A power station grounding engineering diagnosis system based on an ultrasonic flaw detection robot

Abstract

The application provides a power station grounding engineering diagnosis system based on an ultrasonic flaw detection robot, which comprises an engineering information input module, a grounding system diagnosis module, an automatic grounding flaw detection module, a detection result output module and a flaw detection robot group, and can exchange data. The engineering information input module is used for reading and inputting engineering detail drawings, models and engineering site collected information. The grounding system diagnosis module obtains a point list and an order of the point with the maximum damage probability of the engineering grounding net through calculation and analysis. The automatic grounding flaw detection module generates an optimal inspection path of the flaw detection robot through calculation and analysis and publishes relevant commands to each robot. The detection result output module is used for outputting the grounding system flaw detection result and forming a report. The grounding system diagnosis and automatic grounding flaw detection algorithm is used for supporting the analysis and calculation of each module, finding damaged points of the engineering grounding system and generating a detection path. The flaw detection robot group executes the flaw detection command and receives and feeds back data through an industrial router.

Description

Technical Field

[0001] This invention belongs to the field of intelligent engineering flaw detection technology, specifically relating to a power station grounding engineering diagnostic system based on an ultrasonic flaw detection robot. Background Technology

[0002] Grounding engineering is a crucial part of ensuring the safety of power plant operation and maintenance, and the safety of the grounding system must be effectively guaranteed. However, as a concealed project, grounding engineering is inevitably subject to corrosion and damage as the power plant ages, making it difficult for the grounding system to achieve the designed protective effect in the event of an accident. This poses a potential safety hazard to power system operation and maintenance personnel. However, adopting solutions such as completely replacing the entire grounding grid or surface-mounted grounding grids would be extremely costly while still meeting safety requirements, and in actual projects, damage to the grounding system is likely to be concentrated at a very few specific points within the project. Summary of the Invention

[0003] To address the problems existing in the prior art, this invention provides a power station grounding engineering diagnostic system based on an ultrasonic flaw detection robot, thereby solving the problems of the prior art.

[0004] The present invention is implemented as follows: a power plant grounding engineering diagnostic system based on an ultrasonic flaw detection robot, comprising an engineering grounding system analysis and diagnostic platform and a flaw detection robot group. The engineering grounding system analysis and diagnostic platform and the flaw detection robot group transmit and exchange data through an industrial router. The engineering grounding system analysis and diagnostic platform includes an engineering information input module, a grounding system diagnostic module, an automatic grounding flaw detection module, and a test result output module. The engineering information input module includes a grounding measurement data reading submodule, an engineering detail drawing information reading submodule, an engineering model information reading submodule, and a video image information reading submodule. It is used to read various basic data of the layout structure and grounding system parameters of each area of ​​the project, and import them into subsequent modules for grounding system diagnosis and analysis and automatic grounding flaw detection. The grounding system diagnostic module includes a grounding system calculation submodule and a damage point analysis submodule, which are used to calculate and analyze the grounding of the entire station based on various data to find and sort the most likely damage points of the grounding network. The grounding system diagnostic algorithm analyzes various possible damage situations of the grounding network and, through a series of data calculations, comparisons, and simulations, adopts a hierarchical in-depth calculation method to obtain the damage probability of each point of the grounding network with less computation time cost. The automatic grounding flaw detection module includes a flaw detection path generation submodule, a flaw detection command issuing submodule, and a flaw detection result feedback submodule. It is used to automatically generate flaw detection paths based on the damage probability of each grounding grid point and issue flaw detection commands to the flaw detection robot group. Simultaneously, it receives feedback flaw detection results and performs calculations and analyses on the grounding grid and the entire station's grounding system. The automatic grounding flaw detection algorithm uses a probability summation method to arrange the distribution of the grounding grid areas to be detected and generate detection paths. After confirmation, it issues flaw detection commands to each flaw detection robot group. Based on the comparison results of the flaw detection results with the actual grounding grid electrical parameters, it adjusts and optimizes the flaw detection scheme until a matching result is generated, each damaged point is marked, and various types of flaw detection data are exported. The test result output module includes a model generation submodule, a repair scheme generation submodule, and a report generation submodule. It is used to collect and summarize various data generated during the flaw detection process and corresponding calculations, and organize them into an exportable engineering grounding system test BIM model, grounding grid repair scheme reports for each area, and engineering grounding flaw detection reports. It realizes the organization and summarization of test results and sets up various test data export interfaces for easy reference by other engineering applications. The flaw detection robot group includes power supply equipment, mobile equipment, flaw detection lifting structure, laser positioning equipment, ultrasonic flaw detection equipment, high-definition camera, and data transmission equipment. It consists of multiple flaw detection robots that can work together. It is used to receive and feed back flaw detection commands and flaw detection path coordinates issued by the engineering grounding system analysis and diagnosis platform through an industrial router, and also feed back various flaw detection data information.

