Annular electric pole concrete crack detection device and method based on pole-climbing robot

Abstract

The invention belongs to the technical field of concrete crack detection, and provides an annular electric pole concrete crack detection device and method based on a pole-climbing robot, the whole detection device is carried on the pole-climbing robot, and regional power failure is not needed; moreover, a rotating mechanism is arranged on the annular guide rail, and a laser scanning camera mechanism is arranged on the rotating mechanism, so that all-directional detection on the surface of the annular concrete pole is ensured, and a crack area is preliminarily determined; circumferential driving mechanisms are further arranged on the rotating mechanism and located on the two sides of the optical scanning camera shooting mechanism respectively, each circumferential driving mechanism is provided with a detection head through a telescopic mechanism, the circumferential driving mechanisms and the telescopic mechanisms are matched, the detection heads can detect multiple angles and depths of cracks, reliable data are provided, and the detection accuracy is improved. The problem that the data type is single when the crack data is obtained in the image is avoided, and the crack detection precision is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of concrete crack detection, and particularly relates to a ring-shaped electric pole concrete crack detection device and method based on a pole-climbing robot. Background Art

[0002] As an essential facility in the power transmission and distribution network, the structural stability of ring-shaped reinforced concrete electric poles is directly related to the safe operation of transmission lines, especially the high-voltage electric poles located in substations. As the service time of reinforced concrete electric poles increases, cracks will appear on the poles, which will affect the structural strength of the poles. The appearance of cracks often means a decrease in the load-bearing capacity of the poles, seriously affecting the safe operation of distribution lines. In order to ensure the normal operation of the electric poles, it is often necessary to accurately identify and detect the cracks on the poles and determine the three-dimensional parameters of the cracks. The inspection of concrete electric pole cracks is a high-risk environment operation with a long working cycle, poor work efficiency, and the personnel are often in a suspended state for a long time and carry many detection devices during the work. It is difficult to ensure the personal safety of the staff during this process, and the requirements for maintenance personnel are high.

[0003] In the prior art, usually, a drone is used to carry a camera detection device to take images of the cracked electric poles, and then the length and width data of the cracks are obtained from the taken crack images. The depth data cannot be obtained, so there are problems such as a single data type of the detection instrument and low detection accuracy, and the depth of the cracks cannot be detected, so the three-dimensional structure of the cracks cannot be obtained. Moreover, due to the existence of high voltage in the electric poles of substations, it is necessary to cut off the power supply in the area before detection, and the power cut often affects people's normal life and the normal operation of the city. Summary of the Invention

[0004] In order to solve the above problems, the present invention provides a ring-shaped electric pole concrete crack detection device and method based on a pole-climbing robot. A rotating mechanism is arranged on the circumferential guide rail, and a laser scanning and imaging mechanism is arranged on the rotating mechanism, ensuring the all-round detection of the surface of the ring-shaped concrete electric pole and initially positioning the crack area; on the rotating mechanism, on both sides of the optical scanning and imaging mechanism, circumferential driving mechanisms are respectively arranged, and a detection head is arranged on each circumferential driving mechanism through a telescopic mechanism. The cooperation of the circumferential driving mechanism and the telescopic mechanism can enable the detection head to detect the cracks at multiple angles and depths, providing reliable data, avoiding the problem of a single data type when obtaining crack data in the image, and improving the crack detection accuracy.

[0005] To achieve the above object, in the first aspect, the present invention provides a ring-shaped electric pole concrete crack detection device based on a pole-climbing robot, adopting the following technical solutions:

[0006] A circular electric pole concrete crack detection device based on a pole-climbing robot, comprising a pole-climbing robot, a vertical guide rail arranged on the pole-climbing robot, a vertical driving mechanism arranged on the vertical guide rail, and a circumferential guide rail arranged on the vertical driving mechanism;

[0007] A rotating mechanism is arranged on the circumferential guide rail, and a laser scanning and imaging mechanism is arranged on the rotating mechanism; on the rotating mechanism, on both sides of the laser scanning and imaging mechanism, circumferential driving mechanisms are respectively arranged, and a detection head is arranged on each circumferential driving mechanism through a telescopic mechanism.

[0008] Further, the vertical guide rail includes a first connecting seat, a vertical track arranged on the first connecting seat, and a vertical rack arranged on the first connecting seat.

