A native soil turning detection robot for power grid engineering

Abstract

The application provides a native soil turning detection robot for power grid engineering and belongs to the technical field of power grid engineering. The native soil turning detection robot for power grid engineering has a controlled automatic driving vehicle body. The vehicle body has wheels and a single-chip microcomputer. A tunneling device is arranged on the front part of the vehicle head of the vehicle body. The bottom wall of the vehicle body is provided with an electric conductivity detection device and a ground penetrating radar. The vehicle body has an automatic driving chip, a camera, a ranging radar and a Beidou positioning system. The automatic driving chip has the tunneling device including multiple tunneling wheels that can independently adjust the height. The electric conductivity detection device is used for detecting the electric conductivity of the soil. The vehicle body has a processor that stores program instructions. When the program instructions are running, the following steps are implemented: generating underground three-dimensional structure data according to the ground penetrating radar to generate an underground obstacle model; calculating the soil turning amount in the soil turning process and calculating the heavy metal ion content of the soil according to the electric conductivity of the soil detected by the electric conductivity detection device.

Description

Technical Field

[0001] This invention belongs to the field of power grid engineering technology, and more specifically, relates to a robot for inspecting and turning over native soil in power grid engineering. Background Technology

[0002] With the rapid development of power grid construction, the grounding resistance of substations, transmission line tower foundations, and other land occupied by the power grid plays a crucial role in the safe and stable operation of the grid. Furthermore, during power grid construction, it is necessary to differentiate soil metal content for better topsoil protection; therefore, soil inspection is required before excavation for transmission and transformation projects. Many domestic and international scholars have focused on the research of safe and reliable grounding systems and soil impedance characteristics. Studies have shown that the impedance characteristics of porous media such as soil are the result of multiple factors, including parameters of the soil's internal structure, as well as factors affecting ion migration such as water content, ion concentration, and ion type.

[0003] Due to differences in soil structure and properties, different types of soil exhibit varying electrical conductivity. Therefore, conducting a comprehensive survey of soil resistivity distribution within a region, and analyzing the influencing factors based on the survey findings, is crucial for systematically and comprehensively understanding the soil resistivity distribution in each area within a specified scope. This work plays a decisive role in effectively improving soil resistivity, ensuring accurate measurement of soil resistivity, correctly designing grounding projects, improving the quality of lightning protection facility grounding resistance testing, and correcting grounding resistance values. It is of great significance.

[0004] With the development of intelligent equipment, existing intelligent soil-tilling robots can only perform soil-tilling operations through remote control for soil testing. While using robots to dig the ground can improve work efficiency, existing agricultural robots do not have soil sampling capabilities when tilling the land and generally cannot automatically collect samples, which requires manual sampling by staff before the robot can conduct soil testing. At the same time, conventional chemical testing methods are complex and time-consuming, which increases the workload of staff and reduces work efficiency. Summary of the Invention

[0005] In view of this, the present invention provides a soil turning and inspection robot for power grid engineering that can achieve autonomous driving and inspection functions in addition to conventional soil turning operations, thereby improving the timely detection of the metal ion status of the soil during the soil turning process.

[0006] This invention is implemented as follows:

[0007] This invention provides a native soil turning and inspection robot for power grid engineering, which has a controlled, autonomous driving vehicle body; characterized in that the vehicle body has wheels and a microcontroller, and a tunneling device is provided on the front of the vehicle body; a conductivity detection device and a ground penetrating radar are provided on the bottom of the vehicle body, and the ground penetrating radar obtains the location information of underground obstacles by reflecting waves.

[0008] The vehicle body is equipped with an autonomous driving chip, a camera, a ranging radar, and a Beidou positioning system. The autonomous driving chip is used to travel along a predetermined trajectory according to the Beidou positioning system, receive signals from the camera and the detection radar, identify obstacles ahead, and adjust the travel trajectory.

[0009] The tunneling device includes multiple tunneling heads that can be independently extended and retracted to adjust their height, used to turn over the original soil surface to be constructed.

[0010] The conductivity detection device with lifting function is used to detect the conductivity of soil;

[0011] The vehicle body has a processor that stores program instructions. When the program instructions are executed, they are used to perform the following steps:

[0012] The underground obstacle model and its position on the predetermined trajectory are generated based on the underground three-dimensional structure data generated by ground penetrating radar.

