152 results about "Bridge inspection" patented technology

The invention provides a hollow slab bridge disease time sequence prediction method and system based on machine learning, and is applied to the technical field of bridge disease analysis and prediction.The method comprises the steps that hollow slab bridge detection data is acquired, and an original data set is constructed according to the disease data; performing structured preprocessing on the original data; feature engineering is carried out on the structured data, random forest screening is utilized, feature correlation analysis is carried out, and a low-redundancy high-correlation feature set is obtained; dividing the bridge detection data corresponding to the low-redundancy high-correlation features into training samples according to a time sliding window, and constructing a time sequence sample set; and carrying out model training and optimization, training a time sequence sample, and predicting continuous values of future diseases. According to the method, the accuracy, precision and stability of bridge disease prediction are improved through data acquisition, preprocessing, feature optimization, model establishment and output of the dynamic change prediction result of the disease continuous index, the efficiency is higher, and the method has a good application prospect.

The invention provides a bridge inspection method, device and system based on an unmanned aerial vehicle, and the method, device and system are applied to a GNSS-free environment, real-time point cloud data of a bridge and a surrounding environment are obtained through an end-side unmanned aerial vehicle, and a three-dimensional point cloud model of the bridge and the surrounding environment is constructed in combination with the real-time pose information of the end-side unmanned aerial vehicle; based on the three-dimensional point cloud model, in combination with the real-time pose information of the end-side unmanned aerial vehicle, an obstacle avoidance path of the end-side unmanned aerial vehicle is planned, and autonomous cruise is completed; in the autonomous cruise process, acquiring a bridge surface image through an end-side unmanned aerial vehicle, detecting bridge damage in the bridge surface image in real time by using a pre-trained target detection neural network model, and generating a damage detection result; and through a side control terminal, mapping a damage detection result to a world coordinate system of the three-dimensional point cloud model, and generating a bridge three-dimensional digital twin space-time model with damage marks. According to the invention, the whole process of unmanned aerial vehicle bridge inspection, bridge structure three-dimensional modeling and bridge surface damage detection can be integrally realized in a GNSS-free environment.

The utility model provides an underwater robot for bridge detection, which relates to the technical field of bridge detection, and comprises a robot main body, a floating component for providing floating force is arranged at the upper part of the robot main body; the propeller set comprises two side propellers and two tail propellers, the two side propellers are located on the front face of the robot body, and the two tail propellers are located at the same end of the buoyancy assembly and symmetrically arranged front and back; and the two symmetrical walking mechanisms are arranged on the robot main body through mounting structural members. The beneficial effects of the utility model are that through the reasonable layout of the propeller group and the cooperative work of the propellers at the two sides and the tail part, accurate water surface positioning and movement are realized, and the robot is ensured to smoothly approach and fit a pile foundation from the water surface; the posture of the whole machine does not need to be adjusted when the pile foundation is close to the pile foundation, and the pile foundation can be directly adsorbed and attached through the propellers on the two sides; a tensioning mechanism in the walking mechanism has self-adaptability, and an elastic support is matched with a connecting frame connected in a sliding mode.

The invention discloses a navigation-free autonomous flight bridge bottom inspection control method and unmanned aerial vehicle-mounted control equipment, and the method comprises the steps: responding to the obtained three-dimensional point cloud data of a to-be-inspected bridge, planning and selecting a bridge bottom inspection path through the three-dimensional point cloud data, and enabling the starting point of the bridge bottom inspection path to start from the outside of the bridge; and generating a bridge bottom inspection route based on the bridge bottom inspection path and executing inspection, wherein the inspection comprises bridge bottom navigation-free flight control, autonomous obstacle avoidance, roof-imitating flight and inspection waypoint image acquisition. After the unmanned aerial vehicle flies out of the bridge, when the electric quantity of the unmanned aerial vehicle is too low or the unmanned aerial vehicle is manually triggered to return, the return flight route of the unmanned aerial vehicle is automatically called to execute a return flight task during return flight. The method disclosed by the invention can be efficiently operated on light embedded equipment, so that the unmanned aerial vehicle can realize real-time perception and real-time flight control on the bridge in the flight process, a more efficient and safer bridge bottom inspection flight control solution is provided, and the development of the unmanned aerial vehicle in the bridge inspection field is promoted.

