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CN-122016812-A - Cement electric pole surface crack detection device and detection method

CN122016812ACN 122016812 ACN122016812 ACN 122016812ACN-122016812-A

Abstract

The invention discloses a cement pole surface crack detection device, which comprises a frame, wherein a visual scanning device is arranged on the left side and the right side of one end of the frame on the front side in the running direction according to the running direction during detection, a movement radius real-time detection device is arranged on the left side and the right side of one end of the frame on the rear side in the running direction, a running device is fixedly arranged on the lower surface of the frame, a main control module is fixedly arranged on the upper surface of the frame, and the visual scanning device, the movement radius real-time detection device and the running device are connected with the main control module through wires. The invention can effectively monitor the surface cracks of the cement electric pole, saves labor cost and improves detection efficiency. The invention also discloses a method for detecting the surface cracks of the cement electric pole.

Inventors

  • WANG ZEMIN
  • LIU MIN
  • LI JING
  • YAN KEDING
  • WANG SHOUMIN
  • GU HAO
  • WANG YULIN
  • LIU YIHENG

Assignees

  • 西安工业大学

Dates

Publication Date
20260512
Application Date
20260213

Claims (10)

  1. 1. Cement pole surface crack detection device, its characterized in that, including frame (1), according to the direction of travel when detecting, the frame (1) all is provided with visual scanning device in the left and right sides of the one end of direction of travel front side, the frame (1) all is provided with radius of motion real-time detection device in the left and right sides of the one end of direction of travel rear side, frame (1) lower surface still is fixed and is provided with advancing device, frame (1) upper surface still is fixed and is provided with main control module (5), visual scanning device, radius of motion real-time detection device, advancing device all pass through the wire and connect main control module (5).
  2. 2. The device for detecting the surface cracks of the cement pole according to claim 1, wherein the visual scanning device comprises a 1# mechanical arm (6) and a 3# mechanical arm (7) which are symmetrically connected at the left side and the right side of a frame (1) through a 3# steering engine (6-4) and a 6# steering engine (7-4), the other ends of the 1# mechanical arm (6) and the 3# mechanical arm (7) are respectively connected with a 2# mechanical arm (6-1) and a 4# mechanical arm (7-1) through a 2# steering engine (6-5) and a 5# steering engine (7-5), the other ends of the 2# mechanical arm (6-1) and the 4# mechanical arm (7-1) are respectively connected with a camera cabin body (6-2) and a counterweight cabin body (7-2) through a 1# steering engine (6-6) and a 4# steering engine (7-6), the camera cabin body (6-2) and the counterweight cabin body (7-2) deviate from one surface of the 2# mechanical arm (6-1) and the 4# mechanical arm (7-1) respectively and are respectively fixed with four driven wheel cabin bodies (6-1) and a camera cabin body (6-3) and a counterweight cabin (3) and a camera cabin (3) are arranged on the surface of the camera cabin body (3), an area array camera (10) is fixed in the camera cabin body (6-2), a right angle reflecting prism (8) is arranged between a lens of the area array camera (10) and a visual shooting window (9), an image facing the visual shooting window (9) is totally reflected into the lens of the area array camera (10) through the right angle reflecting prism (8), a plurality of light sources (11) are uniformly arranged outside the camera cabin body (6-2) around the visual shooting window (9), the light sources (11), the area array camera (10), a 3# steering engine (6-4), a 6# steering engine (7-4), a 2# steering engine (6-5) and a 5# steering engine (7-5) are connected with the main control module (5) through wires, and when the camera cabin is used, under the driving of a travelling device and a 1# -2# -3# 4 mechanical arm, a driven wheel (6-3) of the camera cabin body and a driven wheel (7-3) of the counterweight cabin body are in contact with the outer circumference of a cement and longitudinally or transversely move on the cement.
