Intelligent inspection and maintenance system for long-span suspension bridge steel box girder

Abstract

The utility model discloses a large -span suspension bridge steel box girder wisdom is kept and is maintained system belongs to bridge inspection and maintenance equipment technical field. The system includes the intelligent unmanned inspection car and the box outside inspection car of setting in the steel box girder bottom outside and the in -box inspection car of setting in the steel box girder inside. Three synergistic operation, form " automatic inspection - intelligent identification - accurate positioning - spot repair " closed loop inspection and maintenance system. Intelligent unmanned inspection car carries image identification device, can find disease in time, and the box outside inspection car is equipped with construction platform, and the in -box inspection car is closed -type structure, can replace artificial transport tool, material, and improve internal operation environment, and can simultaneously maintain to the corresponding section of steel box girder inside and outside, has solved the problem of big, low, high, high maintenance cost in traditional bridge maintenance intensity, inspection efficiency, security risk, has improved the overall management level and service life of bridge significantly, has important engineering application value.

Description

Technical Field

[0001] This utility model relates to the field of bridge maintenance equipment technology, and in particular to a smart maintenance system for steel box girders of long-span suspension bridges. Background Technology

[0002] As a crucial component of modern transportation infrastructure, bridges' safety and durability directly impact the smooth flow of transportation and socio-economic development. However, with the increasing service life of bridges and the influence of external environmental factors such as wind loads, corrosion, and temperature variations, bridge structures, especially steel box girders, are prone to various defects, such as cracks, rust, and deformation. If these problems are not detected and repaired in a timely manner, they will pose a serious threat to the safe operation of the bridge.

[0003] Traditional bridge inspection and maintenance methods rely primarily on manual labor, supplemented by simple mechanical equipment. For example, workers need to use tools such as suspended platforms, scaffolding, or railcars to access the underside or interior of the bridge for visual inspection and repair. This traditional method has the following prominent problems: 1. High labor intensity: Bridge inspection usually requires workers to work at height or in confined spaces for long periods of time, which is extremely physically demanding. This is especially true for the steel box girder structure of long-span suspension bridges, where the internal space is small and ventilation is poor, further increasing the difficulty of the operation.

[0004] 2. Low inspection efficiency: Traditional inspection methods are mostly point-by-point checks, which are time-consuming and difficult to cover the entire bridge area, especially in complex structural areas such as the web and bottom plate of steel box girders, where defects are easily missed, resulting in incomplete inspection results.

[0005] 3. High safety risks: Uncontrollable factors such as working at heights, severe weather, and track breakage significantly increase the safety risks for workers. Furthermore, the interior of the steel box girder may contain toxic gases or be oxygen-deficient, further threatening the lives of workers.

[0006] 4. High maintenance costs: Due to the lack of precise positioning capabilities in traditional methods, large-scale repairs or repeated inspections are often required, resulting in wasted resources. At the same time, frequent manual intervention and equipment maintenance also significantly increase maintenance costs.

[0007] 5. Insufficient level of intelligence: Most current bridge inspection equipment has limited functions and is difficult to automate or achieve intelligent inspections. In particular, in terms of defect identification, data analysis, and maintenance decision-making, it still relies on human experience and cannot meet the needs of modern intelligent bridge management.

[0008] In summary, existing bridge inspection and maintenance technologies have significant shortcomings in terms of efficiency, safety, cost control, and intelligence. There is an urgent need for an intelligent solution that can efficiently, safely, and accurately complete the inspection and repair of the inner and outer surfaces of steel box girders. Utility Model Content

[0009] To address the aforementioned technical problems, this utility model provides a smart maintenance system for steel box girders of large-span suspension bridges based on the collaborative operation of intelligent unmanned inspection vehicles, external inspection vehicles, and internal inspection vehicles. It aims to solve the technical challenges in bridge maintenance, such as high labor intensity, low inspection efficiency, high safety risks, and high maintenance costs, thereby improving the overall management level and service life of bridges.