[0005] Furthermore, the grounding measurement data reading submodule is used to read and input the measurement results of the resistance value parameters of the engineering grounding system at each grounding measurement point within the engineering area, and to combine the measurement data with the corresponding coordinate points of the constructed engineering three-dimensional model to provide basic calculation data support for grounding system diagnosis; The engineering detail drawing information reading submodule is used to identify drawing elements in engineering detail drawings, and supports the recognition of mainstream two-dimensional engineering drawings; it constructs a three-dimensional layout model of the building structure and grounding grid based on the drawing information, and converts it into measurable and usable data information for the engineering grounding system analysis and diagnosis platform system, providing basic calculation data support for grounding system diagnosis; The engineering model information reading submodule is used to import, identify and measure various data such as building structure, grounding system layout and material electrical parameters in the existing 3D engineering model of the project. It supports the recognition of mainstream engineering model file formats and converts them into data information that can be measured and used by the engineering grounding system analysis and diagnosis platform system, providing basic calculation data support for grounding system diagnosis. The video image information reading submodule is used to import and identify video data information acquired by the high-definition camera of the flaw detection robot and the engineering monitoring camera. By identifying the video content of the engineering site, it identifies and marks geological fissures, structural joint deformation, dampness and water accumulation, and physical damage phenomena that appear at the laying location of the grounding electrode in the project. Based on their scale, it calculates the corresponding degree of influence factors on the location of each point of the grounding grid in the corresponding area in the subsequent analysis and calculation, providing supporting data for grounding diagnosis and analysis based on the characteristics and actual conditions of the engineering site.

[0006] Furthermore, the grounding system calculation submodule analyzes and calculates the data provided by the grounding well measurement results, drawings, models, and on-site video data. It calls the grounding system diagnostic algorithm to compare the design scheme with the on-site measurement results in an electrical manner. Based on the probability of grounding fault occurrence, it sequentially simulates and calculates the theoretical value of the grounding grid measurement resistance in each engineering area when single or multiple points of the grounding grid are damaged. This is used for subsequent comparison and analysis with the actual measurement values. The damage point analysis submodule compares the theoretical and actual measured values ​​of the grounding grid in each measurement area under various damage conditions by calling the grounding system diagnostic algorithm. It integrates and calculates the differences based on the magnitude of the influencing factors, compares and analyzes the differences, and cyclically compares each result. Finally, it arranges the possible damage points of the grounding grid according to the probability of occurrence.

[0007] Furthermore, the grounding system diagnostic algorithm obtains various engineering grounding system calculation-related data through on-site collection and simulation calculations. The algorithm performs multi-level comparative calculations and analyses on all grounding network points in the region until it finds simulations where the calculated difference in grounding electrical parameters is lower than the required value. Based on the magnitude of the difference, each simulation is ranked. The damage probability of each grounding network point is weighted and adjusted according to the ranking results to obtain the damage probability value for each grounding network point. The calculation formula for the damage probability of each grounding network point is as follows:

[0008] In the formula, This represents the absolute value of the difference between the actual measured resistance on-site and the design power station. To measure the resistance of the grounding grid in this area. The design resistance value generated and confirmed by simulation calculation for the grounding grid of this area;

[0009] In the formula, This is an estimated probability of damage at a certain point in the grounding grid; This is the global impact coefficient of the resistance difference on the probability of power grid damage; This represents the total number of grounding grid points in this area. This is the coefficient representing the influence of the resistance difference on the distance between the measurement point and each grounding grid point. The distance between the grounding parameter measurement point and each grounding grid point; As parameters of the on-site environmental impact of grounding points, the video image information reading submodule identifies the degree of geological fissures, structural joint deformation, dampness and water accumulation, and physical damage at the grounding electrode laying location on the engineering site, so as to reflect the risk of damage to a certain grounding point due to the engineering environmental conditions. The algorithm then sorts the points based on their estimated damage probabilities and performs simulation calculations for the damage at points 1 to N. The calculation formula is as follows:

[0010] In the formula, N is the lower limit of the number of grounding simulation calculation points that need to participate in the grounding grid point; This represents the total number of grounding grid points in this area. The design resistance value generated and confirmed by simulation calculation for the grounding grid of this area; This is the absolute value of the difference between the actual measured resistance on site and the designed power station. The resistance difference adjustment coefficient is calculated for the number of simulated points. It is used to influence and adjust the impact of the difference between the measured and designed grounding grid resistance on the calculation results. The specific value is related to the size of the grounding grid in this area. Secondly, the algorithm simulates various damage scenarios and arranges them in ascending order of the difference between the calculated grounding resistance value and the measured resistance value in the area. Based on the simulated sorting order of damage scenarios for each grounding grid, the algorithm performs a weighted adjustment calculation on the probability of damage to all grounding grid points in the area. The calculation formula is as follows:

[0011] In the formula, Adjustment value for calculating the probability of damage at a certain point in the grounding grid; This is a preliminary estimate of the probability of damage at a certain point in the grounding grid. To adjust the weighting coefficients based on the probability of each ranking level in the simulated difference ranking, where The value decreases continuously from 1 to n, and can be negative.