The invention relates to the technical field of bridge detection, in particular to a bridge stay cable appearance detection device which comprises two movable shells which are symmetrically distributed, arc-shaped grooves are formed in the sides, close to each other, of the movable shells, and walking wheels which are symmetrically distributed are arranged in the arc-shaped grooves. A plurality of pressure rods distributed circumferentially penetrate through the inner wall of the movable shell, the ends, located in the movable shell, of the pressure rods are connected with the inner wall of the movable shell through first elastic pieces, a supporting plate is fixed to the interior of the movable shell, a plurality of spraying barrels distributed circumferentially are fixed to the side wall of the supporting plate, and the spraying barrels communicate with spraying pipes. The spray pipe penetrates through the inner wall of the mobile shell; the pressure rod is driven by the moving shell to move outside the stay cable, when the skin of the stay cable cracks, the extrusion degree of the stay cable on the pressure rod can be changed, at the moment, paint in the spraying barrel can be automatically discharged from the spraying pipe, and the stay cable can be protected in time.

The invention belongs to the field of bridge detection and evaluation, and discloses a bridge line shape detection and damage prediction method based on a smart phone and a hybrid neural network, and the method comprises the steps: obtaining a bridge image through the smart phone by employing a distributed vision method, and obtaining vertical acceleration response data and environment temperature when a standard vehicle passes through a bridge through a mobile phone sensor; a YOLOv5s-CECA target detection model is used to obtain the pixel coordinates of the feature points; taking gyroscope attitude parameters during shooting as initial external parameters, converting positioning feature point pixel coordinates into a world coordinate system in combination with a pre-calibrated mobile phone internal parameter matrix, optimizing feature point coordinates by minimizing a re-projection error, drawing an actual bridge line shape, and obtaining a target line shape. And inputting the obtained bridge data into the trained AFTCNN-LSTM model to obtain a damage degree prediction result. The method can be rapidly deployed in a complex engineering field environment, improves the efficiency of bridge line shape detection and damage prediction, and reduces the bridge detection and evaluation cost.

The invention discloses a magnetic attraction type self-adaptive bridge inspection robot, and relates to the technical field of bridge engineering inspection, the magnetic attraction type self-adaptive bridge inspection robot comprises a frame body and a baffle plate, a detection assembly used for detecting a bridge to be detected is fixed on the top surface of the frame body, and at least two magnetic attraction wheel sets are arranged on the bottom surface of the frame body; a rotating piece used for adjusting the rotating direction of each magnetic attraction wheel set is arranged between the frame body and the corresponding magnetic attraction wheel set, the baffles are symmetrically arranged on the two side edges of the bottom face of the frame body, one ends of the baffles are fixedly connected with the frame body, sliding plates are arranged at the other ends of the baffles, and protruding blocks are arranged on the faces, away from the baffles, of the sliding plates in the length direction of the sliding plates. The two opposite ends of the protruding block are slidably connected with movable sliding blocks, the bottom face of each movable sliding block is fixedly connected with a guide wheel, and the two movable sliding blocks located at the two opposite ends of the protruding block are connected through a first spring. The magnetic type self-adaptive bridge inspection robot provided by the invention can improve the safety of bridge inspection, adapts to a complex environment, and automatically adjusts steering.

The utility model discloses a water-air cross medium wall-climbing robot for bridge inspection, which relates to the technical field of bridge inspection and comprises a bottom frame, buoys are symmetrically fixed at the bottom end of the bottom frame, a base frame is fixed at the upper end of the bottom frame, front vector motors are fixed on two sides of one end of the base frame, and rear vector motors are arranged on two sides of the other end of the base frame. An adsorption chassis is arranged in the center of the upper end of the base frame, a negative pressure fan is arranged on the inner side of the adsorption chassis, gear motors are fixed to the four end corners of the outer side of the adsorption chassis, and a rubber anti-skid wheel is fixed to the output end of each gear motor. According to the water-air cross-medium wall-climbing robot for bridge inspection, through the overall structural matching design, water-air amphibious rapid movement can be achieved to be close to a bridge pier, meanwhile, negative pressure can be generated to adsorb the robot to the wall face of the bridge pier, and then the robot is driven to achieve wall face rapid crawling to execute the inspection task.

The invention provides a bridge support anomaly detection method, and belongs to the technical field of bridge detection based on deep learning. According to the method, a high-precision sensor array is deployed at a key position of a support, and vibration, displacement, strain and environmental parameters are synchronously collected; a one-dimensional convolutional neural network and a self-attention mechanism are innovatively adopted to extract local and global features of a vibration signal, ST-GCN is utilized to capture spatial distribution and time evolution laws of displacement and strain, and an environment long-term trend is modeled through GRU; meanwhile, a multi-modal fusion method based on an adversarial auto-encoder is introduced, heterogeneous features are mapped to a unified and compact potential space, distribution of the heterogeneous features is more regular through adversarial training, and the essential distinguishing capacity of the model for normal and abnormal states is enhanced. According to the invention, comprehensive perception, accurate diagnosis and prospective early warning of the state of the support are realized.

