Concrete pole surface damage automatic detection device and method

Abstract

The invention belongs to the technical field of electric pole surface detection, and particularly relates to a concrete electric pole surface damage automatic detection device and method, and the device comprises a housing, and a flight module, an advancing module, a deicing module, a suspension module and a detection module which are disposed on the housing. Wherein the flight module is fixed on the periphery of the shell through a turnover mechanism, the advancing module is fixed on one side of the shell through a rotating shaft, the deicing module is arranged on the advancing module, the suspension module is arranged on the shell in the middle of the advancing module, and the detection module is arranged on one side of the shell through an arc-shaped telescopic rod; the advancing module adopts double-curved-surface-shaped advancing wheels, the advancing wheels are fixed to the shell through rotating shafts, and synchronous contraction of the advancing wheels is achieved through stretching and retracting of the rotating shafts; the suspension module comprises a suspension belt, a push rod, a telescopic arm, a buckle and a push rod motor, the suspension belt is fixed on the push rod, the push rod, the push rod motor and the buckle are arranged at the front end of the telescopic arm, and the push rod is clamped with the buckle.

Description

Technical Field

[0001] The invention belongs to the technical field of pole surface detection, and in particular relates to a device and method for automatically detecting surface damage of a concrete pole. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] Concrete poles are a key element in building power and communication networks. Their stability is directly related to the normal functioning of urban functions and the basic service guarantee in rural areas. In actual operation, concrete poles face many severe tests, such as wind, frost, rain, snow, alternating hot and cold weather, and harmful chemicals in the air, which act on the surface of the poles for a long time, causing them to gradually suffer from weathering, cracks, peeling and other damages; at the same time, human behaviors such as traffic accidents, accidental impacts of surrounding construction, and malicious destruction also increase the risk of damage to the surface of the poles. Once these damages are not discovered and handled in time, the structural integrity of the poles will be severely damaged over time, which may cause the poles to tilt or break, resulting in the interruption of power and communication lines, bringing great chaos to social production and life, endangering the safety of life and property, and causing economic losses.

[0004] At present, the surface damage detection of concrete poles is mainly completed manually, and the staff are required to check one by one along the distribution line of the poles. However, the detection speed is extremely slow. Faced with a large number of widely distributed poles, it takes a lot of time to achieve a comprehensive inspection, and it is difficult to ensure regular and efficient inspections. In addition, in some remote mountainous areas, along rivers, in rugged areas, or in areas where obstacles are blocked and difficult to approach, manual inspections are difficult to implement effectively, and detection blind spots are prone to occur, resulting in the inability to know the damage of these poles in a timely manner, which lays hidden dangers for the occurrence of subsequent safety accidents. Summary of the invention

[0005] To solve the above problems, the present invention proposes an automatic detection device and system for concrete pole surface damage. Through the improved automatic detection device, concrete pole damage can be quickly and accurately detected, and a large range of concrete pole surface damage detection data can be effectively obtained, thereby improving the recognition efficiency and effectiveness of concrete pole surface damage detection.

[0006] According to some embodiments, a first solution of the present invention provides an automatic detection device for surface damage of a concrete pole, which adopts the following technical solution:

[0007] A concrete pole surface damage automatic detection device comprises a shell and a flying module, a traveling module, a deicing module, a hanging module and a detection module arranged on the shell; wherein the flying module is fixed to the four sides of the shell by a flipping mechanism, the traveling module is fixed to one side of the shell by a rotating shaft, the deicing module is arranged on the traveling module, the hanging module is arranged on the shell in the middle of the traveling module, and the detection module is arranged on one side of the shell by an arc-shaped telescopic rod; the traveling module adopts a hyperbolic traveling wheel, and the traveling wheel is arranged on the rotating shaft. It is fixed on the shell, and the synchronous contraction of the traveling wheel is achieved by the extension and retraction of the rotating shaft; the suspension module includes a suspension belt, a push rod, a telescopic arm, a buckle and a push rod motor, the suspension belt is fixed on the push rod, the push rod, the push rod motor and the buckle are arranged at the front end of the telescopic arm, and the push rod is engaged with the buckle; when performing a suspension operation, the telescopic arm is extended and then clamped on the electric wire, the traveling wheel is contracted, and the push rod motor pushes the push rod to extend downward until it is engaged with the buckle, and the telescopic arm is contracted to allow the suspension belt to wrap around the electric wire, completing the suspension process.