[0012] Furthermore, the steps of the grounding system diagnostic algorithm are as follows: S1. Obtain various engineering information data, including on-site measurement data, engineering drawing information, engineering model information, and on-site image information, through the engineering information input module and import them into the engineering grounding system analysis and diagnosis platform; S2. Confirm whether the grounding grid resistance values ​​and other electrical parameters obtained from the grounding measurement wells at each point of the power station are normal parameters and whether they match the historical test data of the power station's operation and maintenance. S3. Using the building structure model and electrical parameter model data provided by the engineering information input module, perform grounding grid model simulation analysis and calculation to obtain the theoretical design values ​​of each electrical parameter that the grounding grid in this area should achieve in the design scheme; S4. Confirm whether the electrical parameter values ​​generated by the simulation calculation of the grounding design scheme match the corresponding parameters in the relevant design results documents; S5. Compare and analyze the differences between the measured resistance values ​​of the grounding grid in each area and the design resistance values ​​obtained by simulation calculation; S6. Conduct a preliminary analysis and estimation of the probability of damage to all points of the grounding grid in each area, so as to perform subsequent sorting calculations based on the estimated damage of each point; at the same time, during the estimation process, the identified video information data is provided through the engineering information input module to consider the damage of each point due to environmental factors. S7. Sort the points of the grounding grid according to the estimated damage probability, and perform simulation calculations of the damage situation of 1 to N points. Points with a high probability of damage to the grounding grid will be selected first and more often for damage simulation calculations. The calculated value of the grounding resistance of the area under various damage conditions will be simulated and calculated in turn and compared with the actual measured value. Make full use of the engineering conditions and operation and maintenance experience collected on site to improve the efficiency of program operation. S8. Perform grounding damage simulation calculations for each situation according to the above calculation process and compare them with the actual measured values ​​on site. When the minimum difference value of grounding resistance obtained by simulation calculation in each situation is greater than or equal to the required value, continue the simulation calculation according to the original process and sequence until the grounding resistance value obtained by simulation calculation of the damaged situation is less than the required value and it is considered that a close grounding system damage simulation situation has been found. S9. Arrange the simulated damage scenarios in ascending order of the difference between the calculated grounding resistance value and the measured resistance value of the area. S10. Based on the simulated damage ranking of each grounding grid and the damaged point number under each condition, perform a weighted adjustment calculation on the damage probability of all grounding grid points in the area; assign weight coefficient values ​​to the damaged points corresponding to various grounding grid damage simulation conditions and the ranking order of the conditions, and calculate and adjust the damage probability of each point. S11. After weighted adjustment calculation, regenerate and export the damage probability values ​​of each grounding grid point in this area for use by the subsequent automatic flaw detection path generation module.

[0013] Furthermore, the flaw detection path generation submodule, by calling the automatic grounding flaw detection algorithm, calculates and generates the robot's automatic flaw detection path based on the damage probability of each point in the engineering grounding network and using the method of equal total damage probability. The generated flaw detection paths will cover as many potentially damaged grounding network point areas as possible, sorted according to the damage probability of each point, under the condition of minimizing the total path. The flaw detection command issuing submodule, through the corresponding calculation process of the automatic grounding flaw detection algorithm, uses industrial routers deployed in the engineering area to issue flaw detection commands and flaw detection paths to the flaw detection robot group; at the same time, it coordinates multiple robots to work together to perform ultrasonic flaw detection scanning on each grounding grid that may be damaged along the path. The flaw detection result feedback submodule calls the corresponding calculation process of the automatic grounding flaw detection algorithm, uses an industrial router to receive the field data and images fed back by each flaw detection robot group, eliminates or adds new grounding grid damage points according to the flaw detection results, and re-simulates and calculates electrical parameters for comparison with the field detection parameters.

[0014] Furthermore, the automatic grounding flaw detection algorithm uses an algorithm that assumes the sum of the damage probabilities of grounding grid points is equal to generate paths for various grounding grid damage scenarios, and calculates... The sum of probabilities of the most likely damaged points Then, the sum of the probabilities is calculated and arranged as follows: The various combinations of damaged locations are analyzed; and cyclical simulation calculations are performed to compare the differences between the actual flaw detection results and the measured values ​​until all damaged locations of the grounding grid in this area are found. The calculation formula is as follows:

[0015] In the formula, The number of points with a high probability of being damaged is counted, rounded to a positive integer. This will affect the accuracy of subsequent damage point sorting and path generation calculations performed by the program. The larger the value, the higher the calculation accuracy but the longer the calculation time. This represents the total number of grounding grid points in this area. The coverage area of ​​high-probability damage points specifically refers to the sum of the areas of the interconnected mesh holes surrounding each high-probability damage point. This represents the total area of ​​the grounding grid in this region; The statistical calculation adjustment coefficient for high-probability damaged locations can affect the calculation results depending on the accuracy requirements. Then, based on various combinations of damage points, the distribution of damage points under each condition is connected according to the minimum path to generate a preliminary flaw detection path. The preliminary detection paths generated individually for each condition are then overlaid in a 3D topology map. After overlay, a main path and several branch paths are extracted through calculation. Various path schemes are then arranged and combined using an algorithm, as shown in the following formula: Path statistics method 1: +

[0016] Path statistics method N: +

[0017] In the formula The total path length for each of the 1 to n flaw detection path statistics methods; The corresponding length of the main path in the statistical methods of flaw detection paths for various flaw detection types; The length of each branch path in the statistical method of flaw detection path for various flaw detection types; The length of the portion of each main path covered by branch paths in the statistical methods of flaw detection paths for various flaw detection types; This refers to the path length of the detection robot returning from the end of each branch path in various flaw detection path statistics methods. After obtaining the path plan, the robot group in each area of ​​the project issues flaw detection commands and feeds back flaw detection, positioning, video and image data information through the industrial routers in each area.