[0009] Further, the vertical driving mechanism includes a second connecting seat, a first gear arranged on the second connecting seat through a first gear driving source, and a first roller arranged on the second connecting seat; the first gear meshes with the vertical rack, and a first roller is arranged at each end of the second connecting seat, and both first rollers are arranged to roll in the vertical track.

[0010] Further, the circumferential guide rail is arranged as a multi-step circumferential guide rail assembly, the circumferential guide rail includes a plurality of circumferentially stacked guide rails, a guide tooth and a guide groove are arranged in each section of the guide rail, and the guide tooth meshes with a driving gear; the rotating mechanism is a rotating motor.

[0011] Further, the circumferential driving mechanism includes an annular track and a circumferential rack connected to the rotating mechanism, a second gear meshing with the circumferential rack, and a second roller slidably arranged in the annular track; the second roller and the second gear are connected through a bracket; second rollers are arranged at both ends of the bracket, and a second gear driving source is further arranged on the second roller, and an output shaft of the second gear driving source is connected to the second gear; the telescopic mechanism is also arranged on the bracket.

[0012] Further, the detection head is an ultrasonic transmitting and receiving head with pressure sensing; the laser scanning and imaging mechanism is an infrared laser camera.

[0013] In order to achieve the above object, in a second aspect, the present invention further provides a method for detecting circular electric pole concrete cracks based on a pole-climbing robot, adopting the following technical solution:

[0014] A method for detecting concrete cracks in circular electric poles based on a pole-climbing robot uses the device for detecting concrete cracks in circular electric poles based on a pole-climbing robot as described in the first aspect, including: starting the pole-climbing robot and the laser scanning camera mechanism, controlling the pole-climbing robot to move up and down axially along the circular concrete pole, and at the same time controlling the circumferential guide rail for circumferential detection until the laser scanning camera mechanism discovers a crack;

[0015] Controlling the circumferential driving mechanism and the telescopic mechanism, and detecting the multiple angles and depths of the crack through the detection head.

[0016] Further, after discovering the crack to be detected, control the vertical driving mechanism and the rotating mechanism to align the laser scanning camera mechanism with the middle of the crack.

[0017] Further, when performing longitudinal crack detection, control the two detection heads to be respectively placed at point A and point B. Point A and point B are on the same side of the crack. Change the arc length S of AB, and sequentially read the corresponding time t of ultrasonic wave propagation; then the wave velocity of the ultrasonic wave in the circular concrete pole is:

[0018]

[0019] Control the two detection heads to be respectively placed on the symmetric two sides with the crack as the axis center. According to the arc length S when not measuring across the crack, sequentially obtain the corresponding time t of ultrasonic wave propagation 2 ; then the crack depth d is:

[0020]

[0021] wherein, R is the outer diameter of the circular concrete pole; D is the intersection point of the radius of the circle where the circular concrete pole is located and the circle; E is the intersection point of the radius in the middle of the two detection heads and the connection line of points A and B.

[0022] Further, during circumferential crack detection, control the two detection heads to be respectively placed on the symmetric two sides of the crack. At this time, the arc length of AO is S, and it can be obtained that:

[0023]

[0024] Emit ultrasonic waves to obtain the acoustic wave time t of the ultrasonic waves 3 , and knowing that the actual average moving speed of the ultrasonic wave in the circular concrete pole is v, then the circumferential crack depth d is:

[0025]

[0026] wherein, O is the center of the circle where the circular concrete pole is located.

[0027] Compared with the prior art, the beneficial effects of the present invention are:

[0028] In the present invention, the entire detection device is mounted on a pole-climbing robot, avoiding close-range operation of workers. During detection, there is no need for regional power-off. Moreover, a rotating mechanism is provided on the circumferential guide rail, and a laser scanning and imaging mechanism is provided on the rotating mechanism, ensuring a full-range detection of the surface of the circular concrete pole and preliminarily positioning the crack area. On the rotating mechanism, on both sides of the optical scanning and imaging mechanism, circumferential driving mechanisms are respectively provided. On each circumferential driving mechanism, a detection head is provided through a telescopic mechanism. The cooperation of the circumferential driving mechanism and the telescopic mechanism enables the detection head to detect the crack at multiple angles and depths, providing reliable data, avoiding the problem of single data type when obtaining crack data in the image, and improving the crack detection accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The accompanying drawings forming a part of this embodiment are used to provide a further understanding of this embodiment. The schematic embodiments and descriptions thereof of this embodiment are used to explain this embodiment and do not constitute an improper limitation to this embodiment.