[0008] As a further technical limitation, the flight module also includes a plurality of propellers, each of which includes a blade and an anti-collision ring arranged around the blade, and the propeller is flipped 180° by the flipping mechanism to achieve the folding and unfolding of the propeller; the flipping mechanism includes at least a fixed platform, a flipping platform, a support rod and a telescopic rod; the fixed platform is fixedly connected to the shell, the support rod is used to connect the fixed platform and the flipping platform, the flipping platform is fixedly connected to the propeller, and the fixed platform and the flipping platform are connected by the telescopic rod.

[0009] As a further technical definition, the de-icing module is arranged on the traveling wheel on one side of the traveling module, and the de-icing module includes a fixed shaft, a transmission shaft, a transmission rod, a resistance rod and a de-icing roller; the fixed shaft is fixed on the shell; the transmission shaft is connected to the rotating shaft of the traveling wheel, and the transmission shaft drives the transmission rod to move; the transmission rod moves with the movement of the transmission shaft, and the transmission rod is connected to the de-icing roller to drive the de-icing roller to move; the surface of the de-icing roller is provided with stripes, and the de-icing function is realized by the continuous reciprocating motion of the de-icing roller.

[0010] As a further technical limitation, the traveling wheel is in the shape of a hyperbolic surface with thick sides and thin middle. When the suspension module starts to support, the traveling wheel shrinks as the rotating shaft shrinks, reducing the space occupied by the traveling wheel, so that the traveling wheel passes through the gap between the wires to complete the suspension operation of the automatic detection device.

[0011] As a further technical definition, the detection module includes three image acquisition units and two arc-shaped telescopic rods, each end of the arc-shaped telescopic rod is provided with an image acquisition unit, one end of the two arc-shaped telescopic rods is fixed on the shell, and the image acquisition unit is provided at the connection between the two arc-shaped telescopic rods on the shell.

[0012] Furthermore, when the automatic detection device moves on the electric wires, the detection module takes pictures of the concrete poles along the line, and the image acquisition unit arranged at the end of the arc-shaped telescopic rod is pushed to the rear side of the concrete pole to be detected by extending the arc-shaped telescopic rod, and combined with the image acquisition unit arranged at the connection of the two arc-shaped telescopic rods on the shell, 360° no-dead-angle shooting of the concrete pole is completed; the suspension belt is gradually loosened, and the automatic detection device moves from top to bottom through the change of the length of the suspension belt, so as to realize all-round shooting of the concrete pole during the movement and complete the image acquisition of the surface of the concrete pole.

[0013] As a further technical limitation, an automatic detection device for surface damage of concrete poles also includes a monitoring module that is communicatively connected to the detection module, and the monitoring module numbers all concrete poles on the detection line to locate and distinguish the concrete poles; the monitoring module receives and processes the concrete pole images obtained by the detection module in real time, analyzes the obtained concrete pole images, promptly detects damaged concrete poles and marks their locations.

[0014] Furthermore, an automatic detection device for concrete pole surface damage also includes a cloud platform communicatively connected to the monitoring module, and the monitoring module uploads monitoring data including the concrete pole number, concrete pole damage status, concrete pole detection data and concrete pole number to the cloud platform for storage.

[0015] According to some embodiments, the second solution of the present invention provides a method for automatically detecting surface damage of a concrete pole, using the automatic detection device for surface damage of a concrete pole provided by the first solution, and adopting the following technical solutions:

[0016] A method for automatically detecting surface damage of a concrete pole, comprising:

[0017] The propellers are deployed, and the automatic detection device is controlled to take off based on the ground remote control device. When the device reaches a preset height, the ground remote control device is used to land the automatic detection device between two wires, and the propellers are retracted. The device is clamped on the wires through the telescopic arms and the traveling wheels, and the automatic detection device is suspended through the suspension module.