[0018] Furthermore, the automatic grounding flaw detection algorithm flow is as follows: S1. Read the damage probability of each area's grounding grid point generated by the grounding system diagnostic module and algorithm. Based on the damage probability calculation value, use the algorithm of equal probability sum to first calculate... The sum of probabilities of the most likely damaged points Then, the sum of the probabilities is calculated and arranged as follows: Various combinations of damaged locations; S2. Based on various combinations of damaged locations, the distribution of damaged locations under each condition is connected in series according to the shortest path, and a preliminary flaw detection path is generated. Then, the preliminary detection paths generated individually under each condition are superimposed in a topology map in three-dimensional space. After superposition, a main path and several branch paths are extracted by calculation. Using an algorithm, various path schemes are arranged and combined to obtain the shortest path covering all potentially damaged grounding grid points. S3. After obtaining and confirming the minimum flaw detection path scheme, use the flaw detection command issuing submodule to issue flaw detection commands to the robot groups in each area of ​​the project, and instruct the robot groups to perform ultrasonic flaw detection on the grounding grid in each area according to the preset path. S4. The flaw detection robots in each area will automatically coordinate and execute flaw detection commands through program algorithms, and use ultrasonic flaw detection equipment to find and record the actual flaw detection results of the grounding materials in each area; flaw detection, positioning, video and image data information will be fed back through the industrial routers in each area. S5. Based on the on-site flaw detection feedback, use the calculation capabilities of the grounding system diagnostic module to update the actual distribution of damaged points of each grounding grid, the damaged area of ​​each point, and the degree of damage to the grounding materials in three-dimensional space; use the above information to perform simulation calculations of various electrical parameters of the grounding grid, including the grounding grid resistance value. S6. Compare the electrical parameters obtained from the simulation calculation of the grounding grid in each area after flaw detection with the actual measured values ​​in each area; if the difference is greater than the required value, continue to arrange the flaw detection robot for detection according to the order of damage, or modify the damage probability of one or more grounding grid points according to the on-site flaw detection results and regenerate the supplementary detection path; if the difference is less than the required value, it is considered that each damaged point of the grounding grid has been found. S7. After obtaining the damaged grounding grid locations in each area, the program will mark the flaw detection data and images of each damaged location in three-dimensional space and generate flaw detection results; these will be used by the subsequent detection result output module to generate relevant report results.

[0019] Furthermore, the model generation submodule summarizes, organizes, and analyzes various engineering data information, and calls or constructs the BIM model of the engineering building structure and grounding material layout in three-dimensional space; at the same time, it adds or associates various automatic flaw detection results of the engineering grounding system to the corresponding three-dimensional model, including flaw detection results of damage at each point of the grounding grid, calculation process parameters, electrical parameters, time detection results, simulation results of each process, and image and video information collected by on-site cameras and flaw detection robots; The repair scheme generation submodule assesses the damage to the grounding grid in each area by using information collected on-site by robot flaw detection and various data generated during simulation calculations. Based on the specific conditions of the engineering area, burial location, and burial depth, it queries and searches the engineering database for corresponding overall grounding electrode repair schemes. It then excavates and welds the grounding electrode materials at the damaged parts of the area for targeted repair, and clarifies the repair scheme details based on the data obtained from measurements in the BIM 3D model. The report generation submodule organizes and analyzes various data generated or acquired by the aforementioned platforms and functions. With the support of the built-in report template and engineering database information, it generates a grounding system flaw detection report for this project, which describes various detailed data in the measurement, calculation, flaw detection, and feedback process of the grounding project, and adds repair plans and cost statistics of the repair project.

[0020] Furthermore, the power supply equipment is a structural component of the flaw detection robot, providing power to the various devices and modules within the robot. The mobile device is a structural component of the flaw detection robot, providing it with mobility. It includes matching wheels, transmission mechanism, guiding mechanism, control device, and circuit system equipment, enabling the flaw detection robot to move close to the ground and perform grounding flaw detection. The aforementioned flaw detection upgrade structure is a temporary structural device that needs to be installed on the flaw detection robot when it needs to raise its own height or perform longitudinal height grounding electrode detection. It consists of gears, a transmission device, and a lifting frame. The guide wheels in the mobile device engage the motion wheels with the transmission device, and the gear structure converts the forward power of the flaw detection robot into the lifting power of the lifting frame, which moves upward along the four support columns of the lifting frame to meet the longitudinal lifting requirements of the flaw detection robot in the height direction. It is used to detect the damage of the longitudinal grounding electrode material buried in the column structure in the height direction. The functional components of the laser positioning system flaw detection robot include a laser scanning radar and receiving equipment, a distance testing module, an environmental map reading module, and a real-time navigation device. It uses a 3D laser scanning radar to acquire information about the surrounding environmental structure. The ultrasonic flaw detection equipment is a core functional component of the flaw detection robot. It is used to emit high-frequency ultrasonic waves and receive their reflected signals. These signals are used to detect defects in the grounding materials laid in the building structure. The equipment includes an ultrasonic probe, a flaw detection main unit and display screen, a cleaning brush head and a coupling agent spraying device. The high-definition camera is a functional component of the flaw detection robot. It can collect on-site information of the grounding flaw detection engineering area. The on-site pictures and videos provided can be identified by the engineering grounding system analysis and diagnosis platform. The platform system module can then assess and judge the probability of damage at each point of the grounding grid. The data transmission device is a functional component of the flaw detection robot. It is used to exchange data with the engineering grounding system analysis and diagnosis platform server through industrial routers deployed in various areas of the project, receive flaw detection commands and coordinates issued by the system platform, and simultaneously feed back various data information to the platform.