[0010] The technical solution adopted in this utility model is as follows: A smart maintenance system for steel box girders of long-span suspension bridges includes: an external inspection vehicle and an intelligent unmanned inspection vehicle installed on the outer side of the bottom of the steel box girder, as well as an internal inspection vehicle installed in the cavity inside the steel box girder. The steel box girder is equipped with tracks both inside and below the web. The external inspection vehicle and the intelligent unmanned inspection vehicle share the tracks below the web of the box girder. The external inspection vehicle and the intelligent unmanned inspection vehicle are respectively installed on the tracks below the web of the steel box girder through an electrically controlled traveling mechanism and can travel along the bottom of the bridge. The internal inspection vehicle is installed on the tracks inside the steel box girder through an electrically controlled traveling mechanism and can travel along the inside of the bridge. The external inspection vehicle is equipped with a construction platform that can carry people; the intelligent unmanned inspection vehicle is equipped with an image recognition device; the internal inspection vehicle has a closed body structure that can carry people, and several lighting devices are installed on its body.

[0011] Furthermore, both the external inspection vehicle and the intelligent unmanned inspection vehicle adopt a gantry structure. The gantry structure includes a set of gantry frames and a truss. An electrically controlled traveling mechanism is installed on the top of the gantry frame. The truss is composed of multiple aluminum alloy segments spliced ​​together and installed on a set of gantry frames.

[0012] Furthermore, the main truss section of the external inspection vehicle is straight, and the truss sections on both sides are inclined, so that the truss of the external inspection vehicle is parallel to the bottom of the steel box girder, and a construction platform capable of carrying people is fixedly installed on the truss. The truss of the intelligent unmanned inspection vehicle has a straight structure, with both ends flush with the ends of the steel box girder, and several image recognition devices are installed on it.

[0013] Furthermore, the in-box inspection vehicle includes a chassis and a body mounted on the chassis. The front and rear sides of the body are equipped with driver's cabs, and a cargo space is formed in the middle. Two sets of electronically controlled traveling mechanisms are symmetrically installed at the bottom of the chassis.

[0014] This utility model provides a smart maintenance system for steel box girders of long-span suspension bridges. Through the collaborative operation of intelligent unmanned inspection vehicles, external inspection vehicles, and internal inspection vehicles, a smart maintenance system covering both the internal and external aspects of the bridge is constructed. Compared with traditional bridge inspection and maintenance methods, this system has the following significant advantages: 1. Improved Inspection Efficiency: The intelligent unmanned inspection vehicle can operate automatically around the clock along a preset path, covering the entire underside of the bridge, significantly shortening the inspection cycle. The image recognition device avoids the inefficiency of manual point-by-point inspection, greatly improving the speed and accuracy of defect detection. The three vehicles have clear division of labor and share information, forming a closed-loop process of "automatic inspection - intelligent identification - precise positioning - fixed-point maintenance," reducing repetitive labor and resource waste.

[0015] 2. Reduced Labor Intensity: Intelligent unmanned inspection vehicles completely replace manual labor for preliminary inspections of the bridge's underside; external and internal inspection vehicles provide construction workers with stable and safe working platforms, reducing physical exertion from working at heights and in confined spaces. Internal inspection vehicles are used to transport tools, materials, and testing instruments, reducing the load on construction workers and lowering the labor intensity of long walks through the interior of the steel box girder.

[0016] 3. Enhanced Safety: Intelligent unmanned inspection vehicles and external inspection vehicles replace manual entry into hazardous areas, effectively reducing safety risks from uncontrollable factors such as falls from heights and strong winds. The internal inspection vehicle adopts a closed body design and is equipped with air conditioning, lighting, and fire extinguishing equipment, significantly improving harsh working conditions inside the steel box girder, such as poor ventilation, insufficient light, and unsuitable temperature and humidity.

[0017] 4. Reduced maintenance costs: Intelligent unmanned inspection vehicles accurately locate defects, avoiding resource waste caused by blind repairs. Automated inspections and mechanized maintenance significantly reduce manual labor input and lower labor costs.

