinder (20); the spring (19) is connected to the pressure wheel (4); the pressure wheel support (21) is arranged on a cross guide rail (10); and the guide rail bearing (22) is connected to the cross guide rail (10).

3. The box girder bridge defect adaptive detection device based on line-area array camera according to claim 1, characterized in that: The camera belly deployment system (33) comprises a primary telescopic arm (16), a secondary telescopic arm (15) and a tertiary telescopic arm (14); a secondary camera (13) is installed on the midline of the primary telescopic arm (16); the secondary camera (13) moves along a guide rail on the primary telescopic arm (16); a pressure wheel execution system (34) is installed at the upper end of the primary telescopic arm (16); the primary telescopic arm (16) and the secondary telescopic arm (15) are arranged to be hinged; the primary telescopic arm (16), the secondary telescopic arm (15) and the tertiary telescopic arm (14) are connected in sequence.

4. The box girder bridge disease adaptive detection device based on line-area array camera according to claim 1, characterized in that: The web collecting device (51) further comprises a tilting claw (35), the tilting claw (35) comprising a lifting frame motor (5), a lifting frame (6), a tilting fixture (9), a cross guide rail (10), a lead screw guide rail (11), a clamping wheel (23), a clamping wheel slot (24) and a plum blossom coupling (36), the lifting frame motor (5) being fixedly arranged on the platform (8), the lifting frame (6) being mounted above the lifting frame motor (5) via the lead screw guide rail (11), the cross guide rail (10) being arranged above the lifting frame (6), the tilting fixture (9) being mounted above the cross guide rail (10), a clamping wheel slot (24) being arranged above the tilting fixture (9), a clamping wheel slot (24) being arranged on the clamping wheel slot (24), the tilting fixture (9) and the clamping wheel (23) jointly clamping the box beam foot, and the plum blossom coupling (36) being mounted on the outside of the lifting frame motor (5).

5. The box girder bridge disease adaptive detection device based on line-area array camera according to claim 1, characterized in that: The truss (3) further comprises a folding frame (28), a downwardly extending truss (29) and a rotating frame (31); one end of the folding frame (28) is fixed to the vehicle body device (1); the other end of the folding frame (28) is connected to one end of the downwardly extending truss (29); the other end of the downwardly extending truss (29) is connected to the rotating frame (31); the rotating frame (31) is connected to the horizontal truss (32); and a rotating motor (30) and a compensation device (39) are provided on the rotating frame (31); The horizontal truss (32) is provided with a horizontal telescopic hydraulic cylinder (38) and a folding oil cylinder (40), and the folding oil cylinder (40) connects the horizontal truss (32) and the rotating frame (31).

6. The box girder bridge defect adaptive detection device based on line-area array camera according to claim 5, characterized in that: The compensation device (39) comprises an input shaft (41), an end cover (42), a gear flange (43), a transmission gear (44), a transmission rod (45), a locking structure (46), a rod end cover (47) and an output shaft (48). The input shaft (41) is connected to the gear flange (43) and the motor. The gear flange (43) is mounted with a transmission gear (44). The transmission gear (44) is connected to the transmission rod (45). The transmission rod (45) is connected to the locking structure (46). The locking structure (46) is used to fix the transmission rod (45). The outer end of the transmission rod (45) is provided with a rod end cover (47). The outer side of the compensation device (39) is provided with an end cover (42). The output shaft (48) is provided below the compensation device (39).

7. The box girder bridge defect adaptive detection device based on line-area array camera according to claim 1, characterized in that: The first working platform (49) is provided with a bottom plate collection device (50), and the second working platform (37) is provided with a flange plate collection device (52), and the bottom plate collection device (50) and the flange plate collection device (52) are both located at the center of the platform (8).

8. The box girder bridge defect adaptive detection device based on line-area array camera according to claim 7, characterized in that: The bottom plate acquisition device (50) comprises a cross guide rail (10), a main camera (12) and a pressure wheel execution system (34), wherein the main camera (12) is arranged at the upper end of the guide rail bearing (22), and the pressure wheel execution system (34) is installed above the cross guide rail (10).

9. The method for adaptively detecting box girder bridge defects based on line-area array cameras according to claim 1, characterized in that: A camera battery (7) is installed on the platform (8).

10. An adaptive detection method for box girder bridge defects based on line-area array cameras, characterized in that: The following steps are involved: Step 1: Stop the vehicle body device (1) at the guardrail of the box-type bridge to be inspected, so that the horizontal truss (32) extends into the bridge hole and is parallel to the vehicle body device (1), and the working platform (2) is moved on the horizontal truss slide rail (18) through the hydraulic lifting system (17) and positioned to the inspection position; Step 2: The height of the working platform (2) is adjusted by the hydraulic lifting system (17) so that the pressure wheel actuator system (34) on the working platform (2) contacts the bottom of the bridge, the main camera (12) is started to be in a standby state, and the camera belly deployment system (33) is controlled to be deployed, so that the auxiliary camera (13) reaches the shooting position, and the construction of the image acquisition working environment is completed; Step three, the vehicle body device (1) is started to start detection, the main camera (12) and the auxiliary camera (13) start working, and after completing the image data collection of a box beam piece, the vehicle body device (1) moves backward, and the horizontal truss (32) continues to extend to the next beam piece to collect the image. After all the image collection is completed, the disease information is analyzed based on the image data.

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