[0021] The advantages and technical effects of this invention are as follows: This invention utilizes digital technology and algorithms to provide a new detection system that accurately locates damaged points in the grounding system, enabling centralized excavation and repair of the corresponding points. This reduces grounding system repair costs and construction time, lowers the cost of safe operation of the power system, and more effectively ensures personnel safety. Attached Figure Description

[0022] Figure 1 This invention provides an overall architecture diagram of a power station grounding engineering diagnostic system based on an ultrasonic flaw detection robot.

[0023] Figure 2 This is a flowchart illustrating the execution of a grounding system diagnostic algorithm.

[0024] Figure 3 This is a flowchart illustrating the execution of the automatic grounding flaw detection algorithm.

[0025] Figure 4 This is a diagram illustrating the locations of the grounding grid. Detailed Implementation

[0026] To make the technical problems solved, the technical solutions, and the beneficial effects of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the invention.

[0027] This invention provides a power plant grounding engineering diagnostic system based on an ultrasonic flaw detection robot, referenced... Figure 1 It includes a data-connected engineering information input module, a grounding system diagnosis module, an automatic grounding flaw detection module, a test result output module, a flaw detection robot equipment group, as well as grounding system diagnosis algorithms and automatic grounding flaw detection algorithms.

[0028] The following is a detailed introduction to each functional module: (a) Engineering Information Entry Module The engineering information input module includes a grounding measurement data reading submodule, an engineering detail drawing information reading submodule, an engineering model information reading submodule, and a video image information reading submodule. It is used to read various basic data such as the layout structure and grounding system parameters of each area of ​​the project, and import them into the engineering grounding system analysis and diagnosis platform for subsequent modules to perform grounding system diagnosis and analysis and automatic grounding flaw detection.

[0029] (1.1) Grounding Measurement Data Reading Submodule The grounding measurement data reading submodule is used to read and input the measurement results of parameters such as the resistance value of the engineering grounding system at each grounding measurement point within the engineering area, and to combine the measurement data with the corresponding coordinate points of the constructed engineering three-dimensional model to provide basic calculation data support for grounding system diagnosis.

[0030] (1.2) Engineering Detail Drawing Information Reading Submodule The engineering detail drawing information reading submodule is used to identify drawing elements in engineering detail drawings, supporting the recognition of mainstream two-dimensional engineering drawings. Based on the drawing information, a three-dimensional layout model of the building structure and grounding grid is constructed, and converted into measurable and usable data information for the engineering grounding system analysis and diagnosis platform system, providing basic calculation data support for grounding system diagnosis.

[0031] (1.3) Engineering Model Information Reading Submodule The engineering model information reading submodule is used to import, identify, and measure various data such as building structure, grounding system layout, and material electrical parameters in the existing 3D engineering model of the project. It supports the recognition of mainstream engineering model file formats and converts them into measurable and usable data information for the engineering grounding system analysis and diagnosis platform system, providing basic calculation data support for grounding system diagnosis.

[0032] (1.4) Video Image Information Reading Submodule The video image information reading submodule is used to import and identify video data information acquired by the high-definition camera of the flaw detection robot and the engineering monitoring camera. By identifying the video content of the engineering site, it identifies and marks phenomena such as geological fissures, structural joint deformation, dampness, and physical damage at the laying location of the grounding electrode in the project. Based on the scale of these phenomena, it calculates the corresponding degree of influence factors on the location of each point of the grounding grid in the corresponding area in subsequent analysis and calculation, providing supporting data for grounding diagnosis and analysis based on the characteristics and actual conditions of the engineering site.

[0033] (ii) Grounding system diagnostic module The grounding system diagnostic module includes a grounding system calculation submodule, a damage point analysis submodule, and a corresponding grounding system diagnostic algorithm. It is used to calculate and analyze the grounding of the entire station based on various data to find and rank the most likely damage points in the grounding grid.

[0034] (2.1) Grounding System Calculation Submodule The grounding system calculation submodule analyzes and calculates data provided by grounding well measurement results, drawings, models, and on-site video data. It then calls the grounding system diagnostic algorithm to compare the design scheme with the on-site measurement results electrically. Based on the probability of grounding fault occurrence, it sequentially simulates and calculates the theoretical values ​​of the grounding grid resistance in each engineering area when single or multiple points of damage occur, for subsequent comparison and analysis with actual measurements. For example... Figure 4 The concept of each point in the grounding grid shown is that, during the calculation and simulation, the intersection of the grounding materials in the grounding grid is considered as a point. The probability of damage at each grounding point reflects the sum of the probabilities of damage to the grounding materials connected to that point. As shown in the figure, this simple grounding grid includes 12 points.

[0035] (2.2) Damage point analysis submodule The damage point analysis submodule compares the theoretical and actual measured values ​​of the grounding grid in each measurement area under various damage conditions by calling the grounding system diagnostic algorithm. It integrates and calculates the differences based on the magnitude of influencing factors, compares and analyzes the discrepancies, and iteratively compares each result. Ultimately, it ranks the potential damage points of the grounding grid according to their probability of occurrence.

