A machine vision-based concrete pole defect intelligent detection device and method

Abstract

This invention belongs to the field of concrete inspection technology and provides an intelligent inspection device and method for concrete pole defects based on machine vision. It includes a ring support mechanism and a walking mechanism and an image acquisition mechanism mounted on the ring support mechanism. The ring support mechanism is open and includes a first arc-shaped support element, a second arc-shaped support element, and a rotating spring pin connecting the first and second arc-shaped support elements. The walking mechanism includes a vertical walking element, a horizontal walking element, and a horizontal monitoring element. The image acquisition mechanism has an internal image acquisition telescopic arm. The horizontal monitoring element detects the horizontal state of the walking mechanism, and the vertical walking element and the image acquisition telescopic arm are adjusted in real time based on the detection results to maintain the horizontal state of the intelligent inspection device. The intelligent obstacle avoidance of the intelligent inspection device is achieved through the cooperation of the vertical and horizontal walking elements.

Description

Technical Field

[0001] This invention belongs to the field of concrete inspection technology, specifically relating to an intelligent inspection device and method for defects in concrete utility poles based on machine vision. Background Technology

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

[0003] Substations, as a crucial component of the power industry, are indispensable buildings in people's daily lives. Therefore, damage detection and maintenance of substation ring-shaped concrete poles are extremely important. Concrete poles are complex, multiphase, and porous systems composed of cement, aggregates, and reinforcing steel. Changes in the surrounding environment and media, as well as external forces, can all cause a decrease in the strength and durability of concrete poles. Traditional detection methods require inspectors to climb the poles, which is not only inefficient and inaccurate but also poses significant safety hazards. Therefore, an intelligent detection system is needed to replace manual labor.

[0004] The development of image processing technology has greatly enhanced the detection efficiency of surface damage and defects on concrete poles. As an indispensable facility in power transmission and distribution networks, the structural integrity of concrete poles is directly related to the safe operation of transmission lines. With the increase of service time, defects such as cracks will appear on concrete poles, affecting the structural strength of the concrete poles, reducing their load-bearing capacity, and seriously affecting the safe operation of distribution lines. Summary of the Invention

[0005] To address the aforementioned issues, this invention proposes an intelligent detection device and method for concrete pole defects based on machine vision. The improved intelligent detection device moves along the concrete pole to acquire real-time and accurate images of the concrete pole surface, thereby improving the accuracy of concrete pole defect detection.

[0006] According to some embodiments, the first aspect of the present invention provides an intelligent detection device for defects in concrete utility poles based on machine vision, employing the following technical solution:

[0007] A machine vision-based intelligent defect detection device for concrete utility poles includes a ring-shaped support mechanism, a walking mechanism, and an image acquisition mechanism mounted on the ring-shaped support mechanism. The ring-shaped support mechanism is open and includes a first arc-shaped support element, a second arc-shaped support element, and a rotating spring pin connecting the first and second arc-shaped support elements. The walking mechanism includes a vertical walking element, a horizontal walking element, and a horizontal monitoring element. The image acquisition mechanism has an internal image acquisition telescopic arm. The horizontal monitoring element detects the horizontal state of the walking mechanism, and the vertical walking element and the image acquisition telescopic arm are adjusted in real time based on the detection results to maintain the horizontal state of the intelligent detection device. Intelligent obstacle avoidance is achieved through the cooperation of the vertical and horizontal walking elements.

[0008] As a further technical limitation, the vertical traveling element and the horizontal traveling element do not operate simultaneously. When the vertical traveling element ascends or descends, the horizontal roller support telescopic arm in the horizontal traveling element retracts. When the vertical traveling element encounters an obstacle during its travel, the vertical roller telescopic arm in the vertical traveling element retracts, the vertical traveling element stops traveling, and the horizontal roller support telescopic arm extends. Through the support of the reaction support rod in the horizontal traveling element, the force is transmitted to the force-receiving rotating rod in the horizontal traveling element. Under the action of the force-receiving rotating rod, the horizontal traveling element... The lateral roller device in the walking element rotates its shaft, causing the lateral rollers in the lateral walking element to contact and adhere to the concrete pole until all the lateral rollers in the lateral walking element are attached to the surface of the concrete pole. After the vertical walking element rotates away from the surface of the concrete pole, the lateral roller motor in the lateral walking element is controlled to rotate, driving the lateral walking element to rotate horizontally on the surface of the concrete pole. After the horizontal rotation is completed, after the lateral walking element rotates away from the surface of the concrete pole, the vertical walking element is controlled to continue walking, thus completing the intelligent obstacle avoidance of the intelligent detection device.