[0018] In summary, the intelligent inspection and maintenance system for long-span suspension bridge steel box girders proposed in this utility model, through the collaborative operation of intelligent unmanned inspection vehicles, external inspection vehicles, and internal inspection vehicles, not only solves the technical problems of high labor intensity, low inspection efficiency, high safety risks, and high maintenance costs in traditional bridge maintenance, but also significantly improves the overall management level and service life of bridges. This system possesses advantages in efficiency, safety, economy, and environmental protection, aligns with the development trend of modern intelligent bridge management, and has significant engineering application value and broad market prospects. Attached Figure Description

[0019] Figure 1 This is a schematic diagram showing the installation position of the external inspection vehicle of this utility model; Figure 2 This is a schematic diagram showing the installation location of the intelligent unmanned inspection vehicle of this utility model; Figure 3 and Figure 4 This is a schematic diagram of the structure of the inspection vehicle inside the box of this utility model; In the diagram, 1—External inspection vehicle, 11—First electrically controlled traveling mechanism, 12—First gantry, 13—First truss, 14—Electrical control system, 15—Power monitoring system, 16—First track; 2—Internal inspection vehicle, 21—Chassis, 22—Car body, 23—Driver's cab, 24—Third electrically controlled traveling mechanism, 25—Electrical control system, 26—Air conditioning equipment, 27—Lighting equipment, 28—Second track; 3—Intelligent unmanned inspection vehicle, 31—Second electrically controlled traveling mechanism, 32—Second gantry, 33—Second truss, 34—Electrical control system, 35—Image recognition device, 36—Power monitoring system; 4—Steel box girder. Detailed Implementation

[0020] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0021] This embodiment provides a smart maintenance system for steel box girders of long-span suspension bridges, aiming to solve technical problems in bridge maintenance such as high labor intensity, low inspection efficiency, high safety risks, and high maintenance costs, and improve the overall management level and service life of bridges.

[0022] The intelligent maintenance system for the steel box girder of the long-span suspension bridge consists of three core subsystems: external inspection vehicle 1, internal inspection vehicle 2, and intelligent unmanned inspection vehicle 3. The three systems share a common track to form a closed-loop maintenance system of "automatic inspection - intelligent identification - precise positioning - fixed-point maintenance".

[0023] like Figure 1 As shown, a first track 16 is installed below the web of the steel box girder 4. The first track 16 is composed of an I-beam and a rack and pinion guide composite structure, and is anchored to the outside of the web of the steel box girder by pre-embedded steel plates and high-strength bolts. The track beam is made of Q355B high-strength steel, hot-dip galvanized, and has strong corrosion resistance. The rack and pinion guide uses a standard rack with a module of 4, which is compatible with gear and rack transmission. The first track 16 has high load-bearing capacity and stability, and can withstand the operating loads of the external inspection vehicle 1 and the intelligent unmanned inspection vehicle 3.

[0024] like Figure 1As shown, the external inspection vehicle 1 is suspended and hoisted to the bottom of the steel box girder 4 and runs along the first track 16 installed below the web of the steel box girder 4. Its main function is: after the intelligent unmanned inspection vehicle 3 discovers the defects at the bottom of the bridge, the staff can quickly move to the defect location through the external inspection vehicle 1 to carry out fault diagnosis, close observation, measurement and evaluation, and external maintenance.

[0025] The external inspection vehicle 1 adopts a gantry structure design, including a first gantry 12 and a first truss 13. A first electrically controlled traveling mechanism 11 is installed on the top of the first gantry 12 to drive the external inspection vehicle 1 along the first track 16. The first truss 13 is constructed from multiple aluminum alloy segments and installed on the first gantry 12 to form a load-bearing platform. The main truss segment is straight, while the side truss segments are inclined, ensuring that the first truss 13 is parallel to the bottom of the steel box girder, guaranteeing the stability of the construction platform and its proximity to the bridge bottom surface. This design not only facilitates close-range inspections by personnel but also effectively reduces vehicle swaying and vibration during operation, improving safety. A personnel-carrying construction platform (not shown in the diagram) is fixedly installed on the first truss 13. The construction platform is surrounded by safety railings and equipped with tool racks and lighting, providing a safe and comfortable working environment for maintenance personnel.

[0026] The first electrically controlled traveling mechanism 11 runs along the first track 16 via a rack and pinion transmission, possessing excellent wind resistance and adapting to the complex working environment at the bottom of the bridge. The first electrically controlled traveling mechanism 11 uses commercially available equipment, consisting of a left-side traveling mechanism and a right-side traveling mechanism. Both sides are individually or in conjunction with a PLC controller, supporting precise speed adjustment and synchronous operation. The drive motor of the first electrically controlled traveling mechanism 11 is a SEW MOVIDRIVE® MCF series DC servo motor, model MDX60A, with high-precision speed adjustment capability; it is equipped with a SEW K series helical gear reducer, model KAF87, providing high output torque and smooth operation; the wheel assembly structure uses custom steel wheels with polyurethane coating, adapting to a width error of ±5mm on the first track 16, enhancing wear resistance and grip.