[0013] Based on the underground obstacle model, the height of each tunneling head of the tunneling device is adjusted when passing through the underground obstacle, and the amount of soil turned over during the soil turning process is calculated;

[0014] The conductivity of the soil is detected by the conductivity detection device, the metal ion content in the soil is calculated, and based on the metal ion content and soil conductivity, the soil metal ion concentration value for each grid distribution is generated according to the grid distribution of the detected soil. The metal ion content is then used to generate the grid distribution map according to the content range, and the amount of soil turned over in each grid area within the distribution map is displayed and sent to the power grid construction personnel.

[0015] Compared with existing technologies, the beneficial effects of the native soil turning and inspection robot for power grid engineering provided by this invention are as follows: It features a controlled, autonomous driving vehicle body. The vehicle body includes wheels and a microcontroller. A tunneling device is installed at the front of the vehicle body, and a ground-penetrating radar and a conductivity detection device are sequentially arranged on the bottom wall of the vehicle body to detect obstacles. The vehicle body is equipped with an autonomous driving chip, a camera, a ranging radar, and a BeiDou positioning system, enabling automatic obstacle avoidance and autonomous driving functions, thus improving work efficiency. The tunneling device includes multiple independently adjustable tunneling wheels. The conductivity detection device is used to detect the conductivity of the soil. The vehicle body has a processor storing program instructions. When the program instructions are executed, they perform the following steps: generating underground three-dimensional structural data based on the ground-penetrating radar to generate an underground obstacle model; controlling the height adjustment of each tunneling device as it passes underground obstacles; calculating the amount of soil turned during the turning process; and calculating the soil heavy metal ion content based on the conductivity detection device. Through these steps, work efficiency and soil detection speed can be improved during the turning process. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 A schematic diagram of a robot for inspecting and turning over native soil in a power grid project;

[0018] Figure 2 This is a schematic diagram of a conductivity detection device for a robot used in power grid engineering to inspect the original soil during soil turning and testing.

[0019] Figure 3 for Figure 2 Enlarged schematic diagram of part A;

[0020] Figure 4 This is a schematic diagram of the detection circuit connection for a native soil turning and detection robot in a power grid engineering project.

[0021] Figure 5 A schematic diagram of a tunneling robot for inspecting and turning over native soil in a power grid project.

[0022] Figure 6 A schematic diagram showing the rotation of the motor spindle, chain drive, and lifting height of the electric actuator.

[0023] Figure 7 This is a distribution map of underground obstacles detected by ground-penetrating radar within the grid in the embodiment;

[0024] Figure 8 This is a schematic diagram illustrating the calculation of soil turning volume in the example;

[0025] Figure 9 This is a schematic diagram illustrating the use of a ring guide rail to adjust the position of the detection point in the embodiment.

[0026] Figure 10 This is a schematic diagram of the mounting bracket for connecting the slider in the embodiment.

[0027] The attached diagram lists the components represented by each number as follows:

[0028] 10. Vehicle body; 11. Wheel; 20. Tunneling device; 21. First lifting rod; 22. Tunneling wheel; 23. Connecting shaft; 30. Conductivity detection device; 31. Insulating tube; 311. Spike; 32. Water tank; 33. Water guide pipe; 34. Water nozzle; 35. First electrode; 36. Second electrode; 37. Ammeter; 38. DC power supply; 39. Second lifting rod; 40. Ground penetrating radar; 50. Microcontroller. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0030] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0031] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0032] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0033] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0034] like Figure 1 The image shows an embodiment of a soil turning and detection robot for power grid engineering provided by the present invention. In this embodiment, it includes: a vehicle body 10 with controlled autonomous driving; wherein, the vehicle body 10 has wheels 11 and a microcontroller 50, a tunneling device 20 is provided on the front of the vehicle body 10, and a ground penetrating radar 40 and a conductivity detection device 30 are provided on the bottom of the vehicle body 10. The ground penetrating radar 40 obtains the location information of underground obstacles by reflecting waves to avoid obstructing the operation due to excessive distance.

[0035] The vehicle body 10 is equipped with an autonomous driving chip, camera, ranging radar and Beidou positioning system. The autonomous driving chip is used to travel according to a predetermined trajectory based on the Beidou positioning system, receive signals from the camera and detection radar, identify obstacles in front, and adjust the travel trajectory.

[0036] The tunneling device 20 includes multiple independently extendable and height-adjustable tunneling heads for turning over the original soil surface to be constructed; the extension and retraction can be achieved by electric telescopic rods, such as screw extension or hydraulic extension.