[0030] Figure 1 It is a working state diagram of Embodiment 1 of the present invention;

[0031] Figure 2 It is a schematic enlarged side view structure diagram of the annular detection mechanism of Embodiment 1 of the present invention;

[0032] Figure 3 It is a schematic enlarged top view structure diagram of the annular detection mechanism of Embodiment 1 of the present invention;

[0033] Figure 4 It is a schematic structure diagram of the circumferential guide rail of Embodiment 1 of the present invention;

[0034] Figure 5 It is a schematic structure diagram of the first guide rail of Embodiment 1 of the present invention;

[0035] Figure 6 It is a schematic structure diagram of the second guide rail of Embodiment 1 of the present invention;

[0036] Figure 7 It is a schematic structure diagram of the third guide rail of Embodiment 1 of the present invention;

[0037] Figure 8 It is a movement schematic diagram of the multi-step guide rail in the annular detection mechanism of Embodiment 1 of the present invention;

[0038] Figure 9 It is a schematic diagram of the detection result of the crack length and width of Embodiment 1 of the present invention;

[0039] Figure 10 It is a schematic diagram for detecting the depth of a longitudinal crack not crossing the seam in Embodiment 1 of the present invention;

[0040] Figure 11 Schematic diagram for detecting the depth of longitudinal cracks across joints in Embodiment 1 of the present invention;

[0041] Figure 12 Top view for detecting the depth of circumferential cracks in Embodiment 1 of the present invention;

[0042] Figure 13 Oblique sectional view for detecting the depth of circumferential cracks in Embodiment 1 of the present invention;

[0043] Figure 14 Schematic diagram for detecting shallow cracks in Embodiment 1 of the present invention;

[0044] Figure 15 Schematic diagram for detecting the depth of penetrating cracks in Embodiment 1 of the present invention;

[0045] Wherein, 1, circular concrete pole; 2, pole-climbing robot; 3, vertical guide rail; 301, first connection seat; 302, vertical track; 303, vertical rack; 4, vertical driving mechanism; 401, first gear driving source; 402, first gear; 403, first roller; 404, second connection seat; 5, circumferential guide rail; 501, first guide rail; 5011, first guide tooth; 5012, first guide groove; 502, second guide rail; 5021, second guide tooth; 5022, second guide groove; 5023, first driving gear; 5024, first ball group; 503, third guide rail; 5031, third guide tooth; 5032, third guide groove; 5033, second driving gear; 5034, second ball group; 6, rotating mechanism; 7, circumferential driving mechanism; 701, second gear driving source; 702, second gear; 703, circumferential rack; 704, second roller; 705, circular track; 8, telescopic mechanism; 9, detection head; 10, laser scanning and imaging mechanism. Detailed implementation manners

[0046] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0047] It should be noted that the following detailed description is exemplary and is intended to provide further illustration of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present application belongs.

[0048] Embodiment 1:

[0049] As Figure 1As shown in the figure, this embodiment provides a ring-shaped pole concrete crack detection device based on a pole-climbing robot, which includes a pole-climbing robot 2 that can crawl or be fixed on a ring-shaped concrete pole 1, a vertical guide rail 3 arranged on the pole-climbing robot 2, a vertical driving mechanism 4 arranged on the vertical guide rail 3, and a circumferential guide rail 5 arranged on the vertical driving mechanism 4.

[0050] Optionally, the ring-shaped concrete pole 1 can be understood as all types of poles, not limited to specific structural forms; the pole-climbing robot 2 can be realized by conventional technologies and will not be elaborated here.

[0051] As Figure 2 and Figure 3 As shown in the figure, a rotating mechanism 6 is arranged on the circumferential guide rail 5, and a laser scanning and imaging mechanism 10 and a circumferential driving mechanism 7 are arranged on the rotating mechanism 6; on the rotating mechanism 6, on both sides of the laser scanning and imaging mechanism 10, a circumferential driving mechanism 7 is respectively arranged, and a detection head 9 is arranged on each circumferential driving mechanism 7 through a telescopic mechanism 8.