[0027] An electrical control system 14 and a power monitoring system 15 are also installed on the first truss 13 of the external inspection vehicle 1. The electrical control system 14 is integrated in the middle of the first truss 13 and includes a power system, a control system, a human-machine interface, and multiple protection modules. The PLC controller of the electrical control system 14 is a Siemens S7-1200 series CPU 1214C DC / DC / DC, which supports remote communication and logic control; the HMI touch screen is a Siemens KTP700 Basic, which displays the vehicle's operating status in real time and supports parameter settings; the safety relay is a Pilz PNOZ X3.1P, which ensures functions such as extreme position protection and emergency braking; the wind speed sensor is a Vaisala WINDCAP® WMT700, which monitors the wind speed in real time and links it to the controller to prevent the external inspection vehicle 1 from operating when the wind speed exceeds the allowable wind speed. The electrical control system 14 has multiple protection measures such as short circuit, overload, motor phase loss, extreme position protection, and wind speed alarm, and is equipped with a visual operation panel and a human-machine interface to facilitate operators to confirm the operating status, check driving safety signals, and troubleshoot. The power monitoring system 15 includes a lithium battery pack, a BMS management system, a charger, and a remote intelligent charging module. The lithium battery pack in the power monitoring system 15 uses CATL lithium iron phosphate modules with a voltage of 48V, a capacity of 200Ah, and features long cycle life and high stability. The BMS management system uses Shenzhen Guanyuda GYD-BMS-48200, supporting real-time monitoring of battery power, temperature, and voltage. The charger uses Mean Well RCP-1500-48, with an output of 48V / 30A, supporting automatic start / stop. It automatically charges when the battery power is below a set value and automatically disconnects the charging circuit when fully charged. The power monitoring system 15 supports remote intelligent charging and discharging management to extend battery life and also has a low-power alarm function to remind operators to charge the battery in time.

[0028] The external inspection vehicle 1, through the coordinated operation of the gantry structure, the first electrically controlled traveling mechanism 11, the electrical control system 14, the power monitoring system 15, and the first track 16, can achieve efficient inspection and precise repair of defects at the bottom of the steel box girder 4.

[0029] like Figure 2 As shown, the structure and installation method of the intelligent unmanned inspection vehicle 3 are similar to those of the external inspection vehicle 1. Both are suspended and hoisted to the bottom of the steel box girder 4 and run along the first track 16 installed under the web of the steel box girder 4. The intelligent unmanned inspection vehicle 3 shares the first track 16 under the web of the box girder with the external inspection vehicle 1. Its main functions are: to operate all day and night along a preset path, covering the entire bottom surface of the bridge; and to use an image recognition device to scan and photograph the bottom surface of the bridge, enabling maintenance personnel to detect defects in a timely manner.

[0030] The intelligent unmanned inspection vehicle 3 also adopts a gantry structure design, including a second gantry 32 and a second truss 33. A second electrically controlled traveling mechanism 31 is installed on the top of the second gantry 32 to drive the intelligent unmanned inspection vehicle 3 along the first track 16. The second truss 33 is composed of multiple sections of aluminum alloy and is installed on the second gantry 32. The second truss 33 has a straight structure, with both ends flush with the ends of the steel box girder 4, ensuring that the intelligent unmanned inspection vehicle 3 covers the entire area under the bridge during operation. Several image recognition devices 35 are installed on the second truss 33 to collect high-definition images of the bridge surface. The second truss 33 is made of high-strength aluminum alloy, which is lightweight and high-strength, facilitating disassembly and transportation, while reducing the load-bearing requirements of the first track 16.