[0036] (2.3) Grounding system diagnostic algorithm The described grounding system diagnostic algorithm analyzes various possible damage scenarios to the grounding grid and, through a series of data calculations, comparisons, and simulations, employs a hierarchical, in-depth calculation method to obtain the damage probability of each point in the grounding grid with minimal computational time cost. (Reference) Figure 2 The algorithm execution flow is as follows: S1. Obtain various engineering information data, including on-site measurement data, engineering drawing information, engineering model information, and on-site image information, through the engineering information input module and import them into the engineering grounding system analysis and diagnosis platform.

[0037] S2. Confirm whether the grounding grid resistance values ​​and other electrical parameters obtained from the grounding measurement wells at each point of the power station are normal parameters and whether they match the historical test data of the power station's operation and maintenance.

[0038] S3. Using the building structure model and electrical parameter model data provided by the engineering information input module, perform grounding grid model simulation analysis and calculation to obtain the theoretical design values ​​of electrical parameters that the grounding grid in this area should achieve in the design scheme, such as grounding resistance value.

[0039] S4. Confirm whether the electrical parameter values ​​generated by the simulation calculation of the grounding design scheme match the corresponding parameters in the relevant design results documents.

[0040] S5. Compare and analyze the differences between the measured resistance values ​​of the grounding grid in each area and the design resistance values ​​obtained from simulation calculations.

[0041] S6. A preliminary analysis and estimation of the probability of damage to all grounding grid points in each area is conducted to inform subsequent ranking calculations based on the estimated damage levels at each point. Simultaneously, during the estimation process, the identified video information data is provided through the engineering information input module to consider the damage caused by environmental factors at each point.

[0042] The estimation formula is:

[0043] In the formula This represents the absolute value of the difference between the actual measured resistance on-site and the design power station. To measure the resistance of the grounding grid in this area. The design resistance value is generated and confirmed after simulation calculation for the grounding grid of this area.

[0044]

[0045] In the formula This is an estimated probability of damage at a certain point in the grounding grid; This is the global impact coefficient of the resistance difference on the probability of power grid damage; This represents the total number of grounding grid points in this area. This is the coefficient representing the influence of the resistance difference on the distance between the measurement point and each grounding grid point. The distance between the grounding parameter measurement point and each grounding grid point; To measure the environmental impact parameters at the grounding point, the video image information reading submodule identifies the extent of phenomena such as geological fissures, structural joint deformation, dampness, and physical damage at the grounding electrode laying location on the engineering site, thereby reflecting the risk of damage to a grounding point due to the engineering environmental conditions.

[0046] As the formula shows, the greater the difference between the measured resistance value and the designed resistance value, the greater the probability of damage to all points in the grounding grid; the greater the difference between the measured value and the designed value, the greater the probability of damage to each point in the grounding grid closer to the grounding parameter measurement location; and the greater the degree of influence of environmental damage factors at the engineering site, the greater the probability of damage to the grounding point.

[0047] S7. Based on the estimated damage probability of each point in the grounding grid, sort them and perform simulation calculations for damage scenarios at 1 to N points. Points with a high probability of damage will be prioritized and more frequently selected for damage scenario simulation calculations. The calculated grounding resistance values ​​for the area under various damage scenarios will be compared with the actual measured values. The main simulation process involves calculating the difference between the design value and the measured value of the grounding grid in the area, and then rounding the result to determine how many points need to be involved in the simulation calculations for that point. For example, given a fixed design value and difference, points with a damage probability higher than a certain value require single-point damage simulation calculations, while points with low damage probabilities are prioritized for simulation calculations under multiple simultaneous damage scenarios. Then, grounding simulation calculations are performed sequentially for 1 to N grounding points in descending order of their estimated damage probability. The above algorithm can make full use of the engineering conditions and operation and maintenance experience collected on site, effectively reduce the amount and difficulty of grounding simulation calculations, improve program running efficiency, and reduce the time for querying and diagnosing grounding system damage points.

[0048] The calculation formula is:

[0049] In the formula, N is the lower limit of the number of grounding simulation calculation points that need to participate in the grounding grid point; This represents the total number of grounding grid points in this area. The design resistance value generated and confirmed by simulation calculation for the grounding grid of this area; This is the absolute value of the difference between the actual measured resistance on site and the designed power station. The resistance difference adjustment coefficient is calculated based on the number of simulated points. This coefficient is used to influence and adjust the impact of the difference between the measured and designed grounding grid resistance on the calculation results. The specific value is related to the size of the grounding grid in this area.

[0050] The formula shows that the higher the difference between the design value and the measured value of the grounding grid, the greater the probability of damage to the grounding grid point. Therefore, the overall calculated N value for that point is lower, indicating that the point needs to participate in fewer simulation calculations of damaged grounding grid points, meaning it requires more simulation calculations. Here, N is a positive integer with a maximum value of [value missing]. The minimum value is 1.

[0051] S8. Perform grounding damage simulation calculations for each scenario according to the above calculation process and compare them with the actual measured values ​​on site. When the minimum difference value of the grounding resistance obtained from the simulation calculation in each scenario is greater than or equal to the required value, continue the simulation calculation according to the original process and sequence. Continue until the grounding resistance value obtained from the simulation calculation of the damaged scenario is less than the measured resistance value, which is considered to have found a relatively close simulated grounding system damage scenario.