[0052] As Figure 2 As shown in the figure, the vertical guide rail 3 includes a first connecting seat 301, a vertical track 302 arranged on the first connecting seat 301, and a vertical rack 303 arranged on the first connecting seat 301. Optionally, the first connecting seat 301 can adopt a structure such as a metal plate and is arranged on the pole-climbing robot 2 by means of bolt connection or welding.

[0053] Specifically, through the connection between the first connecting seat 301 and the pole-climbing robot 2, when the pole-climbing robot 2 is fixed and crawls on the ring-shaped concrete pole 1, the entire detection device is fixed on the ring-shaped concrete pole 1.

[0054] As Figure 2As shown in the figure, the vertical driving mechanism 4 includes a second connecting seat 404, a first gear 402 arranged on the second connecting seat 404 through a first gear driving source 401, and a first roller 403 arranged on the second connecting seat 404. Optionally, the first gear driving source 401 can adopt devices such as a motor and is fixed on the second connecting seat 404 through a bracket or the like; the first gear 402 is fixed on the output shaft of the first gear 402, and the first gear 402 meshes with the vertical rack 303. When the first gear driving source 401 drives the first gear 402 to rotate, the first gear 402 cooperates with the vertical rack 303, so that the vertical driving mechanism 4 drives the entire detection device to move along the axial direction of the circular concrete pole 1 to achieve position adjustment; two first rollers 403 are respectively arranged at both ends of the second connecting seat 404, and both of the two first rollers 403 are arranged to roll in the vertical track 302, which improves the stability of the entire detection device when moving along the axial direction of the circular concrete pole 1. The second connecting seat 404 can adopt a middle hollow structure form to reduce the material usage and cost, and a connecting portion matching the circumferential guide rail 5 is arranged at one end of the second connecting seat 404 away from the vertical guide rail 3.

[0055] It can be understood that in order to ensure the actions of the first gear 402 and the first roller 403, the vertical rack 303 and the vertical track 302 can be arranged staggeredly to avoid interference between the first gear 402 and the first roller 403.

[0056] The entire detection device is carried on the pole climbing robot 2 through the vertical guide rail 3 and the vertical driving mechanism 4. The vertical driving mechanism 4 can ensure that the entire detection device moves axially up and down on the surface of the circular concrete pole 1, so that cracks can be found and aligned with the laser scanning and imaging mechanism 10 without moving the pole climbing robot 2.

[0057] Such as Figure 4 、 Figure 5 、 Figure 6 and Figure 7As shown, the circumferential guide rail 5 is a multi-step circumferential guide rail. The circumferential guide rail 5 includes a plurality of circumferentially laminated guide rails. Taking three guide rails as an example, the circumferential guide rail 5 includes a first guide rail 501, a second guide rail 502, and a third guide rail 503. The first guide rail 501 is provided with a first guide tooth 5011 and a first guide groove 5012; the second guide rail 502 is provided with a second guide tooth 5021, a second guide groove 5022, a first drive gear 5023, and a first ball group 5024; the second guide rail 502 is sleeved in the first guide rail 501, the first drive gear 5023 meshes with the first guide tooth 5011, the second guide groove 5022 corresponds to the first guide groove 5012, and the first ball group 5024 is arranged in the second guide groove 5022 and the first guide groove 5012. The third guide rail 503 includes a third guide tooth 5031, a third guide groove 5032, a second drive gear 5033, and a second ball group 5034; the third guide rail 503 is sleeved in the second guide rail 502, the second drive gear 5033 meshes with the second guide tooth 5021, the third guide groove 5032 corresponds to the end of the second guide groove 5022 away from the first guide groove 5012, and the second ball group 5034 is arranged in the third guide groove 5032 and the second guide groove 5022. The first drive gear 5023 and the second drive gear 5033 both include a motor and a gear connected to the output shaft of the motor. During stepping, the second guide rail 502 first extends out. After reaching the limit extension length, it drives the third guide rail 503 to extend out, and then the other layer guide rails extend out in sequence.