  3. 3. The cement pole surface crack detection device according to claim 2, wherein the motion radius real-time detection device comprises a 5# mechanical arm (12) and a 6# mechanical arm (13) which are symmetrically connected through a 7# steering engine (12-1) and a 8# steering engine (13-1) respectively on the left side and the right side of a frame (1), the other ends of the 5# mechanical arm (12) and the 6# mechanical arm (13) are respectively provided with a 5# mechanical arm driven wheel (12-2) and a 6# mechanical arm driven wheel (13-2), the 7# steering engine (12-1) and the 8# steering engine (13-1) are connected with the main control module (5) through wires, and in use, the 5# mechanical arm driven wheel (12-2) and the 6# mechanical arm driven wheel (13-2) are in contact with a cement pole and roll on the cement pole.
  4. 4. The cement pole surface crack detection device according to claim 3, wherein the end faces of the 5# mechanical arm (12) and the 6# mechanical arm (13) are provided with a 5# mechanical arm driven wheel (12-2) and a 6# mechanical arm driven wheel (13-2), the end faces of the 5# mechanical arm driven wheel (12-3) and the end faces of the 6# mechanical arm driven wheel (13-3) are respectively provided with a 1# limit switch (13-3), the end faces of the camera cabin body (6-2) and the counterweight cabin body (7-2) are provided with a camera cabin body driven wheel (6-3) and a counterweight cabin body driven wheel (7-3), and the end faces of the 1# limit switch and the 4# limit switch (7-7) are respectively arranged on the 3# limit switch (6-7) and the 4# limit switch are connected with the main control module (5) through wires.
  5. 5. The cement pole surface crack detection device according to claim 4, wherein the traveling device comprises active traveling wheels (14) symmetrically installed on the left side and the right side of the lower surface of the frame (1), the active traveling wheels (14) are installed at one end of the rear side of the frame (1) corresponding to the traveling direction, a steering driving wheel (15) is further arranged at the middle position of the lower surface of the frame (1) corresponding to the front side of the traveling direction, active traveling stepping motor modules (14-1) are arranged at the positions of the lower surface of the frame (1) corresponding to the two active traveling wheels (14), the active traveling wheels (14) are driven to travel through the active traveling stepping motor modules (14-1), a steering stepping motor module (15-1) is further arranged at the position of the lower surface of the frame (1) corresponding to the steering driving wheel (15), the steering driving wheel (15) is driven by the steering stepping motor module (15-1), and both the active traveling motor modules (14-1) and the steering stepping motor module (15-1) are connected with the main control module (5) through wires.
  6. 6. The cement pole surface crack detection device according to claim 5, wherein a balance sensor (16) is further arranged above the frame (1), the balance sensor (16) is connected with the main control module (5) through a wire, a battery compartment (17) and a power conversion module (17-1) are further arranged on the frame (1), a battery (17-2) is arranged in the battery compartment (17), the battery (17-2) is connected with the power conversion module (17-1) through a wire, the power conversion module (17-1) is connected with the main control module (5) through a wire, and the balance sensor (16), the active traveling stepper motor module (14-1), the steering stepper motor module (15-1), the WIFI module (2) and the steering engine # 1 to # 8 are all connected with the power conversion module (17-1) through wires; The novel wireless communication system is characterized in that the frame (1) is of a box structure, the upper surface of the frame (1) is further provided with a WIFI module (2), the WIFI module (2) is connected with an external antenna (3), the WIFI module (2) is connected with a main control module (5) through a wire, the WIFI module (2) is wirelessly connected with a data processing and display terminal (4) through the external antenna (3), the upper surface of the frame (1) is further provided with a control panel (1-1), and the control panel (1-1) is connected with the main control module (5) through the wire.
  7. 7. The method for detecting the surface cracks of the cement electric pole is characterized by comprising the following steps: Step 1, placing a cement electric pole surface crack detection device on a cement electric pole to be detected, and then controlling a main control module (5) to tighten a 1# -6# mechanical arm so that the 1-6# mechanical arm is clamped in the circumferential direction of the cement electric pole; Step 2, calculating the radius of the cement electric pole at the placement position; step 3, the main control module (5) controls the visual scanning device to transversely scan the surface of the cement electric pole at the position by taking the radius of the cement electric pole as the radius of motion, acquires images in the motion range, and uploads the images to the data processing and display terminal (4) for image processing to obtain specific data of cracks; and 4, repeatedly executing the steps according to the steps 2-4 after the main control module (5) controls the advancing device to advance for a certain distance.