[0052] S9. Arrange the simulated damage scenarios in ascending order of the difference between the calculated grounding resistance value and the measured resistance value of the area.

[0053] S10. Based on the simulated damage ranking of each grounding grid and the damaged point numbers under each condition, a weighted adjustment calculation is performed on the damage probability of all grounding grid points within the area. During the calculation, each point will be assigned a weight coefficient value based on its original estimated probability, according to the damaged point corresponding to each simulated grounding grid damage condition and the ranking order of that condition. Conditions ranked higher will have larger adjustment weights for their corresponding damaged points, while conditions ranked lower will have smaller or negative adjustment weights. The calculation formula is as follows:

[0054] In the formula Adjustment value for calculating the probability of damage at a certain point in the grounding grid; This is a preliminary estimate of the probability of damage at a certain point in the grounding grid. To adjust the weighting coefficients based on the probability of each ranking level in the simulated difference ranking, where The value decreases continuously from 1 to n, and can be negative.

[0055] As can be seen from the formula, each grounding grid point will only be referenced if it is included in a certain order of grounding grid damage conditions. The probability adjustment coefficient for a given level is not increased if the corresponding level is not included in the corresponding case. The smaller the probability adjustment coefficient weight number, the larger the value, indicating that the simulation calculation results of each damage scenario are closer to the actual on-site measurement values, and the higher the probability of actual damage to the damage points included in the simulation of the corresponding damage scenario.

[0056] S11. After weighted adjustment calculation, regenerate and export the damage probability values ​​of each grounding grid point in this area for use by the subsequent automatic flaw detection path generation module.

[0057] (III) Automatic grounding flaw detection module The grounding system diagnostic module includes a flaw detection path generation submodule, a flaw detection command issuance submodule, a flaw detection result feedback submodule, and a corresponding automatic grounding flaw detection algorithm. It automatically generates flaw detection paths based on the loss probability of each grounding grid point and issues flaw detection commands to the robot group. Simultaneously, it receives feedback flaw detection results and performs calculations and analyses on the grounding grid and the entire station's grounding system, adding or adjusting flaw detection path schemes until the simulated grounding grid electrical parameters of the actual damage collected on-site match the measured electrical parameter values ​​of the grounding grid in this area. If the simulated calculation matches these values, the damaged point is considered located and marked and associated with data in the 3D model.

[0058] (3.1) Flaw Detection Path Generation Submodule The flaw detection path generation submodule calls the automatic grounding flaw detection algorithm and calculates and generates the robot's automatic flaw detection path based on the damage probability of each point in the engineering grounding network and the method of equal sum of damage probabilities. The generated flaw detection paths will cover as many potentially damaged grounding network point areas as possible, sorted according to the damage probability of each point, under the condition of minimizing the total number of paths.

[0059] (3.2) Flaw Detection Command Issuance Submodule The flaw detection command issuing submodule, through the corresponding calculation process of the automatic grounding flaw detection algorithm, uses industrial routers deployed within the engineering area to issue flaw detection commands and flaw detection paths to the flaw detection robot group. Simultaneously, it coordinates multiple robots to work collaboratively, performing ultrasonic flaw detection scans on potentially damaged points of the grounding grid along the path.

[0060] (3.3) Flaw detection result feedback submodule The flaw detection result feedback submodule, by invoking the corresponding calculation process of the automatic grounding flaw detection algorithm, uses an industrial router to receive on-site data and images from each flaw detection robot group. Based on the flaw detection results, it eliminates or adds new grounding grid damage points, re-simulates and recalculates electrical parameters for comparison with on-site detection parameters. Simultaneously, this function uploads various on-site collected data, such as flaw detection results, calculated parameter results, and robot-acquired images and videos, to the engineering grounding system analysis and diagnosis platform server for updating and calibrating data collected by the engineering information entry module, and for generating reports by the subsequent detection result output module.

[0061] (3.4) Automatic grounding flaw detection algorithm The automatic grounding flaw detection algorithm will arrange the distribution combination of the grounding grid to be detected area according to the probability summation method and generate the detection path. After confirmation, it will issue flaw detection commands to each flaw detection robot group. The flaw detection scheme will be adjusted and optimized according to the flaw detection results and the comparison results of the actual grounding grid detection electrical parameters until a matching result is generated, each damaged point is marked, and various types of flaw detection data are exported.

[0062] refer to Figure 3 The algorithm execution flow is as follows: S1. Read the damage probability of each area's grounding grid point generated by the grounding system diagnostic module and algorithm. Based on the damage probability calculation value, use the algorithm of equal probability sum to first calculate... The sum of probabilities of the most likely damaged points Then, the sum of the probabilities is calculated and arranged as follows: Various combinations of damaged locations.

[0063] The calculation formula is:

[0064] In the formula The number of points with a high probability of being damaged is counted, rounded to a positive integer. This will affect the accuracy of subsequent damage point sorting and path generation calculations performed by the program. The larger the value, the higher the calculation accuracy and the longer the calculation time. This represents the total number of grounding grid points in this area. The coverage area of ​​high-probability damage points specifically refers to the sum of the areas of the interconnected mesh holes surrounding each high-probability damage point. This represents the total area of ​​the grounding grid in this region; The adjustment coefficient for statistical calculation of high-probability damage points can affect the calculation results depending on the required accuracy. As can be seen from the formula, the larger the coverage area of ​​high-probability damage points (i.e., the more dispersed the distribution), the more statistically significant the number of high-probability damage points generally needs to be.