The invention discloses a bridge intelligent inspection unmanned aerial vehicle integrated measurement and control system, and relates to the technical field of unmanned aerial vehicle measurement and control, and the system comprises a reference construction module, a pose acquisition module, a pose matching module, a coordinate generation module, and a disease locking module. According to the method, the reference three-dimensional model and the space reference control point are constructed, so that accurate registration of the real-time video stream and the historical model is realized; driving the unmanned aerial vehicle to actively adjust the pose and lock the disease area through visual servo control; the absolute three-dimensional space coordinates of the diseases are calculated through reverse ray tracing, integration of disease recognition, active observation and accurate positioning is achieved, the automation degree of bridge inspection is improved, and the problems that in the prior art, bridge disease recognition and space positioning links are disjointed, cross-cycle data cannot be aligned, and an active observation mechanism is lacked are solved.

The invention relates to the technical field of bridge inspection, in particular to a road bridge automatic inspection system based on an unmanned aerial vehicle, which comprises the following steps: determining bridge structure information of an inspected bridge, and determining a bridge type according to the bridge structure information; determining a structure inspection grade table of the bridge according to the bridge type; according to the structure inspection grade table and the unmanned aerial vehicle information, the acquisition distance and the acquisition angle of the unmanned aerial vehicle at each position during inspection are determined, so that accurate bridge inspection information can be obtained during inspection, the probability of collision between the unmanned aerial vehicle and the bridge can be reduced, and the flight safety of the unmanned aerial vehicle is improved. By means of the mode, the problems that in the bridge inspection aspect, the control ability of an operator on the unmanned aerial vehicle is relied on, the problem cannot be found in time, and an air crash event is likely to happen are solved.

The invention relates to a bridge inspection method and system and a computer readable storage medium. The inspection method of the bridge comprises the following steps: receiving an inspection task, and driving the inspection device according to the inspection task, so that the inspection device travels along the running guide rail of the bridge; obtaining a sequence image of the bridge surface acquired by the image acquisition assembly; identifying the disease type of the bridge based on the sequence image; and determining geometric feature parameters corresponding to the disease type according to the disease type of the bridge, and determining the severity level of the disease type based on the geometric feature parameters. According to the bridge inspection method, automatic grading evaluation of bridge apparent diseases is facilitated, errors caused by manual judgment are reduced, and the accuracy degree of disease detection is improved.

The utility model relates to the technical field of parking of bridge inspection vehicles, aims to solve the problem that in the prior art, a bridge inspection vehicle is parked in the mode that a motor brakes to prevent track wheels from rotating, and vehicle sliding is prone to occurring, and provides an inspection vehicle parking device which comprises a rapid parking mechanism of an inspection vehicle. The quick parking mechanism for the inspection vehicle comprises a stop block and a sliding assembly, the sliding assembly comprises a rotating groove body and a sliding block, the rotating groove body and the stop block are rotationally connected to a driving box mounting plate of a driving box through a rotating shaft, and the sliding block is in sliding connection with the rotating groove body. The sliding block can be fixed on the rotating groove body; a pin hole is formed in the driving box mounting plate, a rotating limiting piece is detachably mounted in the pin hole, the rotating limiting piece is located on the lower side of the rotating groove body, and the rotating limiting piece is used for limiting rotation of the rotating groove body; the sliding block is connected with the stopping block, and the rotating groove body is connected with the stopping block in a sliding mode.

This invention discloses a composite robot and its working method for detecting surface defects in complex bridge structures, belonging to the technical field of bridge surface defect detection robots. It includes a rail-mounted robot body and a magnetic adsorption robot. The rail-mounted robot body is suspended from a track installed on the bridge structure. The robot body is equipped with a detection extension arm and a storage compartment telescopic arm. A storage compartment is installed at the end of the storage compartment telescopic arm. The storage compartment is used to retrieve and store the magnetic adsorption robot and to charge or provide power to the magnetic adsorption robot via a cable. The detection extension arm and the magnetic adsorption robot work together to detect bridge defect information in real time. This invention has low operational difficulty, can improve bridge inspection coverage and intelligence level, and overcomes the shortcomings of single rail-mounted inspection robots or magnetic adsorption robots.