[0037] A conductivity detection device 30 with lifting function is used to detect the conductivity of soil;

[0038] The microcontroller 50 stores program instructions, which, when executed, are used to perform the following steps:

[0039] The underground obstacle model is generated based on the underground three-dimensional structure data generated by the three-dimensional ground penetrating radar 40, and its position on the predetermined trajectory is also generated. The distribution of the coordinates of the obstacles at the detected underground depth is generated by the three-dimensional ground penetrating radar 40, and the coordinates of each obstacle are matched to see if they are on the path of a certain tunneling wheel. If so, the tunneling wheel is raised to avoid damage to the soil turning equipment.

[0040] The underground obstacle model is generated based on the underground three-dimensional structure data generated by the ground penetrating radar (40), and its position on the predetermined trajectory is determined; the height adjustment of each tunneling machine is controlled based on the underground obstacle model.

[0041] Based on the model of the underground obstacle, control whether each excavator of the tunneling device (20) is raised or lowered, and the height of the raising or lowering, adjust the height when passing through the underground obstacle, and calculate the amount of soil turned over during the soil turning process; the height of the raising or lowering can be determined by... Figure 6 The structure utilizes one or more power outputs, such as an electric motor or a fuel engine, to drive the rotation of a rotating shaft. A belt or chain drives each tunneling wheel to rotate. Above the tunneling wheels, a telescopic rod with independent motor or hydraulic control (screw or hydraulic lifting) is used. The control components of each telescopic rod are mounted on the frame. The height of each tunneling wheel is adjusted along a predetermined travel trajectory containing obstacles. The trajectory can be set at the center of a group of tunneling wheels, or the area to be turned can be divided into multiple grids, each grid's width equal to the overall width of the tunneling robot. Based on the spacing of each tunneling wheel, the relative trajectory of each wheel is calculated. Using signals detected by ground-penetrating radar, the positions of obstacles in the presented model are determined. After coordinate system transformation, the relative position of each underground obstacle from the travel trajectory can be determined, thus determining whether the depth of each tunneling wheel needs adjustment. The ground-penetrating radar 40 can be placed directly in front of the vehicle, near the excavator, or it can be mounted on another controlled vehicle, such as an AGV, and dragged along the track to send the generated 3D map of underground obstacles to the soil-turning and detection robot.

[0042] The conductivity of the soil is detected by the conductivity detection device 30, and the content of metal ions in the soil is calculated. Based on the content of metal ions in the soil and the soil conductivity, according to the grid distribution of the detected soil, the width of the grid can be selected from the overall width of the tunneling wheel, and the grid can be rectangular, the soil metal ion concentration value of each grid distribution is generated; and the metal ion content is generated according to the content range to generate the grid distribution map, representing the metal ion concentration in the grid, and displaying the amount of soil turned over in each grid area in the distribution map, and sent to the power grid construction personnel.

[0043] Through the above steps, the amount of soil to be turned over can be obtained based on the distribution map, facilitating subsequent classification of the turned-over soil according to different metal ion concentrations and screening out the amount of soil that meets the environmental protection requirements for different ion concentration ranges. During recycling, the turned-over soil can be recycled according to the trajectory, thereby achieving the recycling of turned-over soil within a certain range of the same metal ion concentration according to grid positions.

[0044] In the above technical solution, the height-adjustable tunneling device includes a first lifting rod 21 and tunneling wheels 22. The first lifting rod 21 is fixedly connected to the forward-moving side wall of the vehicle body 10 via a metal bracket, and the tunneling wheels 22 are fixedly connected to the first lifting rod 21 via a connecting shaft 23. Multiple independently adjustable tunneling wheels are arranged horizontally and evenly, with the number of height-adjustable tunneling wheels ranging from 4 to 8. In an embodiment, the first lifting rod 21 can also be designed at the position of the connecting shaft 23, such as... Figure 5 The telescopic rod shown can be extended or retracted to move the entire assembly along the connecting shaft 23, thus enabling it to rise or fall when encountering obstacles.

[0045] Furthermore, in the above technical solution, see... Figures 2-4 The conductivity detection device 30 includes an insulating tube 31, a second lifting rod 39, a water spraying device, and a detection circuit. The water spraying device includes a water tank 32, a water guide pipe 33, and a water nozzle 34. The lower part of the water tank 32 is connected to the water nozzle 34 through the water guide pipe 33, and the upper part of the water tank 32 is connected to the second lifting rod 39. The second lifting rod 39 can be implemented by using a screw screw to achieve the lifting function, or by using a telescopic rod.