[0058] The circumferential guide rail 5 is set as a multi-step circumferential guide rail assembly, which can be flexibly shortened and extended along the circumference of the annular concrete pole 1, meet the movement of the rotating mechanism 6 at any position along the circumference of the annular concrete pole 1, and ensure the integrity of the detection area. The circumferential guide rail 5 can ensure that the detection head 9 makes a circular motion around the annular concrete pole 1, so that the detection device can detect cracks in all directions at the same height of the concrete pole.

[0059] As Figure 2 and Figure 3 shown, the rotating mechanism 6 is a rotating motor.

[0060] The rotating mechanism 6 can ensure that the detection head 9 rotates, so as to measure the inclination angle of the crack.

[0061] As Figure 8As shown, the circumferential drive mechanism 7 includes an annular track 705 connected to the rotating mechanism 6 and a circumferential rack 703, a second gear 702 meshing with the circumferential rack 703, and a second roller 704 slidably disposed within the annular track 705; the second roller 704 and the second gear 702 are connected by components such as a bracket; both ends of the bracket are provided with second rollers 704, and a second gear drive source 701 is further provided on the second roller 704. The second gear drive source 701 can be set as a motor, and the output shaft is connected to the second gear 702; the telescopic mechanism 8 is also provided on the bracket, and the telescopic mechanism 8 can be an electric telescopic rod, a pneumatic telescopic rod, a hydraulic telescopic rod, etc.

[0062] The circumferential drive mechanism 7 can achieve the circumferential movement of the detection head 9, so as to change the circumferential distance between the detection head 9 and the crack to measure multiple groups of data to calculate the crack depth. The telescopic mechanism 8 can achieve the telescopic movement of the detection head 9, changing the distance between the detection head 9 and the surface of the annular concrete pole 1.

[0063] As Figure 8 shown, the detection head 9 can be an ultrasonic detection head, and further can be an ultrasonic transmitting and receiving head with pressure sensing; the laser scanning and imaging mechanism 10 can be an infrared laser camera.

[0064] In some other embodiments, a coupling liquid pump with coupling liquid stored inside can also be provided on the detection head 9. When the detection head 9 is close to the surface of the annular concrete pole 1, the pressure sensing component in the detection head 9 will start the coupling liquid pump therein, and the coupling liquid stored inside the coupling liquid pump will automatically spray out through the top to mark the crack.

[0065] Embodiment 2:

[0066] This embodiment provides a method for detecting concrete cracks of annular poles based on a pole-climbing robot, which uses the device for detecting concrete cracks of annular poles based on a pole-climbing robot as in Embodiment 1; the method includes the following steps:

[0067] S1. Overall observation:

[0068] Start the pole-climbing robot 2 and the laser scanning and imaging mechanism 10. The pole-climbing robot 2 can be controlled to move up and down through a remote controller. As Figure 8 shown, at the same time, control the circumferential guide rail 5 for circumferential detection. The laser scanning and imaging mechanism 10 can transmit the detection image in real time until a crack to be detected is found.

[0069] S2. Detect the length and width of the crack:

[0070] After detecting the crack to be detected, the first gear driving source 401 and the rotating mechanism 6 are controlled by a remote controller to align the laser scanning and imaging mechanism 10 with the middle of the crack, measure the length and width of the crack by laser ranging, and take a clear image of the crack for storage, as Figure 9 shown.

[0071] S3. Detect the inclination angle of the crack:

[0072] If the crack to be detected is an inclined vertical crack, the rotating mechanism 6 can be controlled to rotate so that the crack to be detected is in a vertical state in the captured image, record the rotation angle at this time, and compare it with the clear image transmitted back to determine the direction of the crack, as Figure 9 shown.

[0073] S4. Detect the depth of the crack:

[0074] The telescopic mechanism 8 is controlled by a remote controller to make the detection head 9 closely attached to the surface of the annular concrete pole 1, spray coupling liquid, emit ultrasonic waves and record the time, and control the circumferential driving mechanism 7 to change the distance between the detection head 9 and the crack and record the time. Since the crack is located on the annular surface, the detection method is different from the ultrasonic flat detection method, and different crack forms such as longitudinal cracks, annular cracks and through cracks will also affect the detection and calculation methods. The specific steps include:

[0075] S4.1 Detection of longitudinal cracks:

[0076] First, as Figure 10 shown, use a remote controller to control two detection heads 9 to be respectively placed at point A and point B. Point A and point B are on the same side of the crack. Change the arc length S of AB and sequentially read the corresponding time t of ultrasonic wave propagation. Then the wave velocity calculation formula of ultrasonic waves in the annular concrete pole is:

[0077]

[0078] where R is the outer diameter of the annular concrete pole.