[0018] The automatic detection device is moved on the electric wires by the traveling wheels, and the images of concrete poles along the line are obtained based on the detection module. The automatic detection and positioning marking of surface damage of concrete poles are completed in combination with the monitoring module.

[0019] As a further technical limitation, when the automatic detection device encounters an obstacle while moving on the wire, the propeller is started through the flipping mechanism, and the automatic detection device is driven to rise by contracting the suspension belt, so that the traveling wheels can overcome the obstacle on the wire; after overcoming the obstacle, the telescopic arm is relaxed to move the automatic detection device downward, the traveling wheels are clamped on the wire, and the propeller is folded to complete the obstacle avoidance of the automatic detection device.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] The present invention uses an improved automatic detection device to quickly and accurately detect damage to concrete poles. Specifically, the automatic detection device can accurately cross obstacles through a flying module. The automatic detection device can move safely and stably on electric wires through the setting of hyperbolic traveling wheels, so that the automatic detection device will not easily deviate or shake during movement. The automatic detection device can be stably raised and lowered in a vertical direction through a suspension module. The detection module can efficiently and accurately detect and locate concrete poles. The present invention effectively obtains surface damage detection data of concrete poles over a large range, thereby improving the recognition efficiency and effectiveness of surface damage detection of concrete poles. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The drawings in the specification that constitute a part of this embodiment are used to provide a further understanding of this embodiment. The schematic embodiments of this embodiment and their descriptions are used to explain this embodiment and do not constitute improper limitations on this embodiment.

[0023] Figure 1 It is a structural schematic diagram of an automatic detection device for concrete pole surface damage in Embodiment 1 of the present invention;

[0024] Figure 2 It is a structural schematic diagram of the turning table structure in the first embodiment of the present invention;

[0025] Figure 3 This is a schematic diagram of the structure of the traveling wheel retracted in the first embodiment of the present invention;

[0026] Figure 4 Schematic diagram of the structure of the deicing module in the first embodiment of the present invention;

[0027] Figure 5 This is a schematic diagram of the structure of the suspension module in the first embodiment of the present invention;

[0028] Figure 6 This is a schematic diagram of the structure of the monitoring module in the first embodiment of the present invention;

[0029] Figure 7 is a structural diagram of a monitoring module in Embodiment 1 of the present invention;

[0030] Among them, 1. flight module; 2. travel module; 3. de-icing module; 4. suspension module; 5. detection module; 6. support rod; 7. telescopic rod; 8. propeller; 9. travel wheel; 10. rotating shaft; 11. fixed shaft; 12. transmission shaft; 13. de-icing roller; 14. resistance rod; 15. telescopic arm; 16. buckle; 17. push rod; 18. suspension belt; 19. high-definition camera; 20. arc-shaped telescopic rod; 21. fixed platform; 22. flip platform. DETAILED DESCRIPTION

[0031] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0032] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present application belongs.

[0033] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0034] In the present invention, terms such as "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "side", "bottom", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are relational words determined only for the convenience of describing the structural relationships of the various parts or elements of the present invention, and do not specifically refer to any part or element in the present invention and should not be understood as limitations on the present invention.

[0035] In the present invention, terms such as "fixed connection", "connected", "connection", etc. should be understood in a broad sense, indicating that it can be fixedly connected, integrally connected or detachably connected; it can be directly connected or indirectly connected through an intermediate medium. For relevant scientific research or technical personnel in this field, the specific meanings of the above terms in the present invention can be determined according to specific circumstances, and they cannot be understood as limitations on the present invention.

[0036] In the absence of conflict, the embodiments of the present invention and the features of the embodiments may be combined with each other.

[0037] Embodiment 1

[0038] Embodiment 1 of the present invention introduces an automatic detection device for surface damage of concrete poles.

[0039] like Figure 1 The automatic detection device for concrete pole surface damage shown includes an automatic detection device and a monitoring module; the automatic detection device includes a flight module 1, a travel module 2, a deicing module 3, a suspension module 4 and a detection module 5.