[0009] As a further technical limitation, the first arc-shaped support element or the second arc-shaped support element includes two arc-shaped support arms with completely identical structures; the arc-shaped support arm in the first arc-shaped support element and the arc-shaped support arm in the second arc-shaped support element are connected by the rotary spring pin, and the arc-shaped support arm is clamped on the concrete pole by adjusting the rotary spring pin.

[0010] As a further technical limitation, during the climbing or descending process of the intelligent detection device, the horizontal state of the walking mechanism is monitored in real time by the horizontal electronic monitor. The movement state of the vertical walking element is adjusted according to the horizontal state detection result. The horizontal state of the walking mechanism is adjusted by adjusting the movement state of different vertical rollers in the vertical walking element, thereby maintaining the continuous horizontality of the walking mechanism.

[0011] As a further technical limitation, during the process of the intelligent detection device acquiring images while stationary, the length of the image acquisition telescopic arm is adjusted according to the horizontal state detection results of the walking mechanism, so that the concrete pole images acquired by the image acquisition mechanism are all on the same horizontal plane.

[0012] As a further technical limitation, the vertical rollers in the vertical traveling element and the horizontal rollers in the horizontal traveling element are both fitted with patterned leather sleeves on their outer sides to increase the friction between the vertical rollers or the horizontal rollers and the concrete pole during travel.

[0013] As a further technical limitation, a machine vision-based intelligent detection device for defects in concrete poles also includes a control element that is communicatively connected to the annular support mechanism, the walking mechanism, and the image acquisition mechanism, respectively. The control element is used to monitor the working status information of the annular support mechanism, the walking mechanism, and the image acquisition mechanism in real time and to adjust the intelligent detection device based on the obtained working status information.

[0014] As a further technical limitation, the vertical walking element and the horizontal walking element are respectively equipped with a vertical pressure sensor and a horizontal pressure sensor. During the movement of the walking mechanism, the pressure status of the walking mechanism is monitored in real time by the vertical pressure sensor and the horizontal pressure sensor. The horizontal status of the walking mechanism is determined by the horizontal monitoring element, and the intelligent detection device is adjusted according to the detection result of the horizontal monitoring element.

[0015] According to some embodiments, the second aspect of the present invention provides a machine vision-based intelligent detection method for defects in concrete poles, which adopts the machine vision-based intelligent detection device for defects in concrete poles provided in the first aspect, and employs the following technical solution:

[0016] A machine vision-based intelligent defect detection method for concrete utility poles includes:

[0017] The intelligent detection device is installed on a concrete pole, and the intelligent detection device is controlled to move horizontally on the concrete pole by control elements and horizontal monitoring elements.

[0018] During the journey, images of concrete poles are acquired through image acquisition mechanisms and horizontal monitoring elements;

[0019] The acquired concrete pole images are processed to obtain the feature values ​​of the concrete pole images;

[0020] Defects are classified based on the feature values ​​of the obtained concrete pole images, thus completing the defect detection of the concrete poles.

[0021] As a further technical limitation, the defects in the concrete pole image include at least the absence of cracks, transverse cracks, longitudinal cracks, and crazing.

[0022] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0023] This invention achieves intelligent obstacle avoidance of the intelligent detection device through the cooperation of horizontal and vertical walking elements; it also sets up a horizontal monitoring element to maintain the horizontal state of the intelligent detection device during the travel and image acquisition process, which improves the service life of the walking mechanism, improves the accuracy of the acquired concrete pole images, further improves the accuracy and efficiency of defect detection, and enhances the stability of the intelligent detection device. Attached Figure Description

[0024] The accompanying drawings, which form part of this embodiment, are used to provide a further understanding of this embodiment. The illustrative embodiments and their descriptions are used to explain this embodiment and do not constitute an improper limitation of this embodiment.

