Visual inspection system for bottom of steel box girder

Abstract

The utility model relates to a visual inspection system for the bottom of a steel box girder, and the system comprises an installation support which is disposed on an inspection vehicle. The information acquisition device is arranged on the mounting bracket and is used for acquiring image information of the bottom of the steel box girder; the control memory is arranged on the inspection vehicle and is in signal connection with the information acquisition device so as to acquire the image information of the information acquisition device; the positioner feeds back the position information of the information acquisition device to the outside; the image acquisition range of the information acquisition device is suitable for crossing the beam bottom of the steel box beam in the width direction of the steel box beam; and the inspection vehicle drives the mounting bracket and the information acquisition device to move to different image acquisition positions along the length direction of the steel box girder. According to the scheme, the beam bottom of the steel box beam can be automatically detected, traditional manual detection is replaced, the detection efficiency is improved, the beam bottom of the steel box beam can be detected in a large area more easily, and a detection blind area is avoided.

Description

Technical Field

[0001] This utility model relates to the field of bridge inspection and maintenance technology, and in particular to a visual inspection system for the bottom of a steel box girder. Background Technology

[0002] The inspection of the bottom of steel box girders is a crucial step in ensuring the safety and quality of bridge structures. It primarily covers the inspection of welding quality, bolt tightness, and coating quality. In the field of testing technology, there are various traditional non-destructive testing methods, including visual inspection, ultrasonic testing, magnetic particle testing, and eddy current testing.

[0003] Steel box girder structures are widely used in long-span bridge projects such as suspension bridges and cable-stayed bridges due to their excellent mechanical properties and structural stability. However, this structural characteristic also brings many inconveniences to the inspection of the girder bottom. Since the inspection of the girder bottom of these bridges needs to be carried out on-site, the working environment is often very complex. On the one hand, the bottom area of ​​long-span bridges is high above the ground, and the surrounding spatial structure is complex, making the bottom area very difficult to access. On the other hand, due to limitations in testing equipment and operating conditions, only a small number of technicians can manually inspect the surface of the steel box girder bottom from a girder bottom inspection vehicle. This manual inspection method has certain limitations, and the inspection results are largely affected by the experience and technical skills of the inspectors.

[0004] Furthermore, steel box girder structures typically have large spans, resulting in an extremely wide inspection area at the bottom of the girder. In such cases, relying solely on manual inspection requires a significant investment of manpower and considerable time. From a labor cost perspective, experienced inspectors are needed, and these personnel must conduct extensive visual inspections of the bottom of the steel box girder using a girder bottom inspection vehicle. This process is time-consuming, yields unreliable results, and carries high safety risks. From a time cost perspective, the slow progress of large-area girder bottom inspections extends the entire inspection cycle. These factors present significant challenges to the inspection work in practice, becoming the core difficulty in inspecting the bottom of steel box girders.

[0005] In summary, current methods for inspecting the bottom of steel box girders have the following drawbacks: First, manual inspection is inefficient and costly, especially when inspecting large areas or complex structures, requiring significant time and manpower. Second, manual inspection cannot achieve full coverage; due to space limitations and operational difficulties, some potential defects may be overlooked when inspecting the bottom of steel box girders. Third, manual inspection carries certain safety risks. Inspectors need to approach the area being inspected, and if safety measures are inadequate when inspecting hard-to-reach areas such as the bottom of the girder, injuries may occur. Utility Model Content

[0006] To address the technical problems of existing technologies to a certain extent, this solution provides a visual inspection system for the bottom of steel box girders. This system can automatically inspect the bottom of steel box girders, reduce inspection difficulty, effectively replace traditional manual inspection methods, improve the inspection efficiency of the bottom of steel box girders, and more easily achieve large-area inspection of the bottom of steel box girders, avoiding blind spots.

