Annular visual scanning detection system and method for pier body structure diseases

The invention provides an annulus visual scanning detection system and method for pier body structure diseases, the detection system comprises a track and a scanning trolley, the track is installed on a robot, and the scanning trolley is installed on the track; the track is composed of a plurality of guide rails which are connected through connecting plates; the guide rail is provided with a first sliding groove, a second sliding groove and a third sliding groove. The bottom of the scanning trolley is provided with a driving wheel and a wheel frame; the wheel carrier comprises a first wheel, a second wheel and a third wheel, and the second wheel is located between the first wheel and the third wheel; and the driving wheel makes contact with the sliding groove. The sliding grooves are formed in the two side faces and the top face of the guide rail, the three wheels are correspondingly installed at the bottoms of the wheel carriers connected with the bottom plate, the scanning trolley can move around the rail t