[0040] As one or more embodiments, the flight module 1 includes four propellers 8 and a turning mechanism. The propellers 8 include blades and anti-collision rings. The anti-collision rings can prevent the blades of the device from colliding with wires during flight; the turning mechanism includes a fixed platform 21, a turning platform 22, a support rod 6 and a telescopic rod 7; the four propellers 8 can all be turned 180° by the turning mechanism, thereby realizing the folding and unfolding of the propellers 8.

[0041] As one or more embodiments, the traveling module 2 includes four traveling wheels 9, which are in a hyperbolic shape with thick sides and thin middle. This structure helps the device to remain stable during travel and can prevent the device from being blown off by wind during travel.

[0042] As one or more embodiments, the de-icing module 3 includes a fixed shaft 11, a transmission shaft 12, a transmission rod, a resistance rod 14 and a de-icing roller 13; the fixed shaft 11 is connected to the device body and is fixed; the transmission shaft 12 is connected to the traveling wheel 9, and can rotate with the rotation of the traveling wheel 9, and at the same time drive the transmission rod to move; the transmission rod is connected to the de-icing roller 13, and with the movement of the transmission shaft 12, the transmission rod drives the de-icing roller 13 to move; the surface of the de-icing roller 13 is provided with stripes to obtain a better de-icing effect, and the movement process of the de-icing roller 13 includes falling, pushing and lifting, and constantly repeating to achieve the purpose of de-icing.

[0043] As one or more embodiments, the suspension module 4 includes a suspension belt 18, a push rod 17, a telescopic arm 15, a buckle 16 and a push rod motor (not marked in the figure); the suspension belt 18 is fixed on the push rod 17, the push rod 17, the push rod motor (not marked in the figure) and the buckle 16 are arranged at the front end of the telescopic arm 15, and the push rod 17 can be engaged with the buckle 16.

[0044] As one or more embodiments, the detection module 5 includes three high-definition cameras 19 and two arc-shaped telescopic rods 20. One of the high-definition cameras 19 is arranged at the front end of the device, and the other two high-definition cameras 19 are arranged at the ends of the arc-shaped telescopic rods 20; the telescopic rods 7 are fixed to the side of the device body and can be freely extended. The detection system includes an automatic detection device, a monitoring module and a cloud platform.

[0045] As one or more embodiments, the flight module 1 can be used for the installation and retrieval of the device. When the propeller 8 is deployed, the operator can control its take-off with the help of a ground remote control device. When it flies to a preset height, the device is precisely controlled to land between two wires, and the traveling wheels 9 are firmly placed on the wires. After completing the relevant installation work, the propeller 8 is folded, which can effectively reduce the size of the space occupied by the device and prevent the propeller 8 from colliding due to unexpected circumstances. The retrieval process of the device is exactly the opposite order of the installation process, that is, the propeller 8 is first deployed, and then the traveling wheel 9 is separated from the wire, and then it takes off and finally lands back to the ground by remote control.

[0046] As one or more embodiments, the flight module 1 has a special obstacle climbing function. When the device is moving on the wires, facing common general obstacles such as ice and snow, and spacers, the traveling wheels 9 can pass directly and smoothly due to their unique hyperbolic structure and good passability. However, when encountering special obstacles that the traveling wheels 9 cannot pass smoothly due to structural or dimensional factors, the flight module 1 can activate the emergency obstacle crossing mechanism. At this time, the propeller 8 is quickly deployed, and under the drive of the power system, the device can accurately cross the obstacle, and then smoothly land again on the wire to ensure the continuity of the entire detection process. Such obstacles usually have fixed position characteristics, and accurate parameter settings and logic programming can be performed in the program according to their characteristics.

[0047] When the automatic detection device in this embodiment runs to these preset fixed points, the system can automatically identify and complete the obstacle crossing operation in an orderly manner according to the pre-set obstacle crossing procedure, thereby effectively ensuring that the device is not disturbed by special obstacles when operating on the power lines, and continuously and stably carrying out the detection work on the surface of the concrete poles, providing reliable data support and safety guarantees for the maintenance and management of power facilities.