[0007] This utility model discloses a visual inspection system for the bottom of a steel box girder, including an inspection vehicle that can move longitudinally along the bridge to serve as a mobile module for the entire system. The inspection vehicle is positioned at the bottom of the steel box girder and spans across the steel box girder in the width direction. It also includes:

[0008] Mounting brackets are mounted on the inspection vehicle and are located on the outside of the inspection vehicle;

[0009] An information acquisition device is installed on the mounting bracket and is used to acquire image information of the bottom of the steel box girder;

[0010] A control storage device is mounted on the inspection vehicle and connected to the information acquisition device to obtain image information acquired by the information acquisition device.

[0011] The locator feeds back the location information of the information collection device.

[0012] The image acquisition range of the information acquisition device is adapted to span across the bottom of the steel box girder in the width direction of the steel box girder.

[0013] The inspection vehicle moves the mounting bracket and the information acquisition device along the length of the steel box girder to different image acquisition positions.

[0014] According to the present invention, a visual inspection system for the bottom of a steel box girder includes a locator comprising a base station and a measuring station.

[0015] The base station is fixed and is used to coordinate with the measuring station to accurately locate the information collection device and the inspection vehicle.

[0016] The monitoring station is installed on the inspection vehicle and moves with it. It works in conjunction with the base station to achieve precise positioning and provide location information for the inspection vehicle and the information collection device.

[0017] According to the present invention, a visual inspection system for the bottom of a steel box girder includes a base station antenna and a base station GNSS host.

[0018] The base station antenna and GNSS base station host are suitable for installation on top of the bridge anchorage.

[0019] According to the present invention, a visual inspection system for the bottom of a steel box girder includes a station antenna and a GNSS station host.

[0020] The measuring station antenna is located on the top of the inspection vehicle;

[0021] The GNSS station host is mounted on the inspection vehicle and located below the station antenna.

[0022] According to the present invention, a visual inspection system for the bottom of a steel box girder includes an information acquisition device comprising a linear array camera.

[0023] The number of mounting brackets is several;

[0024] Each image sensor of the line array camera is fixed on a mounting bracket and is arranged linearly along the bottom line of the cross-section of the steel box girder.

[0025] The imaging ends of each of the image sensors are vertically upward and adapted to be perpendicular to the bottom of the steel box girder.

[0026] According to the present invention, a visual inspection system for the bottom of a steel box girder includes a control storage device comprising several microcomputers.

[0027] Each of the microcomputers is mounted on the inspection vehicle and is aligned with the arrangement direction of each of the image sensors;

[0028] Each of the microcomputers is connected to several of the image sensors to acquire image information collected by the multiple image sensors.

[0029] According to the present invention, a visual inspection system for the bottom of a steel box girder is provided, wherein the inspection vehicle is also equipped with a mobile power supply.

[0030] The mobile power source supplies power to the information acquisition device, control storage, and locator.

[0031] According to the present invention, a visual inspection system for the bottom of a steel box girder includes a mounting bracket comprising a column for extending vertically below the bottom of the steel box girder.

[0032] The upper and lower ends of the column are respectively provided with a fastening frame and a support frame;

[0033] The fastening bracket is fixed to the outside of the inspection vehicle;

[0034] The support frame extends in the direction of movement of the inspection vehicle and supports the information collection device upward.

[0035] According to the present invention, a visual inspection system for the bottom of a steel box girder includes a fastening frame comprising a middle plate, wherein fastening plates and connecting pipes are respectively connected to opposite sides of the middle plate.

[0036] The fastening plate has several screw holes. The fastening plate is fastened to the inspection vehicle from the outside and locked onto the inspection vehicle through the screw holes.

[0037] The connecting pipe is fixedly connected to the column.

[0038] According to the present invention, a visual inspection system for the bottom of a steel box girder includes a support frame comprising a horizontal support plate, a vertical support plate, and a diagonal support plate.

[0039] The supporting cross plate extends laterally in the direction of movement of the inspection vehicle and is provided with a mounting base at the top. The information acquisition device includes a line scan camera, and the image sensor of the line scan camera is disposed in the mounting base.

[0040] The vertical support plate is vertically arranged, with its upper end connected to the bottom of the horizontal support plate and its lower end connected to the inclined support plate.

[0041] The inclined support plate is inclinedly disposed at the bottom of the horizontal support plate, the inclined upper end of the inclined support plate is fixedly connected to the bottom of the horizontal support plate, and the inclined lower end of the inclined support plate is fixedly connected to the lower end of the vertical support plate.