[0079] Calculate the average value v of the wave velocities at different arc lengths S as the wave velocity of ultrasonic waves in the crack-free concrete pole.

[0080] Then, as Figure 11 shown, perform ultrasonic measurement across the crack. Control the remote controller to place two detection heads 9 on the symmetric two sides with the crack as the axis respectively, and sequentially obtain the corresponding time t of ultrasonic wave propagation according to the arc length S when not measuring across the crack 2 . Then the calculation formula of the crack depth d is:

[0081]

[0082] Among them, D is the intersection point of the radius of the circle where the circular concrete pole is located and the circle in the circle where the two detectors 9 are located; E is the intersection point of the radius in the middle of the two detectors 9 and the line connecting points A and B. By taking different arc lengths S, different t and t 2 can be obtained, and thus different crack depth values can be obtained. Take the average value of each depth value as the crack depth measurement value.

[0083] S4.2, Detection of circumferential cracks:

[0084] Operate the remote control to control the two detectors 9 to be respectively placed on both sides of the crack symmetrically, as shown in Figure 12 and Figure 13 . At this time, the arc length of AO is S, and it can be obtained that:

[0085]

[0086] Control the emission of ultrasonic waves to obtain the acoustic wave time t 3 of the ultrasonic waves. Given that the actual average moving speed of the ultrasonic waves in the circular concrete pole is v, the calculation formula for the circumferential crack depth d is:

[0087]

[0088] S4.3, Detection of shallow cracks:

[0089] When operating the remote control device to control the two detectors 9 to move to the closest distance for measurement, at this time, the arc length of AB is S, and the straight-line distance is L. If the measured acoustic wave time v1 is the actual average moving speed of the ultrasonic waves in the circular concrete pole, then at this time, the tip of the crack is tangent to or does not intersect the line connecting the two ultrasonic probes, as shown in Figure 14 . It can be considered that the crack depth at this time is relatively shallow, and the depth of the shallow crack is:

[0090]

[0091] S4.4, Detection of through cracks

[0092] When the ultrasonic waves are emitted and the detection device cannot receive the emitted ultrasonic waves or the received ultrasonic waves are very weak after repeatedly changing the distance of the detector 9, it can be judged that the crack to be measured is a through crack, as shown in Figure 15 . The depth of the crack to be measured is:

[0093] d = D 1 - D 2 ;

[0094] Among them, D 1 is the outer diameter of the circular concrete pole, and D 2 is the inner diameter of the circular concrete pole.

[0095] In summary, the method provided in this embodiment is applicable to quickly detecting cracks in the structures of ring-shaped concrete facilities such as ring-shaped concrete poles outdoors, and based on ultrasonic testing technology and image recognition technology, accurate data of the cracks can be obtained after detecting the cracks, providing reliable support for making subsequent crack treatment decisions.

[0096] The above are only the preferred embodiments of this embodiment and are not used to limit this embodiment. For those skilled in the art, various changes and modifications can be made to this embodiment. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this embodiment shall be included within the protection scope of this embodiment.

Claims

1. A ring-shaped pole concrete crack detection device based on a pole climbing robot, characterized in that: It comprises a pole-climbing robot (2), a vertical guide rail (3) arranged on the pole-climbing robot (2), a vertical drive mechanism (4) arranged on the vertical guide rail (3), and a circular guide rail (5) arranged on the vertical drive mechanism (4); The circumferential guide rail (5) is provided with a rotating mechanism (6), and a laser scanning camera mechanism (10) is provided on the rotating mechanism (6); circumferential drive mechanisms (7) are also provided on the rotating mechanism (6) on both sides of the laser scanning camera mechanism (10), and each circumferential drive mechanism (7) is provided with a detection head (9) via a telescopic mechanism (8).

2. The ring-shaped pole concrete crack detection device based on the pole climbing robot according to claim 1 is characterized in that: The vertical guide rail (3) comprises a first connecting seat (301), a vertical track (302) arranged on the first connecting seat (301), and a vertical rack (303) arranged on the first connecting seat (301).