[0048] As one or more implementation modes, after the device is properly installed on the electric wire, the traveling wheel 9 can be unfolded and travel along the wire. When traveling, the left and right traveling wheels 9 are accurately stuck on two adjacent electric wires respectively, and the special shape of the middle part of the traveling wheel 9 can fit tightly with the electric wire, greatly increasing the contact area between the two, thereby enhancing the friction and grip. At the same time, the electric wires on both sides provide reliable lateral support for the traveling wheel 9, so that it will not easily deviate or shake when traveling, further ensuring the safety and stability of the device traveling on the electric wire, and creating good operating conditions for subsequent detection operations.

[0049] The traveling wheel 9 has a certain width. When encountering general obstacles such as snow, spacers, etc., the inner edge of the traveling wheel 9 can just get stuck on the obstacle. With the help of the forward driving force generated during the rotation of the traveling wheel 9 and the interaction force formed between the traveling wheel 9 and the obstacle, the obstacle can be cleverly crossed, so that the moving process of the device on the wire will not be blocked or interrupted by these common obstacles, thereby ensuring that the detection work can be carried out continuously and efficiently.

[0050] In this embodiment, if Figure 2 As shown, the propeller 8 can be turned over by the design of the turning table structure, so that it can be folded and stored when not in use, saving space and facilitating the movement of the device. The turning table structure is composed of two support rods 6 and a telescopic rod 7. The telescopic action of the telescopic rod 7 drives the turning of the turning table mechanism to realize the deployment and folding of the propeller 8.

[0051] In this embodiment, if Figure 3 As shown, the rotating shaft 10 of the traveling wheel 9 has a telescopic function. When the suspension module 4 is started and supports the device, the rotating shaft 10 will shrink according to the command, driving the traveling wheel 9 to shrink synchronously. This shrinking action can effectively reduce the space occupied by the traveling wheel 9, allowing it to smoothly pass through the gaps between the wires and accurately complete the suspension operation of the device on the wires. During the whole process, the telescopic function of the traveling wheel 9 works closely with the suspension module 4 to ensure the smoothness and accuracy of the device when switching between different working states.

[0052] In this embodiment, if Figure 4 As shown, the de-icing module 3 and the front traveling wheel 9 establish a close power transmission connection. When the traveling wheel 9 rotates, the power generated will be stably transmitted to the de-icing system, driving the de-icing roller 13 to start the operation. The movement of the de-icing roller 13 presents a specific periodic cycle pattern. First, it is a falling action, and the roller is precisely close to the surface of the wire covered with ice and snow; then it is pushed forward, and the ice and snow are forcefully broken and shoveled by rotation and forward thrust; then it is lifted up to prepare for the next round of operations. In this way, the actions of falling, pushing, and lifting are constantly repeated, and the ice and snow on the surface of the wire are gradually and orderly cleared, thereby effectively restoring the normal state of the wire, ensuring the safety and stability of power transmission, and also creating a good operating environment for the subsequent travel and detection work of the device.

[0053] The resistance rod 14 is placed behind the de-icing roller 13 and is set with a specific resistance value. During the operation of the device, the resistance rod 14 can cleverly balance the force relationship between the de-icing roller 13 and the wire. On the one hand, the resistance is set to ensure that the de-icing roller 13 is in close contact with the upper surface of the wire, so that the de-icing roller 13 can act on the ice and snow on the surface of the wire to the greatest extent when rotating to de-ice, ensuring the de-icing effect; on the other hand, it can maintain the normal rolling state of the de-icing roller 13, so that it will not stop rotating due to excessive squeezing, ensuring the continuous de-icing operation. When encountering obstacles such as spacers on the line, the resistance rod 14 can play a buffering and guiding role to ensure that the roller can roll straight over the obstacle. It effectively prevents the roller from being pushed up due to the obstruction of obstacles by reasonably adjusting the resistance size and its own structural characteristics, thereby preventing the device from being unable to move forward, and providing reliable guarantees for the stable and continuous operation of the device in a complex wire environment.