  8. 8. The method for detecting surface cracks of a concrete pole according to claim 7, wherein the step 1 specifically comprises: Placing a cement pole surface crack detection device on a cement pole to be detected, arranging a counterweight cabin body (7-2) on the inner side of stretch bending, arranging a camera cabin body (6-2) on the outer side of stretch bending, controlling a 1-8# steering engine through a main control module (5), enabling a 1-2-3-4 # mechanical arm and a 5-6 # mechanical arm to simultaneously perform tightening actions, enabling four camera cabin body driven wheels (6-3), four counterweight cabin body driven wheels (7-3) and 5-mechanical arm driven wheels (12-2) and 6-mechanical arm driven wheels (13-2) to be clamped on the side wall of the cement pole, collecting limit switches on all mechanical arms in real time by the main control module (5), and controlling the steering engine of the 1-6# mechanical arm to stop tightening actions when the limit switches reach preset positions; After the tightening is determined, the main control module (5) collects information of the balance sensor (16), the cement pole surface crack detection device is determined to be in a balanced state, if the cement pole surface crack detection device is inclined, the direction of the steering travelling wheel (15) is controlled through the main control module (5), the balance of the whole device is adjusted, and after the whole device is balanced, the next step is executed; The step 2 specifically comprises the following steps: When the cement electric pole surface crack detection device is in a tightening state of the cement electric pole to be detected, the main control module (5) collects limit switches of the 5# -6# mechanical arm again, confirms that the 5# -6# mechanical arm is in the tightening state, and calculates the radius of the cement electric pole according to a three-point rounding principle through coordinates of contact points P 1 （X 1 ,Y 1 and P 3 （X 3 ,Y 3 between a driven wheel (12-2) of the 5# -mechanical arm and a driven wheel (13-2) of the 6# mechanical arm and the cement electric pole surface and coordinates of a known middle point P 2 （X 2 ,Y 2 of the steering driving wheel (15) in the tightening state of the 5# -6# mechanical arm; Wherein, P 1 （X 1 ,Y 1 ) and P 3 （X 3 ,Y 3 ) are calculated according to the following formula: According to the trigonometric function relation, the coordinates of the P 1 point are X 1 = -OP 1 sin(a 1 -90°),Y 1 = -OP 1 Cos (coordinates of a 1 -90°);P 2 point: X) 3 = X'+ O'P 3 sin(β 1 -90°),Y 3 = -O'P 3 cos(β 1 -90°); Setting up a cement pole radius calculation coordinate system by taking a steering engine center point of a 5# mechanical arm, namely a joint point of the 5# mechanical arm as a coordinate origin O, wherein O' is a steering engine center point of the 6# mechanical arm, a 1 is an included angle between a contact point of a driven wheel of the 5# mechanical arm and the surface of the cement pole and a connecting line of the steering engine center point of the 5# 6 mechanical arm, and beta 1 is an included angle between a contact point of the driven wheel of the 6# mechanical arm and the surface of the cement pole and a connecting line of the steering engine center point of the 5# 6 mechanical arm; The radius of the cement electric pole is calculated according to the three-point circle-fixing principle, namely, the center coordinates of the cement electric pole are set to be (X, Y), the general equation of the circle of the cement electric pole is AX 2 +AY 2 +BX 2 +CY 2 +D=0, and the known P 1 （X 1 ,Y 1 ）,P 2 （X 2 ,Y 2 ）,P 3 （X 3 ,Y 3 ）, is that: ; ; ; The center coordinates (X, Y) and the radius r of the cement pole are: And determining the radius r of the cement electric pole where the detection device is positioned through the known three points, and finishing the real-time detection of the radius r of the cement electric pole in the advancing process of the detection device.