[0025] Figure 1 This is a schematic diagram of the intelligent detection device for defects in concrete poles based on machine vision in Embodiment 1 of the present invention.

[0026] Figure 2 This is a schematic diagram of the structure of the lateral walking element in Embodiment 1 of the present invention;

[0027] Figure 3 This is a schematic diagram of the vertical walking element in Embodiment 1 of the present invention;

[0028] Figure 4 This is a schematic diagram of the image acquisition mechanism in Embodiment 1 of the present invention;

[0029] Figure 5 This is a flowchart of the intelligent detection method for defects in concrete utility poles based on machine vision in Embodiment 2 of the present invention;

[0030] Figure 6 This is a structural block diagram of image acquisition in Embodiment 2 of the present invention;

[0031] Figure 7 This is a flowchart of the U-Net method in Embodiment 2 of the present invention;

[0032] The components include: 1. Vertical traveling element; 11. Vertical roller; 12. Vertical roller rotating shaft; 13. Vertical roller device rotating motor; 14. Vertical roller telescopic arm; 15. Vertical pressure sensor; 16. Vertical roller motor; 2. Balance connecting element; 3. Lateral traveling element; 31. Lateral roller supporting telescopic arm; 32. Reaction support rod; 33. Lateral roller; 34. Lateral roller motor; 35. Lateral roller connecting arm; 36. Force-bearing rotating rod; 37. Lateral roller device rotating shaft; 38. Lateral pressure sensor; 4. Rotary spring shaft pin; 5. Control element; 6. Horizontal monitoring element; 7. Arc-shaped support arm; 8. Image acquisition mechanism; 81. Image acquisition support arm; 82. Image acquisition telescopic arm; 83. Image acquisition camera. Detailed Implementation

[0033] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0034] It should be noted that the following detailed descriptions are exemplary and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0035] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0036] In this invention, terms such as "upper," "lower," "left," "right," "front," "back," "vertical," "horizontal," "side," and "bottom" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are used only to facilitate the description of the structural relationships of the various components or elements of this invention and do not specifically refer to any component or element in this invention. They should not be construed as limiting the invention.

[0037] In this invention, terms such as "fixed connection," "connected," and "linked" should be interpreted broadly, indicating a fixed connection, an integral connection, or a detachable connection; a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can determine the specific meaning of these terms in this invention based on the specific circumstances, and they should not be construed as limitations on the invention.

[0038] Where there is no conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0039] Example 1

[0040] Embodiment 1 of the present invention introduces an intelligent detection device for defects in concrete utility poles based on machine vision.

[0041] A machine vision-based intelligent detection device for defects in concrete utility poles includes a ring support mechanism and a walking mechanism and an image acquisition mechanism 8 mounted on the ring support mechanism.

[0042] like Figure 1 As shown, the ring support mechanism in the machine vision-based intelligent detection device for defects in concrete poles includes four arc-shaped support arms 7 and a rotating spring pin 4; the walking mechanism includes a vertical walking element 1 and a horizontal walking element 3; it also includes a balance; a balance connection element 2, a control element 5, a horizontal monitoring element 6, and an image acquisition mechanism 8.

[0043] like Figure 2 The lateral traveling element 3 shown includes a lateral roller support telescopic arm 31, a reaction support rod 32, a lateral roller 33, a lateral roller motor 34, a lateral roller connecting arm 35, a force-bearing rotating rod 36, a lateral roller device rotating shaft 37, and a lateral pressure sensor 38; as shown Figure 3 The vertical traveling element 1 shown includes a vertical roller 11, a vertical roller rotating shaft 12, a vertical roller device rotating motor 13, a vertical roller telescopic arm 14, a vertical pressure sensor 15, and a vertical roller motor 16.

[0044] In this embodiment, as Figure 1 and Figure 3 As shown, the vertical traveling elements 1 are distributed on the upper and lower sides of the arc-shaped support arm 7, with a total of 12 vertical traveling components. The vertical rollers 11 in the vertical traveling elements 1 are covered with patterned sponge sleeves to ensure sufficient friction with the concrete pole during travel. The vertical roller rotation shaft 12 is controlled by the vertical roller device rotation motor 13, ensuring that the vertical roller telescopic arm 14 can be rotated remotely. The vertical roller telescopic arm 14 can be controlled by a remote operating system to ensure extension and retraction during travel or leveling. The vertical pressure sensor 15 can monitor the pressure of each vertical roller 11 in real time and transmit the monitored pressure data to the remote operating system. The vertical roller motor 16 can power control the vertical rollers 11, and the movement and braking of the rollers can be operated through the wireless communication module of the remote operating system.