[0031] The intelligent unmanned inspection vehicle 3 is also equipped with an electrical control system 34 and a power monitoring system 36. The second electric control traveling mechanism 31, electrical control system 34, and power monitoring system 36 of the intelligent unmanned inspection vehicle 3 are all commercially available finished products, and will not be described in detail here. The image recognition device 35 of the intelligent unmanned inspection vehicle 3 also uses commercially available finished products. The image recognition device 35 is installed below the truss, facing the bottom of the bridge, and is used to collect high-definition images of the bridge surface. Each image recognition device 35 includes an industrial vision camera and a light source module. The industrial vision camera is a Basler ace series industrial camera, model: acA2440-75um, with a resolution of 2448×2048 pixels, featuring high frame rate and low noise characteristics; the light source module uses a CCS strip LED light source, model: LFS200, providing uniform illumination to ensure image quality. The image recognition device 35 is connected to the backend via Ethernet, enabling backend maintenance personnel to perform image analysis and detect defects such as cracks, corrosion, and deformation. The data communication network includes a wireless communication module and a LAN / WiFi access point, used to transmit data collected by the image recognition device to the backend management platform in real time. The wireless communication module is a Huawei AirEngine 5760-10, supporting high-speed data transmission; the LAN switch is a Cisco Catalyst 9200 series, ensuring stable and reliable data transmission.

[0032] The intelligent unmanned inspection vehicle 3, through the coordinated operation of the gantry structure, the second electric control traveling mechanism 31, the image recognition device 35, the electrical control system 34, the power monitoring system 36 and the first track 16, can achieve automated inspection and accurate identification of defects at the bottom of the steel box girder 4.

[0033] like Figure 3 and Figure 4As shown, the internal inspection vehicle 2 is mounted on the second track 28 inside the steel box girder 4 via the third electrically controlled traveling mechanism 24, and can travel along the interior of the steel box girder 4. The main functions of the internal inspection vehicle 2 are: to replace manual walking through the narrow, dark, and poorly ventilated interior space of the steel box girder 4, to carry tools, materials, and testing instruments, and to reduce the burden on personnel; and at the same time to provide a comfortable and safe working environment for maintenance personnel.

[0034] like Figure 4 As shown, the in-box inspection vehicle 2 in this embodiment includes a chassis 21, which is made of high-strength steel and has good load-bearing capacity and deformation resistance, ensuring the stable operation of the in-box inspection vehicle 2 under complex working conditions inside the steel box girder 4. The vehicle body 22 is installed on the chassis 21 and has an overall enclosed design. The front and rear sides of the vehicle body 22 are equipped with driver's cabs 23 for convenient bidirectional operation; the middle part forms a cargo space for placing tools, materials and testing instruments. Two sets of third electric control traveling mechanisms 24 are symmetrically installed at the bottom of the chassis 21 to support the smooth operation of the in-box inspection vehicle 2 on the second track 28 inside the steel box girder 4. The third electric control traveling mechanism 24 includes a drive motor, reducer, wheel set and control system; the electrical control system 25 and the power system are integrated in the vehicle body 22. The third electric control traveling mechanism 24, power system, electrical control system 25 and second track 28 are the same as those of the external inspection vehicle 1 and the intelligent unmanned inspection vehicle 3, and will not be described again here. In addition, lighting equipment 27 is installed around the body shell 22 and on its top to illuminate the working area inside the steel box girder 4. The lighting equipment 27 uses Osram Flex LED light strips, Flex 24V, which are high in brightness and low in energy consumption, providing sufficient light to meet the working needs in the low-light environment inside the steel box girder 4. Air conditioning equipment 26 is installed on the top or side walls of the body shell 22 to regulate the temperature and humidity inside the vehicle. The air conditioning unit is a Dometic vehicle air conditioner, model CRX50, with a cooling capacity of 2.5kW, suitable for use in small enclosed spaces. The air conditioning equipment 26 can automatically adjust the temperature and humidity inside the vehicle according to the ambient temperature, providing a comfortable working environment while preventing high or low temperatures from affecting equipment and personnel. Fire extinguishing equipment is also installed on the side walls of the body shell 22 to deal with the risk of sudden fire. The fire extinguisher is a Kidde dry powder fire extinguisher Pro 210 with a capacity of 2kg, suitable for extinguishing solid, liquid and gas fires.

[0035] The internal inspection vehicle 2, through the coordinated operation of chassis 21, body 22, third electronically controlled traveling mechanism 23, electrical control system 25, air conditioning equipment 26, lighting equipment 27 and fire extinguishing equipment, achieves efficient inspection and precise repair of internal defects of steel box girder 4.