[0046] The water tank 32 is used to hold distilled water, and the spray nozzle 34 is located at one end of the water guide pipe 33 to spray water out from the water guide pipe 33. The detection circuit includes a first electrode 35, a second electrode 36, an ammeter 37, and a DC power supply 38. One end of the ammeter 37 is connected in series with one pole of the DC power supply 38, the first electrode 35 is electrically connected to the other end of the ammeter 37, and the second electrode 36 is electrically connected to the other pole of the DC power supply 38. In the circuit formed above, the electrodes and the spikes 311 are insulated from each other, such as by means of insulating gaskets. Alternatively, the spikes 311 of the insulating tube 31 may be made of insulating materials, such as engineering plastics.

[0047] The second lifting rod 39 has one end fixed to the bottom wall of the vehicle body 10, and the other end is connected to an insulating tube 31. The insulating tube 31 is a hollow tube with a conical spike 311 at its bottom end. A water nozzle 34 is located inside the insulating tube 31 and is positioned near the spike 311. The first electrode 35 and the second electrode 36 both have sharp points, which are symmetrically arranged radially on the inner wall of the spike 311. The distance between the tips of the two electrodes is 0.5 to 1 cm. The voltage of the DC power supply 38 is 12V to 36V.

[0048] Furthermore, in the above technical solution, a model of underground obstacles is generated based on the underground three-dimensional structural data generated by ground-penetrating radar, specifically including:

[0049] The system acquires three-dimensional underground structural data generated by ground-penetrating radar 40. Through radar wave scanning, it generates relevant underground reflected wave signals, thereby determining the distribution of underground obstacles, such as the presence of rocks and the distance h between these rocks or stones and the surface.

[0050] Based on the maximum depth of the tunneling device 20, data exceeding the maximum depth of the tunneling device 20 in the three-dimensional structural data are deleted to form a model of the underground obstacle.

[0051] Furthermore, in the above technical solution, the steps for adjusting the height of each tunneling unit 20 when passing through underground obstacles specifically include:

[0052] Based on the underground obstacle model, the height of the underground obstacle in the forward direction of each tunneling wheel 22 is calculated; for example, the lifting height of the corresponding tunneling wheel 22 is calculated based on the distance h and the working depth of the tunneling machine.

[0053] Based on the height of the underground obstacle, the length of the first lifting rod 21 is adjusted. The rotation of the output shaft of the motor or engine drives the chain drive, and the electric push rod controls the lifting height, ensuring that the bottom of the tunneling wheel (22) is higher than the underground obstacle. The tunneling wheel is raised or lowered as the detection device moves at a constant speed.

[0054] Furthermore, in the above technical solution, the step of calculating the soil heavy metal ion content based on the conductivity detection device includes:

[0055] The surface is gridded, with each designated point within each grid. The designated point can preferably be the center location or a randomly selected location.

[0056] According to the preset coordinate position of the designated point, the insulating tube 31 is controlled to be inserted into the soil at the designated point. If there is an obstacle below the designated point, the insertion depth of the insulating tube 31 is less than the distance between the height of the obstacle and the ground surface at the corresponding position in the underground obstacle model.

[0057] The first current obtained by ammeter 37 is the maximum current detected within 3 seconds of the insulating tube 31 being inserted into the soil.

[0058] The spray nozzle 34 is controlled to spray distilled water. Preferably, the spray nozzle 34 can also be designed with a variable diameter structure to achieve a pressurization effect. There is a control switch in the water tank to control the water flow in the water pipe 33 by opening and closing.

[0059] After spraying water, the second current obtained by ammeter 37 is obtained. The second current is the maximum current detected by insulating tube 31 in soil soaked with distilled water for 3 consecutive seconds.

[0060] Establish a conductivity vector X = [X1, X2] at a specified point, where X1 represents the first current measured between the two electrodes and X2 represents the second current measured after water spraying.

[0061] Furthermore, in the above technical solution, the step of calculating X using a soil metal ion concentration model to obtain the soil metal ion content specifically includes pre-establishing a concentration model:

[0062] Obtaining the actual detection dataset: Multiple sets of historical detection data were obtained. The historical data were obtained by using a conductivity detection device 30 to detect the conductivity of the soil at selected detection points. The heavy metal ion content in the soil was calculated using chemical analysis methods to obtain the conductivity vector of the selected detection points, denoted as Y. At the same time, the actual metal ion content of the soil at the selected detection points was obtained by chemical detection. The conductivity vector Y was also obtained by collecting data before and after water spraying, Y = [Y1, Y2], and establishing the relationship between Y and the relevant soil heavy metal ion content.