3. The ring-shaped pole concrete crack detection device based on the pole climbing robot according to claim 2 is characterized in that: The vertical driving mechanism (4) comprises a second connecting seat (301), a first gear (402) arranged on the second connecting seat (301) via a first gear driving source (401), and a first roller (403) arranged on the second connecting seat (301); the first gear (402) is meshed with the vertical rack (303), and a first roller (403) is respectively arranged at both ends of the second connecting seat (301), and the two first rollers (403) are both rollingly arranged in the vertical track (302).

4. The ring-shaped pole concrete crack detection device based on the pole climbing robot according to claim 1 is characterized in that: The circumferential guide rail (5) is configured as a multi-step circumferential guide rail assembly, the circumferential guide rail (5) comprises a plurality of circumferentially stacked guide rails, each section of the guide rail is provided with guide teeth and guide grooves, the guide teeth are meshed with drive gears; the rotating mechanism (6) is a rotary motor.

5. The ring-shaped pole concrete crack detection device based on the pole climbing robot according to claim 1 is characterized in that: The annular driving mechanism (7) comprises an annular track (705) and an annular rack (703) connected to the rotating mechanism (6), a second gear (702) meshing with the annular rack (703), and a second roller (704) slidably arranged in the annular track (705); the second roller (704) and the second gear (702) are connected by a bracket; the second roller (704) is arranged at both ends of the bracket, and the second roller (704) is also provided with a second gear driving source (701), and the output shaft of the second gear driving source (701) is connected to the second gear (702); the telescopic mechanism (8) is also arranged on the bracket.

6. The ring-shaped pole concrete crack detection device based on the pole climbing robot according to claim 1 is characterized in that: The detection head (9) is an ultrasonic transmitting and receiving head with pressure sensing; the laser scanning camera mechanism (10) is an infrared laser camera.

7. A method for detecting cracks in annular pole concrete based on a pole climbing robot, characterized in that: The apparatus for detecting cracks in an annular pole concrete based on a pole-climbing robot as claimed in any one of claims 1 to 6 comprises: starting the pole-climbing robot (2) and the laser scanning camera mechanism (10), controlling the pole-climbing robot (2) to move up and down axially along the annular concrete pole (1), and controlling the annular guide rail (5) to perform annular detection until the laser scanning camera mechanism (10) finds cracks; The circumferential drive mechanism (7) and the telescopic mechanism (8) are controlled, and multiple angles and depths of the cracks are detected through the detection head (9).

8. The method for detecting cracks in annular pole concrete based on a pole climbing robot according to claim 7, characterized in that: When a crack to be detected is found, the vertical drive mechanism (4) and the rotation mechanism (6) are controlled so that the laser scanning camera mechanism (10) is aligned with the middle of the crack.

9. The method for detecting cracks in annular pole concrete based on a pole climbing robot according to claim 7, characterized in that: When performing longitudinal crack detection, two detection heads (9) are controlled to be placed at point A and point B respectively, with point A and point B being located on the same side of the crack, and the arc length S of AB is changed, and the corresponding time t of ultrasonic wave propagation is read in sequence; then the wave speed of ultrasonic wave in the annular concrete pole is: The two detectors are placed on the two symmetrical sides of the crack as the axis, and the corresponding time t2 of ultrasonic propagation is obtained in turn according to the arc length S when measuring without crossing the crack; then the crack depth d is: Wherein, R is the outer diameter of the annular concrete pole; D is the radius of the circle where the annular concrete pole is located and the intersection of the circle; and E is the intersection of the radius located in the middle of the two detection heads (9) and the line connecting points A and B.

10. The method for detecting cracks in annular pole concrete based on a pole climbing robot according to claim 9, characterized in that: When detecting circumferential cracks, two detection heads (9) are controlled to be placed on both sides of the crack symmetrically. At this time, the arc length of AO is S, and the following is obtained: The ultrasonic wave is emitted, and the ultrasonic wave time t3 is obtained. It is known that the actual average moving speed of the ultrasonic wave in the annular concrete pole is v, and the annular crack depth d is: Among them, O is the center of the circle where the circular concrete pole is located.

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