[0045] In this embodiment, as Figure 1 and Figure 2As shown, the lateral traveling element 3 is distributed in the middle of the four arc-shaped support arms 7, forming a total of four horizontal traveling components. Similarly, the lateral rollers 33 in the lateral traveling element 3 are covered with patterned sponge sleeves to ensure friction with the concrete poles. The lateral rollers support the telescopic arm 31, which is controlled by a remote control system and can be extended or retracted as needed. The reaction support rod 32 is arranged in the middle of the arc-shaped support arms 7, which not only supports the lateral traveling element 3 but also ensures the stability of the overall structure of the intelligent detection device. The reaction support rod 32 and the force-bearing rotating rod 36 together complete the travel support of the lateral traveling element 3. The lateral roller motor 34 drives the lateral rollers 33 to perform traveling and braking operations, which is controlled by the remote operating system.

[0046] like Figure 1 As shown, the balancing connecting element 2 is arranged on both sides of the four arc-shaped support arms 7 to connect the support arms, forming a whole with a certain mass, used to balance the entire shooting device and keep it level on the initial horizontal plane; the control element 5 carries the program and battery, used for wireless transmission and remote system operation, ensuring that each motor and pressure sensor can operate independently, outputting information and providing feedback to the remote operation platform. The remote operating system can operate and control each motor and each telescopic pole through the control element 5. The electronic level monitoring element 6 detects the level status throughout the entire detection process of the intelligent detection device and feeds back the detection results to the remote operation platform through the control element 5; it is equipped with three image acquisition mechanisms 8 to acquire images, which can capture images of the same cross-section of the concrete pole, and the acquired photos can be transmitted to the remote operating system in real time through the control element 5 for the next step of image processing.

[0047] In this embodiment, as Figure 1 and Figure 4 As shown, the image acquisition mechanism 8 includes an image acquisition support arm 81, an image acquisition telescopic arm 82, and an image acquisition camera 83; the image acquisition mechanism 8 is fixed on the arc-shaped support arm 7 by the image acquisition support arm 81, and the position of the image acquisition camera 83 is moved by the extension and retraction of the image acquisition telescopic arm 82.

[0048] It should be noted that the rotating spring pin 4 has a motor inside. The motor adjusts the arc-shaped support arm 7 based on the rotating spring pin 4, so that the arc-shaped support arm 7 is clamped on the concrete pole, ensuring that the intelligent detection device can crawl stably on the concrete pole.

[0049] In this embodiment, the horizontal monitoring element 6 monitors the level and transmits the data to the dynamic balancing system for feedback. Based on the level data, the relevant motors in the walking mechanism are controlled to adjust the relevant telescopic arms and rotating shafts to maintain horizontality. When the pressure sensor data in the walking mechanism suddenly increases or decreases, the horizontal monitoring element 6 will vibrate, and the telescopic arms and rotating shafts will be adjusted accordingly. After each adjustment, the horizontal monitoring element 6 will continue to detect the level of the device. If it is still not horizontal, it will continue to control the telescopic arms and rotating shafts to perform leveling operations; if it is horizontal, it will wait for the next level detection.

[0050] In this embodiment, the traveling mechanism controls the movement and stopping of the intelligent detection device, and is divided into vertical climbing and descending and horizontal rotation. The vertical traveling element 1 and the horizontal traveling element 3 do not work simultaneously. During the climbing and descending process of the vertical traveling element 1, the horizontal rollers in the horizontal traveling element 3 support the telescopic arm 31 to retract, ensuring the normal operation of the vertical traveling element 1. During the rotation of the lateral travel element 3, the lateral roller support telescopic arm 31 extends, and the force is transmitted to the force-bearing rotating rod 36 through the support of the reaction support rod 32. The force-bearing rotating rod 36 rotates around the rotation axis 37 of the lateral roller device, causing the lateral roller 33 to contact and adhere to the concrete pole. When all the lateral travel elements 3 support the entire imaging device, the vertical travel element 1 rotates upward and downward respectively, causing the vertical travel element 1 to detach from the surface of the concrete pole. The lateral roller motor 34 is controlled to rotate 60° via remote control operation. After the rotation is completed, the vertical travel element 1 is restored to the vertical movement state via the vertical roller motor 16 through the remote control system, and the lateral travel element is retracted at the same time. This process can realize the obstacle avoidance function of the intelligent detection device.