[0063] Calculate the similarity between the current of X and the current of Y for each item in the actual detection dataset;

[0064] Select the 10 historical metal ion concentration data corresponding to the 10 data Y with the highest similarity as the dataset to be clustered;

[0065] Cluster the measured metal ion content data in 10 datasets to be clustered, and use the resulting cluster centers as the metal ion content data in the soil. Use this data as the metal ion concentration data for a specified point in the current grid.

[0066] Furthermore, in the above technical solution, the preferred method for calculating the similarity between X and Y of each item in the actual historical detection dataset is cosine similarity.

[0067] Furthermore, in the above technical solution, the clustering method is the neighbor clustering method.

[0068] Furthermore, in the above technical solution, the formula for calculating the first amount of soil to be turned over during the soil turning process is as follows:

[0069]

[0070] Wherein, the F T The first tillage volume is given by v, the speed at time t is given by n, the number of wheels is given by W, the width between wheels is given by T, the time is given by i, and the wheel number is given by h. i Let be the depth of the i-th wheel at time t, where t∈[0,T].

[0071] Furthermore, in calculating the amount of soil to be turned over, it is also necessary to consider the situation where obstacles are encountered and the soil is lifted. The following pseudocode can be used to calculate the amount of soil to be turned over:

[0072]

[0073]

[0074]

[0075] The above code process includes:

[0076] Initialize a variable representing the amount of soil turned (0), denoted as the amount of soil turned. Establish a loop whose iteration count is the total time of the soil turning process divided by the step time; the default value is 1 second.

[0077] The current first soil turning amount is set to the travel speed * the volume of a single wheel * the number of wheels that are not raised. After the above cycle, the output of the cycle is the first soil turning amount, which is the soil turning amount obtained by formula (1). The volume of a single wheel represents the wheel-shaped volume formed by a single tunneling wheel during rotation.

[0078] Since the first tillage volume includes the volume of undisturbed soil in the area containing obstacles, the actual total tillage volume includes: the difference between the first tillage volume and the second tillage volume. The volume of the second tillage volume is calculated as: number of raised wheels * number of times raised * travel speed * volume of a single wheel, multiplied by half. A schematic diagram of the specific volume calculation is shown below. Figure 8 As shown. During the entire tilling time, the first tilling volume F... T It includes twice the amount of soil turned over. After removing the volume occupied by obstacles that is the same as the amount of soil turned over, the remaining difference is the total amount of soil turned over.

[0079] The second amount of soil to be turned over is: F2=m*u*v*C / 2;

[0080] Where m is the number of wheels in the raised state; u is the number of times the wheels are raised; v is the travel speed; and C is the volume of a single wheel.

[0081] Through the above process, by arranging the excavating wheel, ground-penetrating radar, and conductivity detection device in the forward and backward positions of the detection device, the volume of soil turned over at different metal contents in each grid can be output. This allows users to obtain the total soil volume for different metal content ranges in a timely manner. The above method, implemented using a mathematical model, has the advantages of fast testing speed and short processing time, consuming very few resources compared to complex neural network models. It has no load impact on the system. Users can monitor the soil volume of different metal ion concentration ranges in real time, providing highly efficient data support for subsequent soil utilization decisions.

[0082] like Figure 2 The diagram shown is a schematic representation of an embodiment of a soil turning and inspection robot for power grid engineering provided by the present invention. In the above technical solution, the conductivity detection device 30 includes an insulating tube 31, a second lifting rod 39, a water spraying device, and a detection circuit. The water spraying device includes a water tank, a water guide pipe 33, and a water nozzle 34. The water tank 32 is connected to the water nozzle 34 through the water guide pipe 33. The water tank 32 is connected to the second lifting rod 39 and is used to hold distilled water. The water nozzle 34 is located at the end of the water guide pipe 33 and is used to spray water from the water guide pipe 33. Preferably, the water nozzle 34 at the end is designed with a variable diameter shape to achieve a pressurization effect. One end of the second lifting rod 39 is fixedly installed on the bottom wall of the vehicle body 10, and the other end of the second lifting rod 39 is connected to the water tank 32. The bottom of the water tank 32 is connected to the insulating tube 31 and the water guide pipe 33.