This application relates to a UAV frame for bridge inspection, belonging to the technical field of UAVs. It includes a UAV body with a connecting frame at its bottom. This application utilizes a plug-in engagement between a plug and the connecting frame, and a limiting block driven by a push spring in a snap-fit ​​assembly to achieve automatic initial positioning. Simultaneously, a bidirectional lead screw driven by a first servo motor in the limiting assembly drives a moving frame and its locking block for a secure secondary locking. This significantly simplifies the installation and disassembly process of the UAV body and the connecting frame. Furthermore, a buffer assembly located on the outside of the connecting frame, with its support plate sliding within the damping sleeve of the support leg via a slide rod, compresses the buffer spring. This effectively absorbs and dissipates the impact energy generated during UAV takeoff and landing or sudden collisions, maximizing the protection of the precision components inside the UAV body and the shooting and detection devices within the mounting frame. This significantly reduces data acquisition errors and improves operational safety and data reliability.

The utility model relates to a bridge support appearance inspection device, which comprises a walking track assembly, a bridge support appearance inspection device and a bridge support appearance inspection device, the walking track assembly comprises a walking track, a track support, a track height adjusting nut and a fixing nut unit, and the track support is connected with a bridge pier through the track height adjusting nut and is fixed through the fixing nut unit; the transmission assembly comprises a lateral wheel, a wheel supporting structure, a stepping motor and a tooth-shaped belt. The apparent image acquisition assembly comprises a camera; the development board is used for controlling operation of the stepping motor and shooting of the camera and uploading data; the power supply assembly comprises a lithium battery, a wireless charging module and a voltage reduction module; the transmission assembly, the apparent image acquisition assembly, the development board and the power supply assembly are all arranged on the walking track assembly. Compared with the prior art, through high-efficiency and low-cost automatic inspection, the bridge inspection system flexibly adapts to complex scenes, realizes high-precision detection and data management, and prolongs the service life of a bridge.

The utility model discloses a bridge inspection foot plank bracket device, and belongs to the technical field of bridge inspection.The bridge inspection foot plank bracket device comprises a handle, rubber anti-skid particles are arranged on the surface of the handle, one end of the handle is connected with a hollow steel pipe, and detachable groove-shaped wheels are fixed to the middle of the hollow steel pipe; one end of the hollow steel pipe is connected with a telescopic hollow steel pipe, the tail end of the telescopic hollow steel pipe is connected with an inspection steel pipe, and one end of the inspection steel pipe is provided with a Bluetooth camera shooting device. According to the bracket device for inspecting the bridge foot plank, the telescopic hollow steel pipe is adjusted to the proper length, the detachable groove-shaped wheels are clamped on a bridge guardrail and extend outwards to the position below the foot plank, then the Bluetooth photographing equipment is started, the bracket device can move on the guardrail at will, details of the bracket can be visually seen in all directions, and the inspection efficiency is improved.

The utility model relates to the technical field of road and bridge punching and sampling, and discloses a punching and sampling device for road and bridge detection, which comprises a support bottom plate, universal wheels, a sampling driving hydraulic cylinder, a sampling punching pipe and a sampling hydraulic rod, the bottom surface of the support bottom plate is fixedly connected with the universal wheels, the top surface of the support bottom plate is fixedly connected with a sampling support frame, and the sampling support frame is fixedly connected with the sampling driving hydraulic cylinder. A sampling driving hydraulic cylinder is fixedly connected to the bottom surface of the top of the sampling supporting frame, a sampling hydraulic rod is slidably connected to the inner side of the sampling driving hydraulic cylinder, a sampling punching pipe is fixedly connected to the bottom surface of the sampling hydraulic rod, and a sampling punching pipe is slidably connected to the inner side of the supporting bottom plate; the plane adjusting and supporting assembly is arranged on the top surface of the supporting bottom plate; the sliding guide assembly is arranged on the top surface of the supporting bottom plate; according to the device, through plane adjustment, sliding guide and the self-locking cleaning assembly, manpower is saved, deviation is prevented, cleaning is easy, and sampling accuracy is guaranteed.