[0042] This utility model discloses a visual inspection system for the bottom of a steel box girder. Firstly, a mounting bracket is added to the existing steel box girder with an inspection vehicle. The mounting bracket is mounted on the inspection vehicle and positioned on its outer side to ensure that the mounting bracket and the inspection equipment mounted on it do not occupy the passenger space inside the inspection vehicle. Then, an information acquisition device, a control storage device, and a locator are added. The information acquisition device is mounted on the mounting bracket and is used to acquire image information of the bottom of the steel box girder. The control storage device is also mounted on the inspection vehicle and is signal-connected to the information acquisition device to obtain the image information acquired by the information acquisition device. The locator is used to provide external feedback on the position information of the information acquisition device. Furthermore, the image acquisition range of the information acquisition device is suitable for spanning the bottom of the steel box girder in the width direction. Therefore, the information acquisition device can acquire image information of the bottom of the steel box girder as a whole in the width direction, effectively increasing the detection range of the bottom of the steel box girder. In addition, the inspection vehicle moves the mounting bracket and the information acquisition device along the length direction of the steel box girder to different image acquisition positions. Therefore, under the movement of the inspection vehicle, the information acquisition device can inspect the bottom of the entire steel box girder in the length direction, achieving full coverage detection of the bottom of the steel box girder, further increasing the detection range of the bottom of the steel box girder, and helping to avoid detection blind spots. The control storage can read and store the image information covering the entire bottom of the steel box girder in the information acquisition device. This facilitates a comprehensive assessment of the quality of the steel box girder's bottom. Furthermore, since the locator feeds back the location information of the information acquisition device, when an image acquired by the device indicates a quality problem at the bottom of the steel box girder, the locator can easily report the location where the image was captured. This allows the locator to pinpoint the exact location of the quality problem at the bottom of the steel box girder, effectively improving the efficiency of steel box girder bottom inspection. The visual inspection system of this invention enables comprehensive coverage inspection of the bottom of steel box girders, facilitating the detection of areas difficult for humans to observe. It reduces blind spots caused by space limitations or operational difficulties, and its coverage advantage is particularly pronounced for large-area or complex structures. Furthermore, by using image acquisition equipment to collect information about the actual bottom of the girder instead of human visual inspection, it reduces or avoids subjective errors by technicians. In terms of safety, the system reduces direct contact between inspectors and potentially hazardous areas, lowering the risk of accidents, especially in high-risk areas such as the bottom of the girder, thus reducing inspection risks and costs. Additionally, the system's control and storage mechanism accurately records and saves inspection data and images, ensuring accurate and traceable data for subsequent analysis and evaluation, and enabling timely detection of potential problems.Therefore, this solution provides a visual inspection system for the bottom of steel box girders. This solution can automatically inspect the bottom of steel box girders, reduce the difficulty of inspection, effectively replace the traditional manual inspection method, improve the inspection efficiency of the bottom of steel box girders, and more easily achieve large-area inspection of the bottom of steel box girders, avoiding blind spots. Attached Figure Description

[0043] To more clearly illustrate the technical solutions in this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0044] Figure 1 This is an overall structural diagram of the present invention (a cross-sectional view of the steel box girder, showing the width of the steel box girder);

[0045] Figure 2 This is a schematic diagram of the base station of this utility model;

[0046] Figure 3 This is a schematic diagram of the measuring station installed on the inspection vehicle in this utility model;

[0047] Figure 4 This is a simplified structural diagram of the present invention along the length of a steel box girder;

[0048] Figure 5 This is a front view of the mounting bracket in this utility model;

[0049] Figure 6 This is a side view of the mounting bracket in this utility model;

[0050] Figure 7 This is a top view of the mounting bracket in this utility model;

[0051] Figure 8 This is a top view of the fastening bracket in this utility model;

[0052] Figure 9 This is a front view of the fastening bracket in this utility model.

[0053] Figure label:

[0054] 1. Inspection vehicle; 2. Mounting bracket; 3. Base station antenna; 4. GNSS base station host.