[0054] In this embodiment, if Figure 5 As shown, the suspension module 4 has a prescribed process when performing the suspension operation. First, the extension action of the telescopic arm 15 is started, so that the special groove at the front end of the telescopic arm 15 is accurately stuck on the wire, so as to initially support the entire automatic detection device; the traveling wheel 9 performs a contraction action to shrink it to a suitable position to avoid interference during the suspension process. At the same time, the push rod motor (not marked in the figure) starts to operate, pushing the push rod 17 to extend downward until it accurately engages with the corresponding buckle 16 below; then the telescopic arm 15 is contracted so that the suspension belt 18 wraps the wire, and the device can be steadily suspended on the wire to complete the entire suspension process; then, the suspension module 4 completes the suspension operation, the telescopic arm 15 is contracted, and the suspension module 4 remains in a contracted state. At the same time, the automatic detection device also has the function of moving up and down by contracting and loosening the suspension belt 18. When it is necessary to move upward, the suspension belt 18 can be appropriately contracted to drive the device to rise; and when it is necessary to move downward, the suspension belt 18 can be loosened to allow the device to move downward under the action of gravity.

[0055] In this embodiment, if Figure 6As shown, the detection module 5 can carry out general inspection of the concrete poles along the line while the device is moving on the electric wire. The high-definition camera 19 equipped at the front end of the device can take pictures of the electric poles passed by. Subsequently, the device will upload the taken photos to the monitoring module in a timely manner. However, because there is a certain distance between the high-definition camera 19 and the concrete poles, it is difficult to clearly distinguish the extremely subtle damage on the surface of the concrete poles in this case. By analyzing and processing the uploaded photos, it is still possible to make judgments on some key conditions of the poles. For example, it can be more accurately analyzed whether the pole is tilted, and whether there are relatively obvious large cracks on its surface, etc., so as to provide certain basic data and reference basis for further understanding of the overall condition of the poles and the maintenance work that may need to be carried out.

[0056] As one or more embodiments, after the detection module 5 detects a severely damaged pole, it will quickly start a detailed detection process. First, the device is accurately suspended with the help of a suspension system to ensure that it is in a stable position near the pole. On this basis, the arc-shaped telescopic rod 20 begins to extend, and through its extension function, the other two high-definition cameras 19 are smoothly pushed to the rear side of the pole. At this time, the original high-definition camera 19 at the front end of the device and the two high-definition cameras 19 newly extended to the rear side together constitute a full-range shooting layout, which can shoot the pole 360° without dead angles. At the same time, the device will gradually loosen the suspension belt 18, and use the change in the length of the suspension belt 18 to enable the device to move slowly from top to bottom. During the movement, the three high-definition cameras 19 continue to shoot the surface of the pole in all directions, so as to obtain clear photos of all angles and parts of the pole. Finally, the photos taken are uploaded to the monitoring module, which carefully analyzes the numerous photos, and then accurately obtains the specific degree of damage to the pole, providing a detailed and reliable basis for the subsequent precise maintenance and repair work on the pole.

[0057] In this embodiment, if Figure 7As shown in the figure, the monitoring module will number all the concrete poles on the line in order to accurately locate and distinguish each pole. When the device travels on the power line and detects the image of the concrete pole, it will quickly upload these images to the monitoring module. The monitoring module then starts the processing flow of the uploaded images and carefully analyzes the condition of the poles in the image through a series of advanced image processing technologies. Once a pole is found to be seriously damaged during the analysis process, the monitoring module will immediately mark the pole clearly so that it can be quickly located and paid attention to later. At the same time, the monitoring module will issue instructions to the device, requiring it to conduct detailed inspections on the marked poles to obtain more comprehensive and detailed damage information about the poles. After completing all the inspections, the monitoring module will upload all monitoring data including pole numbers, damage conditions, detailed inspection data, etc. to cloud storage, so that relevant data can be retrieved and viewed at any time in the future, and in-depth analysis and research can be conducted, providing a strong basis for the maintenance and repair of the poles; on the other hand, it also ensures the security and reliability of the data, avoiding the risk of data loss due to local equipment failures and other reasons.