The application discloses a bridge maintenance platform and a maintenance method, wherein the bridge maintenance platform comprises a longitudinal support beam and a walking mechanism slidingly installed on the longitudinal support beam; the longitudinal support beam is horizontally arranged and fixedly connected with a bridge; a manned lifting mechanism is hung below the walking mechanism; and the walking mechanism drives the manned lifting mechanism to move horizontally along the longitudinal support beam. The bridge maintenance platform can be fixed on the bridge, does not affect the traffic on the bridge and the navigation under the bridge, can be fixed on the bridge for a long time, can be used for the bridge inspection and maintenance at any time, and the staff can stand on the bridge maintenance platform to control the movement of the bridge maintenance platform to conduct the dead angle-free inspection and maintenance on each part of the bridge without the need of erecting a scaffold, thereby saving time and effort. The bridge maintenance platform is not affected by the traffic on the bridge and the topography and geomorphology under the bridge, and is suitable for the maintenance of various bridges.

The invention discloses a highway bridge maintenance method and system based on an unmanned aerial vehicle, and relates to the technical field of image processing. Comprising the steps that an unmanned aerial vehicle collects a surface original image of a bridge along a preset track at a constant inclination angle, and records a space curvature to form an image frame sequence set with a space curvature index; carrying out local region division on the bridge surface according to image texture change features in the image sequence, and generating an image texture curvature partition mask; according to the image texture curvature partition mask, extracting corresponding curvature partition content from the surface original image, and generating a structured partition image set; performing multi-scale crack extraction and coding on the structured partition image set, and performing aggregation through morphological consistency analysis between scales to generate an aggregation morphological vector; and comparing the polymerization form vector with a corresponding form vector of a historical maintenance period, identifying growth, expansion and new areas of the crack, and outputting a bridge crack change distribution result.

The utility model belongs to the technical field of unmanned aerial vehicles, and particularly relates to an unmanned aerial vehicle bridge inspection collection device which comprises an unmanned aerial vehicle and installation assemblies, the installation assemblies are symmetrically arranged at the bottom end of the unmanned aerial vehicle, and the two ends of each installation assembly are rotationally connected with connecting assemblies. A carrying assembly is arranged between the connecting assemblies at the two ends of the same mounting assembly, and one end of each mounting assembly is slidably connected with a positioning assembly used for clamping the corresponding connecting assembly. According to the utility model, during inspection, the collection boxes are hoisted through the two carrying assemblies and then are conveyed to corresponding collection points to be used by workers, and during hoisting of the collection boxes, the two carrying assemblies are rotated outwards, and then the two collection boxes are placed between the two carrying assemblies, so that the collection boxes can be transported to the corresponding collection points to be used by the workers. The collection box is clamped by reversely rotating the two carrying assemblies, then the carrying assemblies are locked through the positioning assemblies, installation is convenient, and use of routing inspection information collection is facilitated.

This invention proposes a multimodal semantically consistent Gaussian mapping and localization method for bridge unmanned aerial vehicle (UAV) inspection. By tightly coupling visual and LiDAR data and introducing semantic consistency constraints, this method achieves high-precision localization and detailed 3D mapping of UAVs in weakly textured environments, providing a reliable technical solution for unmanned bridge inspection and intelligent operation and maintenance in civil engineering.

The invention relates to the technical field of bridge detection, and discloses a large-span bridge cantilever closure vertical deformation detection device which comprises telescopic vertical frame structures and sliding rail structures which are symmetrically arranged, telescopic transverse frame structures are arranged on one sides of the bottoms of the vertical frame structures, and a structure reinforcing mechanism is arranged between the vertical frame structures. A hoisting mechanism is arranged at the top of the structure reinforcing mechanism, a rotatable detection mechanism is arranged on the lower portion of the structure reinforcing mechanism, the sliding rail structure is installed on to-be-folded bridge cantilevers on the two sides through expansion bolts, and a moving mechanism is arranged at the end of the transverse frame structure. The detection mechanism slides on the sliding rail structure through the moving mechanism to detect the vertical deformation of the bridge cantilevers on the two sides, and the bridge cantilever detection device can be erected between the bridge cantilevers on the two sides for detection, can detect the vertical deformation of the folding positions of the cantilevers on the two sides in advance, and can be unfolded, arranged, stored and transported.

An unmanned aerial vehicle and method for bridge inspection are provided. The unmanned aerial vehicle identifies a calibration line in an image corresponding to a target bridge. The unmanned aerial vehicle controls the unmanned aerial vehicle to fly along the calibration line to execute a bridge inspection task based on the image including an obscured part and an unobstructed part, and a calibration starting point and a calibration ending point of the calibration line are respectively corresponding to a longitude and latitude coordinate in a real world.