  9. 9. The method for detecting the surface crack of the cement electric pole according to claim 8, wherein the step 3 is specifically: Determining that a 1# -2# -3# -4# -5# -6# mechanical arm is in a tightening state and a balance state, then controlling a steering engine corresponding to the 1# -2# -3# -4# mechanical arm by a main control module (5), transversely scanning the 1# -2# mechanical arm and the 3# -4# mechanical arm in the circumferential direction of a cement pole, transversely scanning by taking the radius of the cement pole at the position calculated in the step 2 as a movement radius during transverse scanning, shooting an image in real time by an area camera (10) during scanning, sequentially transmitting the image to a data processing and display terminal (4) through the main control module (5) and a WIFI module (2), converting the image into a binary image after the data processing and display terminal receives the crack image on the surface of the cement pole, constructing a filtering template based on the binary image characteristics, sequentially carrying out noise reduction treatment on the image through first and second noise reduction average filtering, and carrying out edge primary extraction on the filtered image by adopting a self-edge detection algorithm in combination with a non-maximum suppression principle of Canny edge detection, so as to obtain an edge primary image; then, self-adaptive threshold selection is carried out on the crack edge image to obtain a low threshold And a high threshold Then the low threshold value is set And a high threshold Performing pixel equivalent conversion and edge point distance calculation on the secondary extracted crack edge image, finally completing quantitative analysis of the crack width of the surface of the cement electric pole, and outputting and displaying specific data of the crack width at a data processing and displaying terminal (4); The step 4 is specifically as follows: After one position is detected, the main control module (5) controls the active travelling stepping motor module (14-1) to enable the cement pole surface crack detection device to longitudinally travel on the cement pole, the advancing distance is determined according to the width of the visual shooting window (9), the advancing distance is smaller than the width of the visual shooting window (9) each time, after a certain distance is advanced, the advancing is stopped, then after the 1-6# mechanical arm is confirmed to be in a tightening state and the cement pole surface crack detection device is confirmed to be in a balance state, the operation is repeatedly performed according to the steps 2-4 until the detection is completed.
  10. 10. The method for detecting the surface cracks of the cement electric pole according to claim 9, wherein in the step 3, the self-adaptive threshold selection is performed on the crack edge image to obtain a low threshold And a high threshold The method comprises the following steps: step 3.1, calculating the gradient amplitude of each pixel point in the crack edge image by adopting Sobel operator The method specifically comprises the following steps: Wherein, the And The gradients of the pixel points in the horizontal direction and the vertical direction are calculated by convolution kernels; Step 3.2, define a Statistics of probability of occurrence of gray levels of crack edge images within the window And calculating local information entropy according to the shannon entropy formula : Where L is the total number of gray levels, , For the number of pixels of gray level i within the window, The total pixel number of the window; step 3.3, constructing the joint distribution of gradient amplitude and local information entropy, and dividing the crack edge image into three sets, wherein the steps are as follows: the gradient amplitude G and the local information entropy E of all pixels in the edge image respectively form two one-dimensional distributions, namely gradient distribution And entropy distribution For gradient distribution And entropy distribution The Otsu segmentation algorithm is respectively applied to solve the optimal double threshold, and the method specifically comprises the following steps: For gradient distribution Obtaining two optimal threshold values And , The gradient amplitude is divided into three intervals: Low gradient : ; Medium gradient : ; High gradient : ; Entropy distribution The same procedure is followed to obtain And , The local information entropy is divided into: the slit edge image pixels are then divided into three sets according to the following conditions: The first set L, i.e. the smooth region, satisfies And is also provided with ; The second set M, i.e. the transition zone, satisfies Or (b) ; The third set H, i.e. the strong edge region, satisfies And is also provided with ; Step 3.4, respectively placing gradient amplitude values meeting L, M, H set conditions into corresponding sets, and assuming that the number of elements in the L, M, H sets is respectively 、 、 Calculate the mean value of each set Sum of variances Then take the mean value of the first set L Or (b) As a low threshold Taking the mean value of the third set H Or (b) As a high threshold 。