[0083] In this embodiment, based on the three-dimensional image of the ground-penetrating radar, it is determined in advance whether there is an underground obstacle at the detection location of the designated point, without soil tilling. If so, and the shape of the underground obstacle is determined to be strip-shaped, and the current position of the insulating tube 31 is at the detection location B of the designated point, not at the farthest point A from the underground obstacle, then the slider on the annular guide rail is controlled to drive the conductivity detection device 30, which is fixedly connected to the slider, to slide along the annular guide rail. The slider can be connected to a fixed part at the end of the second lifting rod 39. Figure 10 The mounting bracket shown is connected and moved to the farthest point A; on the circular guide rail, the conductivity detection device 30 is rotated, so that when there is an underground obstacle at the designated point, the position of the moving water spray is adjusted to detect the metal ion concentration at the soil turning position.

[0084] If the shape of the underground obstacle displayed by the ground-penetrating radar is not strip-shaped, the current position of the detection vehicle on the grid is adjusted by a predetermined step gain, and it moves forward, or the movement is stopped in advance by a corresponding step gain to avoid the underground obstacle. Then, the current position of the insulating tube 31 at the designated detection position B is re-evaluated to see if it is at the farthest point A from the underground obstacle. If not, the slider on the circular guide rail is controlled to move the conductivity detection device 30, which is fixedly connected to the slider, along the circular guide rail to the farthest point A. The above operation is repeated until the designated detection position is reached, avoiding the underground obstacle while ensuring the correlation between the detected metal ion concentration and the grid area within the grid distribution area.

[0085] By combining the aforementioned step gain and circular guide rail, it is possible to avoid underground obstacles and detect the concentration of metal ions in the soil during the detection process, preventing the detection vehicle from being too far from the designated detection point due to adjustments in the step size alone. The above control process can be implemented using the microcontroller described in the embodiment or a separate industrial control chip.

[0086] like Figure 3 The diagram shows a schematic of a soil turning and inspection robot for power grid engineering provided by the present invention. In the above technical solution, the bottom end of the insulating tube 31 has a conical spike 311; the water nozzle 34 is disposed inside the insulating tube 31 and is located near the spike 311; the first electrode 35 and the second electrode 36 both have sharp points, and the two sharp points are symmetrically disposed radially on the inner wall of the spike 311, with a distance of 0.5 to 1 cm between the two sharp points.

[0087] like Figure 4 The diagram shown is a schematic of a native soil turning and detection robot for power grid engineering provided by the present invention. In the above technical solution, the detection circuit includes a first electrode 35, a second electrode 36, an ammeter 37, and a DC power supply 38. One end of the ammeter 37 is connected in series with one pole of the DC power supply 38, the first electrode 35 is electrically connected to the other end of the ammeter 37, and the second electrode 36 is electrically connected to the other pole of the DC power supply 38. The voltage of the DC power supply 38 is 12V to 36V.

[0088] like Figure 5The diagram shows a schematic of a soil turning and inspection robot for power grid engineering provided by this invention. In this technical solution, an adjustable-height tunneling device 20 has a tunneling wheel 22 fixedly connected to a mounting frame via a connecting shaft 23. An electrically operated telescopic rod extends and retracts in a controlled manner to achieve overall height adjustment. Besides the electrically operated telescopic rod, a chain mechanism can also be used to raise and lower the tunneling wheel 22. Multiple independently adjustable-height tunneling devices are arranged horizontally and evenly, with 4 to 8 devices in total. The overall height can be raised or lowered through the extension and retraction of the first lifting rod 21 and the hinge of the frame, resulting in lower cost. The disadvantage is a reduction in soil turning volume when encountering obstacles. In addition to using a vertically arranged electrically operated telescopic rod, an inclined telescopic design can also be used to achieve the purpose of this invention.

[0089] Furthermore, in the above technical solution, the shape of the tunneling wheel is a disc or fan-shaped blade with a certain width;

[0090] Furthermore, for the disc type, the edge circumferential array of the tunneling wheel has multiple arc-shaped recesses to facilitate soil removal during the tunneling process.

[0091] like Figure 6 The diagram shown is a schematic of an independently controlled tunneling wheel of a soil turning and detection robot for power grid engineering provided by the present invention. In the above technical solution, the extension length of the first lifting rod 21 is adjusted so that the bottom of the tunneling wheel 22 is higher than the underground obstacle. The output shaft of the motor or engine rotates to drive the chain transmission. The electric push rod, as the first lifting rod 21, receives a signal and controls the lifting height so that the bottom of the tunneling wheel 22 is higher than the underground obstacle.