[0051] The intelligent detection device for defects in concrete utility poles based on machine vision described in this embodiment can achieve the following functions:

[0052] (1) When concrete spalling occurs in a certain area, the intelligent detection device will suddenly become unstable, and the relevant pressure sensors of the walking mechanism will experience sudden data changes. After the horizontal monitoring element 6 detects the data change, it will make intelligent adjustments to the device to ensure the horizontal state of the intelligent detection device.

[0053] (2) The wear generated by the horizontal roller 33 and the vertical roller 11 during the movement will cause the intelligent detection device to deviate; therefore, when a large deviation is detected, the intelligent detection device will adjust its position in time; at the same time, the intelligent detection device will also check regularly to ensure the safety and reliability of the shooting work and to ensure that the image is not distorted due to shaking.

[0054] (3) When there are obstacles on the concrete pole, the intelligent detection device is rotated by the lateral walking element 3 to achieve intelligent obstacle avoidance.

[0055] To ensure the normal operation of concrete poles, this embodiment detects and identifies defects in the concrete poles; intelligent detection devices can acquire surface images of the concrete poles, efficiently obtaining accurate images and improving detection accuracy and reliability.

[0056] Example 2

[0057] Embodiment 2 of this invention introduces a machine vision-based intelligent detection method for defects in concrete utility poles. It utilizes a machine vision-based intelligent detection device for defects in concrete utility poles as described in Embodiment 1.

[0058] A machine vision-based intelligent defect detection method for concrete utility poles includes:

[0059] The intelligent detection device is installed on a concrete pole, and the intelligent detection device is controlled to move horizontally on the concrete pole by control elements and horizontal monitoring elements.

[0060] During the journey, images of concrete poles are acquired through image acquisition mechanisms and horizontal monitoring elements;

[0061] The acquired concrete pole images are processed to obtain the feature values ​​of the concrete pole images;

[0062] Defects are classified based on the feature values ​​of the obtained concrete pole images, thus completing the defect detection of the concrete poles.

[0063] The flowchart of the intelligent defect detection method for concrete poles based on machine vision in this embodiment is as follows: Figure 5 As shown, it includes: image acquisition—image set—image preprocessing—feature value extraction—crack classification.

[0064] In this embodiment, during image acquisition, the concrete pole to be inspected is first identified. The intelligent detection device described in Embodiment 1 is stably placed horizontally at the bottom of the concrete pole. After the intelligent detection device is activated, it combines with the image acquisition mechanism to acquire images of the concrete pole. During image acquisition, the intelligent detection device first moves upward a fixed distance, and then stops after completing the fixed distance. That is, it acquires images based on the image acquisition mechanism while in a stationary state to prevent image distortion caused by movement. When it reaches the top of the pole, the horizontal roller is activated, the vertical roller is retracted, and it rotates horizontally by 60 degrees. After rotation, the horizontal roller is retracted, and the vertical roller is activated to begin the descent. Similarly, during the descent, images are taken at fixed intervals. Throughout the upward or downward movement, the image acquisition mechanism maintains dynamic balance.

[0065] like Figure 6As shown, the image acquisition mechanism requires the cooperation of a wireless communication module and a motor drive module during image acquisition. The wireless communication module can transmit images and provide feedback, and includes a camera module, a leveling module, and a pressure sensing module. The motor drive module can be remotely controlled to move the device's position and the status of its components, and includes a leveling module, a telescopic arm module, and a traveling module. The leveling module, pressure sensing module, leveling module, and telescopic arm module together constitute a dynamic balance system.

[0066] This embodiment uses, as follows: Figure 7 The U-Net encoder-decoder network structure shown performs image preprocessing. The encoder extracts feature values ​​through convolution, pooling, and other methods to gradually reduce the input dimensionality. Based on the information provided by the encoder, the decoder repairs detailed features and achieves higher accuracy through multi-scale feature fusion, upsampling, and other methods.