This utility model relates to the field of unmanned aerial vehicle (UAV) hangar technology, specifically an unmanned UAV hangar for bridge inspection. It includes a rectangular box, a first sliding cover, a second sliding cover, a brush plate mounting plate, a dust brush assembly, a photovoltaic panel, a landing pad, a sliding cover drive assembly, an auxiliary sliding assembly, a cooling fan, a first slide rail, a threaded column, a first slider, a worm gear, a motor, a worm, a scraper mounting plate, a wiping block, a scraper, a second slide rail, a threaded column, and a second slider. This utility model has an ingenious structure. The sliding cover drive assembly enables the automatic opening and closing of the first and second sliding covers, facilitating the vertical entry and exit of the UAV. Simultaneously, the dust brush assembly cleans the surface of the photovoltaic panel during the opening and closing of the sliding covers, ensuring the photovoltaic panel's conversion efficiency and reducing the need for manual maintenance. The hangar is installed on the sunny side of the bridge pier. Compared to manual inspection, its take-off and landing distance is reduced, greatly improving the coverage and efficiency of bridge inspection and lowering inspection costs.

The invention relates to a bridge technical condition rating prediction method and system fusing maintenance process information. The method comprises the following steps: constructing a bridge maintenance process information data set based on a contour coefficient method and a K-means algorithm, and constructing a bridge regular inspection information database; carrying out discretization processing on the numeric data after data cleaning, and converting the numeric data into classified data; calculating Cramer's V coefficients between all the classification data and the bridge technical condition rating information, based on the selected feature data, converting the data with classification data attributes into one-hot codes, and adopting a principal component analysis method to reduce dimensionality to obtain dimensionality-reduced classification data; performing normalization and equalization processing to obtain a data set for model training; training a bridge technical condition rating prediction model by using a PSO-LightGBM algorithm; and predicting a bridge technical state rating level by using the prediction model. According to the invention, the accuracy of bridge technical condition rating prediction is improved.

This invention discloses a stable bridge inspection platform, relating to the field of bridge inspection technology. It includes a movable mechanism, with a rotating mechanism fixedly connected internally. A connecting mechanism is rotatably connected below the rotating mechanism, and a chassis mechanism is fixedly connected to one side of the connecting mechanism. A guardrail mechanism is fixedly connected to the top of the chassis mechanism. This invention utilizes a combination of a water storage tank, a walking platform, and a movable platform. When seawater enters the walking platform, stepping on the movable platform lowers it, creating a gap between it and the walking platform. Water accumulated in the walking platform flows through this gap into the water storage tank, which stores the water. This prevents seawater from entering the platform when the platform is near the sea, thus avoiding water accumulation and hindering inspection work.

The application provides a positioning method, device and equipment of a bridge inspection vehicle and a storage medium, relates to the technical field of bridge detection, and the positioning method of the bridge inspection vehicle comprises the following steps: acquiring UWB signals of the bridge inspection vehicle based on a plurality of UWB base stations distributed on both sides of the bridge, wherein the UWB signals carry time of arrival data and angle of arrival data; performing error correction processing on the time of arrival data and the angle of arrival data based on a correction algorithm; and calculating the time of arrival data and the angle of arrival data after the error correction processing by using a positioning algorithm to determine the positioning coordinates of the bridge inspection vehicle. The application can significantly improve the positioning accuracy of the bridge inspection vehicle and improve the accuracy of the bridge inspection work.

The invention relates to the technical field of bridge maintenance, aims to solve the problems of low efficiency, limited coverage and high labor intensity of personnel in a traditional manual bridge inspection mode, and provides unmanned bridge inspection equipment and a bridge bottom inspection method. The equipment comprises a truss, a portal frame, a walking drive and image acquisition equipment, the truss is connected with the walking drive through the portal frame, the walking drive is matched with a beam bottom rail, the walking drive can drive the unmanned bridge inspection equipment to run in the bridge direction, and the image acquisition equipment is installed on the truss and used for acquiring a beam bottom image; the unmanned bridge inspection equipment disclosed by the invention can walk on the beam bottom track along the bridge direction through the walking drive, and the image acquisition equipment mounted on the unmanned bridge inspection equipment is used for acquiring the beam bottom image, so that manual inspection is replaced, the acquisition efficiency can be effectively improved, comprehensive coverage acquisition is realized, unmanned acquisition can be realized at the same time, and the unmanned bridge inspection equipment is suitable for large-scale popularization and application. And the labor intensity and the working risk of personnel are greatly reduced.