[0092] Specifically, the principle of the present invention is as follows: the controlled autonomous vehicle 10 travels along a predetermined trajectory according to the autonomous driving chip, receives signals from the camera and the detection radar, and after reaching the designated point according to the travel trajectory, it controls the first lifting rod 21 and the tunneling wheel 22 to turn the soil through the tunneling device 20. During the travel, the ground-penetrating detection radar is used to control the height adjustment of the tunneling device based on the underground obstacle model generated by the underground three-dimensional structure data generated by the ground-penetrating radar 40.

[0093] After reaching the grid at the designated point, the conductivity detection device 30 controls the insulating tube 31 to be inserted into the soil at the designated point, obtains the first current obtained by the ammeter 37, controls the water nozzle 34 to spray distilled water, and obtains the second current obtained by the ammeter 37.

[0094] The conductivity detection device 30 detects the conductivity of the soil, calculates the metal ion content in the soil, and obtains the soil metal ion concentration value based on the metal ion content and soil conductivity. It then generates a distribution map of the metal ion content according to its range and sends it to the power grid construction personnel. The construction personnel can obtain the amount of soil to be turned over in real time within each metal concentration range, thereby making corresponding decisions and adjustments.

[0095] In the above embodiments, the detection robot can appear in the form of a vehicle. Since it is equipped with autonomous driving and the ability to automatically detect metal ions in the soil, it can also be called a detection robot.

[0096] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A robot for detecting and tilling soil in power grid engineering, comprising a controlled, autonomous driving vehicle body (10); characterized in that, The vehicle body (10) has wheels (11) and a microcontroller (50). A tunneling device (20) is installed on the front of the vehicle body (10). A conductivity detection device (30) and a ground-penetrating radar (40) are installed at the bottom of the vehicle body (10). The ground-penetrating radar (40) obtains the location information of underground obstacles by reflecting waves. The vehicle body (10) has an autonomous driving chip, a camera, a ranging radar and a Beidou positioning system. The autonomous driving chip is used to travel according to a predetermined trajectory based on the Beidou positioning system, receive signals from the camera and the detection radar, identify obstacles in front, and adjust the travel trajectory. The tunneling device (20) includes multiple tunneling heads that can be independently extended and retracted to adjust their height, used to turn over the original soil surface to be constructed; The conductivity detection device (30) with lifting function is used to detect the conductivity of soil; The vehicle body (10) has a processor that stores program instructions, which, when executed, perform the following steps: The underground obstacle model is generated based on the underground three-dimensional structure data generated by the ground penetrating radar (40), and its position on the predetermined trajectory is also generated. According to the underground obstacle model, control the height adjustment of each tunneling head of the tunneling device (20) when passing through the underground obstacle, and calculate the amount of soil turned over during the soil turning process; The conductivity of the soil is detected by the conductivity detection device (30), the content of metal ions in the soil is calculated, and the concentration value of soil metal ions for each grid distribution is generated according to the content of metal ions in the soil and the conductivity of the soil, based on the grid distribution of the detected soil. The metal ion content is then used to generate a grid distribution map according to the content range, and the amount of soil to be turned over in each grid area within the distribution map that does not contain the underground obstacle is displayed. This data is then sent to the power grid construction personnel.

2. The robot for native soil detection and soil turning in power grid engineering according to claim 1, characterized in that, The height-adjustable tunneling device includes a first lifting rod (21) and a tunneling wheel (22). The first lifting rod (21) is fixedly connected to the forward side wall of the vehicle body (10) by a metal bracket, and the tunneling wheel (22) is fixedly connected to the first lifting rod (21) by a connecting shaft (23). The plurality of tunneling devices that can be individually adjusted in height are arranged horizontally and evenly, and the number of height-adjustable tunneling devices is 4 to 8.