[0067] In the U-Net network structure, the convolutional layer contains a set of learnable convolutional kernels and uses a zero-padding method to preserve image boundary information to control the size of the output image, achieving weight sparsity and weight sharing. The pooling layer selects the maximum value of the 2×2 non-overlapping region in each channel and outputs it to the next layer. The transposed convolution has the opposite effect to the convolution. When the stride of the transposed convolution is greater than 1, padding is required in the middle of the image.

[0068] In this embodiment, the batch normalization layer normalizes the current batch of data, limiting the output of each layer to a fixed distribution range, thereby accelerating network training and improving network adaptability. For a training batch B[x1, x...] containing m images... 2,… x m Batch normalization is as follows: Where, μ B This represents the mean of the current training batch; in, This represents the variance of the current training batch; in, It is the normalized result after subtracting the mean and variance of the current training batch; Among them, y i It is the result after scaling and translation, and the scaling factor γ and translation coefficient β are parameters that need to be learned.

[0069] The activation function used in this embodiment is the ReLU function, which has a one-sided suppression output and sparse activation of the underlying network. Compared with other activation functions, it has a faster convergence speed, i.e., ReLU = max(0,x).

[0070] In this embodiment, the crack feature values ​​are extracted using the projection integral method. Each feature of the image is the arithmetic mean of pixels in a specific row or column. An image with a perfect longitudinal crack has a constant projection integral along a specific direction: a constant value on the horizontal axis and an intensity peak on the vertical axis; the opposite is true for an image with a perfect transverse crack; the projection integrals on both axes tend to stabilize for images with and without cracks. However, the average response in the case of cracks is higher than the average response in the case without cracks.

[0071] The features used in this embodiment include 8 features representing projection integrals and 3 features representing crack objects: minimum value of projection integrals on the horizontal and vertical axes of the image; maximum value of projection integrals on the horizontal and vertical axes of the image; average value of projection integrals on the horizontal and vertical axes of the image; standard deviation of projection integrals on the horizontal and vertical axes of the image; number of crack objects; average value of crack object directions; standard deviation of crack object directions.

[0072] The vector machine (SVM) method used in this embodiment requires setting the penalty constant (C) and kernel function parameter (r). The values ​​of these hyperparameters of SVM can be appropriately selected using a grid search process.

[0073] Images are categorized into crack-free, transverse crack, longitudinal crack, and alligator crack types using the SVM method. Based on the classification, crack-free images are removed, leaving only cracked images. Maintenance and repair of concrete poles can then be carried out according to the location and extent of the cracks, greatly improving work efficiency.

[0074] The detailed steps are the same as the working principle of the intelligent detection device for defects in concrete poles based on machine vision provided in Example 1, and will not be repeated here.

[0075] The above description is merely a preferred embodiment of this practice and is not intended to limit the scope of this practice. Various modifications and variations can be made to this practice by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this practice should be included within the protection scope of this practice.

Claims

1. A machine vision-based intelligent detection device for defects in concrete utility poles, characterized in that, The device includes a ring-shaped support mechanism, a walking mechanism, and an image acquisition mechanism mounted on the ring-shaped support mechanism. The ring-shaped support mechanism is open and includes a first arc-shaped support element, a second arc-shaped support element, and a rotating spring pin connecting the first and second arc-shaped support elements. The walking mechanism includes a vertical walking element, a horizontal walking element, and a horizontal monitoring element. The image acquisition mechanism has an internal image acquisition telescopic arm. The horizontal monitoring element detects the horizontal state of the walking mechanism, and the vertical walking element and the image acquisition telescopic arm are adjusted in real time based on the detection results to maintain the horizontal state of the intelligent detection device. Based on the cooperation of the vertical and horizontal walking elements, the intelligent detection device achieves intelligent obstacle avoidance. The vertical and horizontal walking elements do not operate simultaneously. When the vertical walking element ascends or descends, the horizontal roller support telescopic arm in the horizontal walking element retracts. When the vertical walking element encounters an obstacle during its movement, the vertical roller telescopic arm retracts, the vertical walking element stops moving, and the horizontal roller support telescopic arm extends. The force is transmitted to the force-bearing rotating rod in the horizontal walking element through the reaction support rod. Under the action of the force-bearing rotating rod, the horizontal roller device's rotating shaft in the horizontal walking element rotates, allowing the horizontal rollers in the horizontal walking element to contact and adhere to the concrete pole until all the horizontal rollers in the horizontal walking elements are attached to the surface of the concrete pole. After the vertical walking element rotates away from the concrete pole surface, the horizontal roller motor in the horizontal walking element is controlled to rotate, driving the horizontal walking element to rotate horizontally on the concrete pole surface. After the horizontal rotation is completed, and the horizontal walking element rotates away from the concrete pole surface, the vertical walking element is controlled to continue moving, completing the intelligent obstacle avoidance of the intelligent detection device.