[0055] 5. Station antenna, 6. GNSS station host, 7. Image sensor, 8. Microcomputer, 9. Power bank, 10. Cabinet;

[0056] 20. Columns;

[0057] 210. Snap-fit ​​bracket; 211. Intermediate plate; 212. Snap-fit ​​plate; 213. Connecting pipe; 214. Screw hole;

[0058] 220. Support frame; 221. Support horizontal plate; 222. Support vertical plate; 223. Support inclined plate; 224. Mounting base;

[0059] 100. Steel box girder;

[0060] 101. Bridge anchorage. Detailed Implementation

[0061] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model. In the description of this utility model, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting this utility model.

[0062] like Figures 1 to 9As shown in the figure, a visual inspection system for the bottom of a steel box girder in this embodiment mainly includes an inspection vehicle 1, a mounting bracket 2, an information acquisition device, a control storage device, and a locator. The inspection vehicle 1 is movably installed on the bottom of the steel box girder 100 and spans across the width of the steel box girder 100. The mounting bracket 2 is mounted on the inspection vehicle 1 so that the inspection vehicle 1 can move longitudinally along the bridge to serve as a walking module for the entire system. The mounting bracket 2 is installed on the outside of the inspection vehicle 1. The information acquisition device is mounted on the mounting bracket 2 and is used to acquire image information of the bottom of the steel box girder 100. The control storage device is also mounted on the inspection vehicle 1 and is connected to the information acquisition device. Thus, the image information about the bottom of the steel box girder 100 acquired by the information acquisition device can be obtained through the control storage device. The locator is used to provide feedback on the position information of the information acquisition device. In addition, the image acquisition range of the information acquisition device is suitable for spanning the bottom of the steel box girder 100 in the width direction of the steel box girder. At the same time, the inspection vehicle 1 drives the mounting bracket 2 and moves the information acquisition device along the length direction of the steel box girder to different image acquisition positions.

[0063] It is understood that the visual inspection system for the bottom of the steel box girder in this embodiment first adds a mounting bracket 2 to the steel box girder that already has an inspection vehicle. The mounting bracket 2 is mounted on the inspection vehicle 1 and is positioned on the outside of the inspection vehicle 1 to ensure that the mounting bracket 2 and the inspection equipment mounted on the mounting bracket 2 do not occupy the personnel space inside the inspection vehicle 1. Then, an information acquisition device, a control storage device, and a locator are added. The information acquisition device is mounted on the mounting bracket 2 and is used to acquire image information of the bottom of the steel box girder. The control storage device is also mounted on the inspection vehicle 1 and is connected to the information acquisition device to obtain the image information acquired by the information acquisition device. The locator is used to provide feedback on the position information of the information acquisition device. Furthermore, the image acquisition range of the information acquisition device is suitable for spanning the bottom of the steel box girder across its width. Therefore, the device can acquire image information of the entire bottom of the steel box girder across its width, effectively increasing the detection range. In addition, by moving the mounting bracket 2 and the information acquisition device along the length of the steel box girder to different image acquisition positions using the inspection vehicle 1, the device can inspect the entire bottom of the steel box girder along its length, achieving full coverage detection and further increasing the inspection range of the steel box girder's bottom. The measurement range helps avoid blind spots in detection. The control storage device can read and store image information covering the entire bottom of the steel box girder from the information acquisition device, which is convenient for subsequent comprehensive assessment of the quality of the bottom of the steel box girder. At the same time, since the locator feeds back the location information of the information acquisition device, when the image information acquired by the information acquisition device reflects a quality problem at the bottom of the steel box girder, it is easy to feed back the location of the image information captured by the information acquisition device through the locator. Thus, the locator can pinpoint the specific location of the quality problem at the bottom of the steel box girder, effectively improving the detection efficiency of the bottom of the steel box girder. The visual inspection system of this invention enables comprehensive coverage inspection of the bottom of steel box girders, facilitating the detection of areas difficult for humans to observe. It reduces blind spots caused by space limitations or operational difficulties, and its coverage advantage is particularly pronounced for large-area or complex structures. Furthermore, by using image acquisition equipment to collect information about the actual bottom of the girder instead of human visual inspection, it reduces or avoids subjective errors by technicians. In terms of safety, the system reduces direct contact between inspectors and potentially hazardous areas, lowering the risk of accidents, especially in high-risk areas such as the bottom of the girder, thus reducing inspection risks and costs. Additionally, the system's control and storage mechanism accurately records and saves inspection data and images, ensuring accurate and traceable data for subsequent analysis and evaluation, and enabling timely detection of potential problems.Therefore, this solution provides a visual inspection system for the bottom of steel box girders. This solution can automatically inspect the bottom of steel box girders, reduce the difficulty of inspection, effectively replace the traditional manual inspection method, improve the inspection efficiency of the bottom of steel box girders, and more easily achieve large-area inspection of the bottom of steel box girders, avoiding blind spots.