3. The native soil detection and soil turning robot for power grid engineering according to claim 2, characterized in that, The conductivity detection device (30) includes an insulating tube (31), a second lifting rod (39), a water spraying device, and a detection circuit. The water spraying device includes a water tank (32), a water guide pipe (33), and a water nozzle (34). The water tank (32) is connected to the water nozzle (34) through the water guide pipe (33). The second lifting rod (39) is connected above the water tank (32). The water tank (32) is used to hold distilled water. The water nozzle (34) is located at the bottom of the water guide pipe (33) and is used to spray water from the water guide pipe (33). The detection circuit includes a first electrode (35), a second electrode (36), an ammeter (37), and a DC power supply (38) forming a circuit. One end of the ammeter (37) is connected in series with the DC power supply (38). The first electrode (35) is connected in series with the second electrode (36) forming a circuit. The other end of Table (37) is electrically connected, and the second electrode (36) is electrically connected to the other end of the DC power supply (38); wherein, one end of the second lifting rod (39) is fixedly installed on the bottom wall of the vehicle body (10), and the other end of the second lifting rod (39) is connected to an insulating tube (31), the insulating tube (31) is a hollow tube, and the bottom end of the insulating tube (31) has a conical spike (311); the water nozzle (34) is installed inside the insulating tube (31), and the water nozzle (34) is installed near the spike (311); the first electrode (35) and the second electrode (36) both have a tip, and the two tips are symmetrically arranged radially on the inner wall of the spike (311), with a distance of 0.5~1cm between the two tips; the voltage of the DC power supply (38) is 12V~36V.

4. A robot for detecting and turning over soil in power grid engineering according to any one of claims 1-3, characterized in that, The process of generating a model of underground obstacles based on the underground three-dimensional structure data generated by ground-penetrating radar (40) specifically includes: Acquire the underground three-dimensional structure data generated by the ground penetrating radar (40); Based on the maximum depth of the tunneling device (20), data exceeding the maximum depth of the tunneling device (20) in the three-dimensional structural data are deleted to form a model of the underground obstacle.

5. A robot for detecting and turning over soil in power grid engineering according to any one of claims 1-3, characterized in that, The steps for adjusting the height of each tunneling wheel of the tunneling device (20) when passing underground obstacles specifically include: Based on the underground obstacle model, the height of the underground obstacle on the forward trajectory of each tunneling wheel (22) is calculated; According to the height of the underground obstacle, adjust the lifting height of the first lifting rod (21) so that the bottom of the tunneling wheel (22) is higher than the underground obstacle.

6. A robot for detecting and tilling soil in power grid engineering according to any one of claims 1-3, characterized in that, The step of calculating the metal ion content in the soil based on the conductivity of the soil detected by the conductivity detection device (30) specifically includes: The surface is gridded, with each specified point within each grid; According to the preset coordinates of the designated point, the insulating tube (31) is controlled to be inserted into the soil at the designated point; Obtain the first current obtained by the ammeter (37), the first current being the maximum current detected by the insulating tube (31) within 3 consecutive seconds of being inserted into the soil; Control the nozzle (34) to spray distilled water; Obtain the second current obtained by the ammeter (37), which is the maximum current detected by the insulating tube (31) in soil soaked with distilled water for 3 consecutive seconds; Establish the conductivity vector of the specified point , Indicates the first current. Indicates the second current; Using a pre-established model of metal ion concentration in the soil, and the aforementioned conductivity vector The content of metal ions in the soil within the current grid is calculated; and a distribution map of the metal ion content is generated according to the range of content and sent to the power grid construction personnel.

7. The native soil detection and soil turning robot for power grid engineering according to claim 6, characterized in that, The method utilizes a pre-established model of metal ion concentration in the soil and the conductivity vector. The step of calculating the metal ion content in the soil within the current grid specifically includes: The process of establishing a pre-established model of metal ion concentration in soil includes: acquiring multiple sets of historical soil detection data, using the conductivity detection device (30) to detect the conductivity of the selected soil detection points before and after water spraying, and calculating the metal ion content in the soil to obtain the conductivity vector Y of the selected soil detection points. At the same time, the soil at the selected soil detection points is chemically tested to obtain the measured metal ion content. Calculate the conduction vector The similarity between the conductive vector Y and each item in the actual detection dataset; The historical metal ion content detection data corresponding to the 10 Y values ​​with the highest similarity were selected as the dataset to be clustered. Cluster the measured metal ion content data in the dataset to be clustered, and use the data of the cluster centers as the current metal ion content data in the soil.

8. The native soil detection and soil turning robot for power grid engineering according to claim 7, characterized in that, The calculation The method for determining the similarity between Y and each item in the actual detection dataset is cosine similarity.

9. The native soil detection and soil turning robot for power grid engineering according to claim 7, characterized in that, The clustering method is the neighbor clustering method.

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