[0058] This embodiment uses an improved automatic detection device to quickly and accurately detect damage to concrete poles. Specifically, the flight module is used to enable the automatic detection device to accurately cross obstacles. The hyperbolic traveling wheels are provided to enable the automatic detection device to move safely and stably on the electric wires, so that the automatic detection device will not easily deviate or shake during movement. The suspension module is used to enable the automatic detection device to stably rise and fall in the vertical direction. The detection module is used to achieve efficient and accurate detection and positioning of concrete poles. The present invention effectively obtains a wide range of concrete pole surface damage detection data, thereby improving the recognition efficiency and effectiveness of concrete pole surface damage detection.

[0059] Embodiment 2

[0060] Embodiment 2 of the present invention introduces a method for automatically detecting surface damage of concrete poles.

[0061] A method for automatically detecting surface damage of a concrete pole, comprising:

[0062] The propellers are deployed, and the automatic detection device is controlled to take off based on the ground remote control device. When the device reaches a preset height, the ground remote control device is used to land the automatic detection device between two wires, and the propellers are retracted. The device is clamped on the wires through the telescopic arms and the traveling wheels, and the automatic detection device is suspended through the suspension module.

[0063] The automatic detection device is moved on the electric wires by the traveling wheels, and the images of concrete poles along the line are obtained based on the detection module. The automatic detection and positioning marking of surface damage of concrete poles are completed in combination with the monitoring module.

[0064] As one or more implementation modes, when the automatic detection device encounters an obstacle while moving on the electric wire, the propeller is started through the flipping mechanism, and the automatic detection device is driven to rise by contracting the suspension belt, so that the traveling wheels can overcome the obstacle on the electric wire; after overcoming the obstacle, the telescopic arm is relaxed to move the automatic detection device downward, the traveling wheels are clamped on the electric wire, and the propeller is folded to complete the obstacle avoidance of the automatic detection device.

[0065] The detailed steps are the same as the working principle of the automatic detection device for concrete pole surface damage provided in Example 1, and will not be repeated here.

[0066] The above description is only a preferred embodiment of the present embodiment and is not intended to limit the present embodiment. For those skilled in the art, the present embodiment may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present embodiment shall be included in the protection scope of the present embodiment.

Claims

1. An automatic detection device for concrete pole surface damage, characterized in that: The invention comprises a shell and a flight module, a travel module, a deicing module, a suspension module and a detection module arranged on the shell; wherein the flight module is fixed to the four sides of the shell by a flip mechanism, the travel module is fixed to one side of the shell by a rotating shaft, the deicing module is arranged on the travel module, the suspension module is arranged on the shell in the middle of the travel module, and the detection module is arranged on one side of the shell by an arc-shaped telescopic rod; the travel module adopts a hyperbolic travel wheel, and the travel wheel is fixed to the shell by the rotating shaft, The synchronous contraction of the traveling wheels is achieved by the extension and retraction of the rotating shaft; the suspension module includes a suspension belt, a push rod, a telescopic arm, a buckle and a push rod motor, the suspension belt is fixed on the push rod, the push rod, the push rod motor and the buckle are arranged at the front end of the telescopic arm, and the push rod is engaged with the buckle; when performing a suspension operation, the telescopic arm is extended and then clamped on the electric wire, the traveling wheel is contracted, and the push rod motor pushes the push rod to extend downward until it is engaged with the buckle, and the telescopic arm is contracted to allow the suspension belt to wrap around the electric wire, completing the suspension process.

2. The automatic detection device for concrete pole surface damage as claimed in claim 1, characterized in that: The flight module also includes a plurality of propellers, each of which includes a blade and an anti-collision ring arranged around the blade. The propeller is flipped 180 degrees by the flipping mechanism to achieve folding and unfolding of the propeller; the flipping mechanism at least includes a fixed support platform, a flipping support platform, a support rod and a telescopic rod; the fixed support platform is fixedly connected to the shell, the support rod is used to connect the fixed support platform and the flipping support platform, the flipping support platform is fixedly connected to the propeller, and the fixed support platform and the flipping support platform are connected by the telescopic rod.