[0064] In one embodiment, regarding the specific structure of the locator, the locator includes a base station and a measuring station. The base station is fixedly installed on the bridge anchorage 101 and is used to coordinate with the measuring station to locate the information acquisition device and the inspection vehicle 1. The measuring station is located on the inspection vehicle 1 and moves with it, achieving precise positioning through coordination with the base station and providing location information for the inspection vehicle 1 and the information acquisition device. Specifically, the base station includes a base station antenna 3 and a GNSS base station host 4 located in a cabinet. The base station antenna 3 is used to transmit and receive wireless signals, transmitting signals to or receiving signals from mobile devices. In practice, the base station generally also includes a transceiver responsible for signal transmission and reception, a transmission unit for signal transmission and exchange, and monitoring equipment for monitoring and managing the operating status of the base station. When setting up the base station, the base station antenna 3 and the GNSS base station host 4 located in the cabinet are installed on top of the bridge anchorage 101, allowing the base station and the base station antenna 3 to remain in a fixed position, thereby ensuring the positioning accuracy of the base station. On the other hand, the locator's station is installed on the inspection vehicle 1, so the station can move with the inspection vehicle 1. The station detects the position information of the inspection vehicle 1 and the information acquisition device. Specifically, the station structure includes a station antenna 5, a GNSS station host 6, and a mobile power supply 9. The station antenna 5 is installed on the top of the inspection vehicle 1, allowing the signal to propagate further, reducing obstruction from surrounding buildings and terrain, ensuring good signal transmission, and contributing to better signal strength and stability, thereby improving communication quality and enabling more sensitive reception of signals from all directions. The GNSS station host 6 is installed on the inspection vehicle 1, and is located below the station antenna 5, making the cable connection between the station antenna 5 and the GNSS station host 6 more convenient. It also facilitates maintenance and management of the host, reduces interference from the external environment to a certain extent, ensures the normal operation of the GNSS station host 6, and conforms to the overall layout design of the station, making the station structure more reasonable and compact.

[0065] In one embodiment, regarding the specific structure of the information acquisition device, the information acquisition device includes a line scan camera, which is a motion camera. Its image sensors 7 are arranged linearly, and can only acquire one line of image information at a time. At the same time, there are multiple mounting brackets 2, and each image sensor 7 of the line scan camera is fixed on each mounting bracket 2. The image sensors 7 are arranged linearly along the bottom line of the cross-section of the steel box girder 100, that is, linearly along the width contour of the bottom of the steel box girder. The camera array is reasonably arranged according to the width of the bottom of the beam and the distance between the camera and the bottom of the beam. The shooting end of each image sensor 7 is vertically upward and adapted to be perpendicular to the bottom of the steel box girder 100. Therefore, the line scan camera can acquire one line of image information of the bottom of the steel box girder 100 at a time, thus effectively increasing the image acquisition range of the bottom of the steel box girder. Furthermore, the line scan camera has the characteristics of high resolution, stability, and support for shooting while charging, and can achieve clear and stable imaging and detection during continuous movement.