[0036] Based on the aforementioned external inspection vehicle 1, intelligent unmanned inspection vehicle 3, and internal inspection vehicle 2, the workflow of the intelligent maintenance system for the steel box girder of the long-span suspension bridge is as follows: The back-end maintenance personnel remotely control the electrical control system 34 on the intelligent unmanned inspection vehicle 3, drive the second electric control traveling mechanism 31 of the intelligent unmanned inspection vehicle 3 to run along the first track 16 under the web of the steel box girder 4, and use the image recognition device 35 on the intelligent unmanned inspection vehicle 3 to scan and photograph the bottom surface of the bridge, so that the back-end maintenance personnel can detect defects in a timely manner.

[0037] When defects are discovered, construction workers prepare construction and maintenance materials and enter the carrying platform of the external inspection vehicle 1. They then use the electrical control system 14 of the external inspection vehicle 1 to drive the first electrically controlled traveling mechanism 11, moving the external inspection vehicle 1 to the corresponding location of the defect for hazard identification. If only the bottom of the steel box girder 4 needs reinforcement, construction workers directly stand on the construction platform to weld and reinforce the bottom of the steel box girder 4. After reinforcement, they leave using the external inspection vehicle 1.

[0038] If the inspection reveals that the defects have extended into the interior of the steel box girder 4, while the bottom of the steel box girder 4 is welded and reinforced, another group of construction workers carries the reinforced steel plates and tools into the cab 23 of the box girder inspection vehicle 2. Through the electrical control system 25 of the box girder inspection vehicle 2, the third electric control traveling mechanism 34 is driven to move the box girder inspection vehicle 2 to the corresponding section inside the steel box girder 4. After turning on the lighting device 27, the internal welding reinforcement is completed in collaboration.

[0039] It should be noted that the commercially available finished products involved in this embodiment, such as tracks, electrically controlled traveling mechanisms, electrical control systems, power monitoring systems, image recognition devices, lighting equipment, air conditioning equipment, and fire extinguishing equipment, can be adapted to meet the needs of the site in actual engineering applications.

[0040] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claims. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A smart maintenance system for steel box girders of long-span suspension bridges, characterized in that, include: External inspection vehicle and intelligent unmanned inspection vehicle are set on the outside of the bottom of the steel box girder, as well as internal inspection vehicle set in the cavity inside the steel box girder. The steel box girder is equipped with tracks both inside and below the web. The external inspection vehicle and the intelligent unmanned inspection vehicle share the tracks below the web of the box girder. The external inspection vehicle and the intelligent unmanned inspection vehicle are respectively installed on the tracks below the web of the steel box girder through an electrically controlled traveling mechanism and can travel along the bottom of the bridge. The internal inspection vehicle is installed on the tracks inside the steel box girder through an electrically controlled traveling mechanism and can travel along the inside of the bridge. The external inspection vehicle is equipped with a construction platform that can carry people; the intelligent unmanned inspection vehicle is equipped with an image recognition device; the internal inspection vehicle has a closed body structure that can carry people, and several lighting devices are installed on its body.

2. The intelligent maintenance system for steel box girders of long-span suspension bridges according to claim 1, characterized in that: Both the external inspection vehicle and the intelligent unmanned inspection vehicle adopt a gantry structure. The gantry structure includes a set of gantry frames and a truss. An electrically controlled traveling mechanism is installed on the top of the gantry frame. The truss is composed of multiple sections of aluminum alloy spliced ​​together and installed on a set of gantry frames.

3. The intelligent maintenance system for steel box girders of long-span suspension bridges according to claim 2, characterized in that: The main truss section of the external inspection vehicle is straight, and the truss sections on both sides are inclined so that the truss of the external inspection vehicle is parallel to the bottom of the steel box girder. A construction platform capable of carrying people is fixedly installed on the truss. The truss of the intelligent unmanned inspection vehicle has a straight structure, with both ends flush with the ends of the steel box girder, and several image recognition devices are installed on it.

4. The intelligent maintenance system for steel box girders of long-span suspension bridges according to claim 1, characterized in that: The inspection vehicle includes a chassis and a body mounted on the chassis. The front and rear sides of the body are equipped with driver's cabs, and the middle part forms a cargo space. Two sets of electronically controlled traveling mechanisms are symmetrically installed at the bottom of the chassis.

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