Description

Cement electric pole surface crack detection device and detection method Technical Field The invention belongs to the technical field of nondestructive testing devices, relates to a device for detecting surface cracks of a cement electric pole, and further relates to a method for detecting the surface cracks of the cement electric pole. Background The cement electric pole is a core supporting facility of the power transmission and distribution network, and the surface cracks of the cement electric pole are used as core indexes for determining the bearing capacity and service life of the cement electric pole. Before leaving the factory to put into use, mechanical properties (loading load stretch bending) are required to be carried out on the cement electric pole, and crack detection on the outer side of the stretch bending is required after the stretch bending, so that the crack detection on the surface of the cement electric pole is a key defense line for avoiding 'congenital defects', preventing major accidents such as pole turning/wire breaking in the service period and the like, and a safety bottom line after the electric pole is put into use is directly determined. The existing cement pole surface crack detection method is mainly divided into a direct detection method and a nondestructive detection method. The direct detection method takes manual visual inspection and simple tool measurement as the core, has the advantages of simple operation and low cost, but has insufficient detection precision, can only identify obvious cracks, is difficult to capture micro cracks, is highly dependent on experience of detection personnel, has low overall efficiency, and can realize comprehensive detection of multiple parameters such as crack positions, sizes, depths and the like by using a penetration method, a magnetic powder method, an ultrasonic detection method, a binocular vision detection method and the like, wherein the application range and the limitation of various methods exist. The magnetic powder method is only suitable for ferromagnetic materials, and only can detect surface and near-surface defects, and demagnetizes samples after detection, the ultrasonic detection method is more suitable for internal defect detection, the sensitivity of surface cracks is insufficient, and the binocular vision detection method mainly has the problem that an image recognition algorithm is influenced by illuminance to cause larger system detection error. Disclosure of Invention The invention aims to provide the device for detecting the surface cracks of the cement electric pole, which can effectively monitor the surface cracks of the cement electric pole, saves labor cost and improves detection efficiency. The invention further aims to provide a cement pole surface crack detection method. According to the technical scheme, the cement pole surface crack detection device comprises a frame, visual scanning devices are arranged on the left side and the right side of one end of the frame at the front side in the running direction according to the running direction during detection, a movement radius real-time detection device is arranged on the left side and the right side of one end of the frame at the rear side in the running direction, a running device is fixedly arranged on the lower surface of the frame, a main control module is fixedly arranged on the upper surface of the frame, and the visual scanning devices, the movement radius real-time detection device and the running device are connected with the main control module through wires. Further, the visual scanning device comprises a 1# mechanical arm and a 3# mechanical arm which are symmetrically connected with each other through a 3# steering engine and a 6# steering engine respectively at the left side and the right side of the frame, the other ends of the 1# mechanical arm and the 3# mechanical arm are connected with a 2# mechanical arm and a 4# mechanical arm through a 2# steering engine and a 5# steering engine respectively, the other ends of the 2# mechanical arm and the 4# mechanical arm are connected with a camera cabin body and a counterweight cabin body through the 1# steering engine and the 4# steering engine respectively, four camera cabin body driven wheels and counterweight cabin body driven wheels are uniformly fixed on one surfaces of the camera cabin body and the counterweight cabin body, a visual shooting window is further formed in the surface of the camera cabin body, an area array camera is fixed in the camera cabin body, a right angle reflecting prism is arranged between the area array camera lens and the visual shooting window, images facing the visual shooting window are totally reflected to the lens of the area array camera through the right angle reflecting prism, a plurality of light sources are uniformly arranged around the visual shooting window outside the camera cabin body, the area array camera, the 3# steering engine, the 6# steering en