[0066] In one embodiment, the control storage includes a plurality of microcomputers 8, each microcomputer 8 is mounted on the inspection vehicle 1, and the arrangement direction of each microcomputer 8 is consistent with the arrangement direction of each image sensor 7. In this embodiment, each microcomputer 8 is signal-connected to three image sensors 7, so that one microcomputer 8 can simultaneously acquire and store image information collected by multiple image sensors 7.

[0067] In one embodiment, the inspection vehicle 1 is also equipped with a mobile power supply 9, which powers the information acquisition device, control storage, and locator. Specifically, in this embodiment, the inspection vehicle 1 is equipped with multiple cabinets 10, each cabinet 10 being aligned with the arrangement of each image sensor 7. The GNSS station host 6 is installed in the cabinet 10 below the station antenna 5. Each of the other cabinets 10 contains one of the aforementioned mobile power supplies 9, and each microcomputer 8 is also installed in its respective cabinet 10, thus providing protection for the GNSS station host 6, mobile power supplies 9, and microcomputers 8 through the cabinets 10.

[0068] In one embodiment, each mounting bracket 2 includes a column 20, a fastening bracket 210, and a support bracket 220. The column 20 extends vertically below the bottom of the steel box girder 100, and the fastening bracket 210 and the support bracket 220 are fixedly connected to the upper and lower ends of the column 201, respectively. Furthermore, the fastening bracket 210 is fixed to the outside of the inspection vehicle 1, and the support bracket 220 extends in the direction of movement of the inspection vehicle 1 to form a space for upward support of the information acquisition device. That is, the support bracket 220 is used to support the image sensors 7 of the information acquisition device upwards. This structure allows the image sensors 7 to be stably fixed to the outside of the inspection vehicle 1.

[0069] Regarding the specific structure of the fastening bracket 210, the fastening bracket 210 includes a middle plate 211, fastening plates 212, and connecting pipes 213. The fastening plates 212 and connecting pipes 213 are respectively connected to opposite sides of the middle plate 211. There are two fastening plates 212, which are arranged vertically. Each fastening plate 212 has three screw holes 214. The two fastening plates 212 are fastened to the inspection vehicle 1 from the outside and locked to the inspection vehicle 1 through the screw holes 214. The connecting pipes 213 are fixedly connected to the column 20. In this way, the mounting bracket 2 can be stably installed on the inspection vehicle 1.

[0070] Regarding the specific structure of the support frame 220, the support frame 220 includes a support horizontal plate 221, a support vertical plate 222, and a support inclined plate 223. The support horizontal plate 221 extends laterally in the direction of movement of the inspection vehicle 1. A mounting base 224 is fixed to the top plane of the support horizontal plate 221, and the image sensor 7 of the line scan camera is fixed in the mounting base 224 to facilitate fixing the image sensor 7 to the mounting bracket 2. On the other hand, the support vertical plate 222 is vertically arranged, and there are two L-shaped plates. The upper end of each support vertical plate 222 is connected to the bottom of the support horizontal plate 221, and the lower end of each support vertical plate 222 is connected to the support inclined plate 223. On the other hand, the inclined support plate 223 is installed at an angle at the bottom of the horizontal support plate 221. Specifically, the inclined upper end of the inclined support plate 223 is fixedly connected to the bottom of the horizontal support plate 221, and the inclined lower end of the inclined support plate 223 is fixedly connected to the lower end of the vertical support plate 222. This allows the inclined support plate 223 to stably support the horizontal support plate 221 upwards. This structure can enhance the structural stability of the entire support frame 220 and help the image sensor 7 of the line scan camera to be stably installed on the support frame 220.

[0071] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and not to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. A visual inspection system for the bottom of a steel box girder, comprising an inspection vehicle (1), the inspection vehicle being movably mounted on the bottom of the steel box girder and spanning the steel box girder in the width direction, characterized in that, Also includes: Mounting bracket (2) is mounted on the inspection vehicle (1) and the mounting bracket (2) is located on the outside of the inspection vehicle (1); An information acquisition device is installed on the mounting bracket (2) and is used to acquire image information of the bottom of the steel box girder; A control storage device is mounted on the inspection vehicle (1) and connected to the information acquisition device to obtain image information acquired by the information acquisition device; The locator feeds back the location information of the information collection device. The image acquisition range of the information acquisition device is adapted to span across the bottom of the steel box girder in the width direction of the steel box girder. The inspection vehicle (1) moves the mounting bracket (2) and the information acquisition device along the length of the steel box girder to different image acquisition positions.