2. The intelligent detection device for defects in concrete utility poles based on machine vision as described in claim 1, characterized in that, The first arc-shaped support element or the second arc-shaped support element includes two arc-shaped support arms with completely identical structures; the arc-shaped support arm in the first arc-shaped support element and the arc-shaped support arm in the second arc-shaped support element are connected by the rotary spring shaft pin, and the arc-shaped support arm is clamped on the concrete pole by adjusting the rotary spring shaft pin.

3. The intelligent detection device for defects in concrete utility poles based on machine vision as described in claim 1, characterized in that, During the ascent or descent of the intelligent detection device, the horizontal state of the walking mechanism is monitored in real time by the horizontal electronic monitor. The movement state of the vertical walking element is adjusted according to the horizontal state detection results. The horizontal state of the walking mechanism is adjusted by adjusting the movement state of different vertical rollers in the vertical walking element, so as to maintain the continuous horizontality of the walking mechanism.

4. The intelligent detection device for defects in concrete utility poles based on machine vision as described in claim 1, characterized in that, During the static image acquisition process of the intelligent detection device, the length of the image acquisition telescopic arm is adjusted according to the horizontal state detection results of the walking mechanism, so that the concrete pole images acquired by the image acquisition mechanism are all on the same horizontal plane.

5. The intelligent detection device for defects in concrete utility poles based on machine vision as described in claim 1, characterized in that, The vertical rollers in the vertical traveling element and the horizontal rollers in the horizontal traveling element are both fitted with patterned leather sleeves on their outer sides to increase the friction between the vertical rollers or the horizontal rollers and the concrete poles during travel.

6. The intelligent detection device for defects in concrete utility poles based on machine vision as described in claim 1, characterized in that, It also includes control elements that are communicatively connected to the ring support mechanism, the walking mechanism and the image acquisition mechanism respectively. The control elements are used to monitor the working status information of the ring support mechanism, the walking mechanism and the image acquisition mechanism in real time and to adjust the intelligent detection device based on the obtained working status information.

7. The intelligent detection device for defects in concrete utility poles based on machine vision as described in claim 1, characterized in that, The vertical walking element and the horizontal walking element are respectively equipped with a vertical pressure sensor and a horizontal pressure sensor. During the movement of the walking mechanism, the pressure status of the walking mechanism is monitored in real time by the vertical pressure sensor and the horizontal pressure sensor. The horizontal status of the walking mechanism is determined by the horizontal monitoring element, and the intelligent detection device is adjusted according to the detection results of the horizontal monitoring element.

8. A machine vision-based intelligent detection method for defects in concrete utility poles, employing the machine vision-based intelligent detection device for defects in concrete utility poles as described in any one of claims 1-7, characterized in that, include: The intelligent detection device is installed on a concrete pole, and the intelligent detection device is controlled to move horizontally on the concrete pole by control elements and horizontal monitoring elements. During the journey, images of concrete poles are acquired through image acquisition mechanisms and horizontal monitoring elements; The acquired concrete pole images are processed to obtain the feature values ​​of the concrete pole images; Defects are classified based on the feature values ​​of the obtained concrete pole images, thus completing the defect detection of the concrete poles.

9. The intelligent detection method for defects in concrete utility poles based on machine vision as described in claim 8, characterized in that, The defects in the concrete pole images include at least the absence of cracks, transverse cracks, longitudinal cracks, and crazing.

Images