3. The automatic detection device for concrete pole surface damage as claimed in claim 1, characterized in that: The deicing module is arranged on the traveling wheel on one side of the traveling module, and the deicing module includes a fixed shaft, a transmission shaft, a transmission rod, a resistance rod and a deicing roller; the fixed shaft is fixed on the shell; the transmission shaft is connected to the rotating shaft of the traveling wheel, and the transmission shaft drives the transmission rod to move; the transmission rod moves with the movement of the transmission shaft, and the transmission rod is connected to the deicing roller to drive the deicing roller to move; the surface of the deicing roller is provided with stripes, and the deicing function is realized by the continuous reciprocating motion of the deicing roller.

4. The automatic detection device for concrete pole surface damage as claimed in claim 1, characterized in that: The traveling wheel is in a hyperbolic shape with thick sides and thin middle. When the suspension module starts to support, the traveling wheel shrinks along with the shrinkage of the rotating shaft, reducing the space occupied by the traveling wheel, so that the traveling wheel passes through the gap between the wires to complete the suspension operation of the automatic detection device.

5. The automatic detection device for concrete pole surface damage as claimed in claim 1, characterized in that: The detection module includes three image acquisition units and two arc-shaped telescopic rods, each end of the arc-shaped telescopic rod is provided with an image acquisition unit, one end of the two arc-shaped telescopic rods is fixed on the shell, and the image acquisition unit is provided at the connection between the two arc-shaped telescopic rods on the shell.

6. The automatic detection device for concrete pole surface damage as claimed in claim 5, characterized in that: When the automatic detection device moves on the electric wire, the detection module takes pictures of the concrete poles along the line, and the image acquisition unit arranged at the end of the arc-shaped telescopic rod is pushed to the rear side of the concrete pole to be detected by extending the arc-shaped telescopic rod, and the image acquisition unit arranged at the connection of the two arc-shaped telescopic rods on the shell is combined to complete 360-degree no-dead-angle shooting of the concrete pole; the suspension belt is gradually loosened, and the automatic detection device moves from top to bottom through the change of the length of the suspension belt, so as to realize all-round shooting of the concrete pole during the movement and complete the image acquisition of the surface of the concrete pole.

7. The automatic detection device for concrete pole surface damage as claimed in claim 1, characterized in that: It also includes a monitoring module that is communicatively connected to the detection module, and the monitoring module numbers all concrete poles on the detection line to locate and distinguish the concrete poles; the monitoring module receives and processes the concrete pole images obtained by the detection module in real time, analyzes the obtained concrete pole images, promptly detects damaged concrete poles and marks their locations.

8. The automatic detection device for concrete pole surface damage as claimed in claim 7, characterized in that: It also includes a cloud platform that is communicatively connected to the monitoring module. The monitoring module uploads monitoring data including the concrete pole number, concrete pole damage status, concrete pole detection data and concrete pole number to the cloud platform for storage.

9. A method for automatically detecting surface damage of a concrete pole, using the automatic detection device for surface damage of a concrete pole as claimed in any one of claims 1 to 8, characterized in that: include: The propellers are deployed, and the automatic detection device is controlled to take off based on the ground remote control device. When the device reaches a preset height, the ground remote control device is used to land the automatic detection device between two wires, and the propellers are retracted. The device is clamped on the wires through the telescopic arms and the traveling wheels, and the automatic detection device is suspended through the suspension module. The automatic detection device is moved on the electric wires by the traveling wheels, and the images of concrete poles along the line are obtained based on the detection module. The automatic detection and positioning marking of surface damage of concrete poles are completed in combination with the monitoring module.

10. The method for automatically detecting surface damage of a concrete pole as claimed in claim 9, characterized in that: When the automatic detection device encounters an obstacle while traveling on the wire, the propeller is started through the flipping mechanism, and the automatic detection device is driven to rise by contracting the suspension belt, so that the traveling wheels can overcome the obstacle on the wire; after overcoming the obstacle, the telescopic arm is relaxed to move the automatic detection device downward, the traveling wheels are clamped on the wire, and the propeller is folded to complete the obstacle avoidance of the automatic detection device.

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