2. The visual inspection system for the bottom of a steel box girder according to claim 1, characterized in that, The locator includes a base station and a measuring station; The base station is fixed and is used to coordinate with the measuring station to locate the information collection device and the inspection vehicle (1); The measuring station is set on the inspection vehicle (1) and moves with the inspection vehicle (1). It coordinates with the base station to perform precise positioning and provides the location information of the inspection vehicle (1) and the information collection device.

3. The visual inspection system for the bottom of a steel box girder according to claim 2, characterized in that, The base station includes a base station antenna (3) and a GNSS base station host (4); The base station antenna (3) and GNSS base station host (4) are adapted to be installed on top of the bridge anchorage.

4. The visual inspection system for the bottom of a steel box girder according to claim 2, characterized in that, The station includes a station antenna (5) and a GNSS station host (6); The station antenna (5) is located on the top of the inspection vehicle (1); The GNSS station host (6) is mounted on the inspection vehicle (1) and located below the station antenna (5).

5. The visual inspection system for the bottom of a steel box girder according to claim 1, characterized in that, The information acquisition device includes a linear array camera; The number of mounting brackets (2) is several; Each image sensor (7) of the line array camera is fixed on each of the mounting brackets (2) and is arranged linearly along the bottom line of the cross section of the steel box girder; The imaging ends of each of the image sensors (7) are vertically upward and adapted to be perpendicular to the bottom of the steel box girder.

6. The visual inspection system for the bottom of a steel box girder according to claim 5, characterized in that, The control storage includes several microcomputers (8); Each of the microcomputers (8) is mounted on the inspection vehicle (1) and is aligned with the arrangement direction of each of the image sensors (7); Each of the microcomputers (8) is connected to several of the image sensors (7) to acquire image information collected by the multiple image sensors (7).

7. The visual inspection system for the bottom of a steel box girder according to claim 1, characterized in that, The inspection vehicle (1) is also equipped with a portable power supply (9); The information acquisition device, control storage and locator are powered by the mobile power supply (9).

8. The visual inspection system for the bottom of a steel box girder according to claim 1, characterized in that, The mounting bracket (2) includes a column (20) for extending vertically below the bottom of the steel box girder; The upper and lower ends of the column (20) are respectively provided with a fastening frame (210) and a support frame (220); The fastening bracket (210) is fixed to the outside of the inspection vehicle (1); The support frame (220) extends in the direction of movement of the inspection vehicle (1) and supports the information collection device upward.

9. The visual inspection system for the bottom of a steel box girder according to claim 8, characterized in that, The fastening frame (210) includes a middle plate (211), and fastening plates (212) and connecting pipes (213) are respectively connected to opposite sides of the middle plate (211); The fastening plate (212) has a plurality of screw holes (214). The fastening plate (212) is fastened to the inspection vehicle (1) from the outside and locked to the inspection vehicle (1) through the screw holes (214). The connecting pipe (213) is fixedly connected to the column (20).

10. The visual inspection system for the bottom of a steel box girder according to claim 8, characterized in that, The support frame (220) includes a horizontal support plate (221), a vertical support plate (222), and a diagonal support plate (223); The supporting horizontal plate (221) extends laterally in the direction of movement of the inspection vehicle (1) and is provided with a mounting base (224) on the top. The information acquisition device includes a line scan camera, and the image sensor (7) of the line scan camera is disposed in the mounting base (224). The vertical support plate (222) is vertically arranged, with its upper end connected to the bottom of the horizontal support plate (221) and its lower end connected to the inclined support plate (223). The inclined support plate (223) is inclinedly disposed at the bottom of the horizontal support plate (221). The inclined upper end of the inclined support plate (223) is fixedly connected to the bottom of the horizontal support plate (221), and the inclined lower end of the inclined support plate (223) is fixedly connected to the lower end of the vertical support plate (222).

Images