[0065] S2. Based on various combinations of damaged points, connect the distribution of damaged points in each case using the shortest path to generate a preliminary flaw detection path. Then, overlay the preliminary detection paths generated individually in each case into a topological map in three-dimensional space. After overlaying, extract a main path and several branch paths through calculation.

[0066] The algorithm arranges and combines various path schemes, with the principle of minimizing the total path length while covering all potentially damaged grounding grid points. The formula is as follows: Path statistics method 1: +

[0067] ... Path statistics method N: +

[0068] In the formula The total path length for each of the 1 to n flaw detection path statistics methods; The corresponding length of the main path in the statistical methods of flaw detection paths for various flaw detection types; The length of each branch path in the statistical method of flaw detection path for various flaw detection types; The length of the portion of each main path covered by branch paths in the statistical methods of flaw detection paths for various flaw detection types; This refers to the path length of the detection robot returning from the end of each branch path in various flaw detection path statistics methods.

[0069] As can be seen from the formula and path statistics method, the overall arrangement pattern gradually shifts from emphasizing the generation of the main path first and then supplementing it with branch paths, to emphasizing the combination of each branch path first and then supplementing the remaining main path, calculating and comparing to find the minimum total path length. Generally, the total length is affected by the actual distribution of the branch grounding network. Since the distance of the flaw detection robot returning to the main path from each branch path must be considered, the more, longer, and more irregular the branch grounding paths are, the longer the return path of the detection robot will be. Therefore, the length statistics results usually tend to favor the shortest total path length when the flaw detection of each branch path is completed first and then the flaw detection of the main path is performed.

[0070] S3. After obtaining and confirming the minimum flaw detection path scheme, use the flaw detection command issuing submodule to issue flaw detection commands to the robot groups in each area of ​​the project, and instruct the robot groups to perform ultrasonic flaw detection on the grounding grid in each area according to the preset path.

[0071] S4. The flaw detection robots in each area will automatically coordinate and execute flaw detection commands through program algorithms, and use ultrasonic flaw detection equipment to find and record the actual flaw detection results of the grounding materials in each area. Flaw detection, positioning, video, and image data information will be fed back through the industrial routers in each area.

[0072] S5. Based on the feedback from on-site flaw detection, the grounding system diagnostic module's calculation capabilities are used to update the actual damage information of each grounding grid point in three-dimensional space. This information includes: the distribution of damaged points, the damaged area at each point, and the degree of damage to the grounding materials. Using this information, simulation calculations are performed on various electrical parameters of the grounding grid, including the grounding grid resistance value.

[0073] S6. Compare the electrical parameters obtained from the simulated calculations of the grounding grid in each area after flaw detection with the actual measured values ​​in each area. If the difference is greater than the required value, continue to arrange flaw detection robots for detection according to the order of damage, or modify the damage probability of one or more grounding grid points according to the on-site flaw detection results and regenerate supplementary detection paths. If the difference is less than the required value, it is considered that all damaged points of the grounding grid have been found.

[0074] S7. After obtaining the locations of damaged grounding grids in each area, the program will mark the flaw detection data and images of each damaged location in three-dimensional space and generate flaw detection results. These results will then be used by the subsequent detection results output module to generate relevant reports.

[0075] (iv) Test Result Output Module The inspection results output module includes a model generation submodule, a repair scheme generation submodule, and a report generation submodule. It collects and summarizes various data generated during the flaw detection process and corresponding calculations, and organizes them into exportable BIM models of the engineering grounding system, repair scheme reports for grounding grids in various areas, and engineering grounding flaw detection reports. It enables the summarization and organization of inspection results and provides various data export interfaces for easy reference by other engineering applications.

[0076] (4.1) Model generation submodule The model generation submodule summarizes and analyzes various data provided and calculated by the engineering information input module, grounding system diagnosis module, and automatic grounding flaw detection module, such as engineering models, drawings, image information, 3D simulation results of grounding system diagnosis, and grounding grid simulation calculations during automatic grounding flaw detection. It then calls upon or constructs a BIM model of the engineering building structure and grounding material layout in 3D space. Simultaneously, it adds or associates various automatic grounding system flaw detection results to the corresponding 3D model, including flaw detection results of damage at various points in the grounding grid, calculation process parameters, electrical parameters, time detection results, simulation results of each process, and image and video information collected by on-site cameras and flaw detection robots. This is used for displaying the automatic grounding flaw detection results and for data retrieval by other engineering digitization applications.

[0077] (4.2) Repair scheme generation submodule The repair plan generation submodule assesses the damage to the grounding grid in each area based on information collected from on-site robotic flaw detection and various data generated during simulation calculations. It considers specific conditions such as the engineering area, burial location, and burial depth. The module queries and searches the engineering database for corresponding overall grounding electrode repair plans, specifically targeting the excavation and welding repair of damaged grounding electrode materials in each area. Based on data measured in the BIM 3D model, the module clarifies the repair plan details. Simultaneously, the module generates animations detailing the local excavation and repair process of the grounding electrodes within the 3D engine environment of the engineering grounding system analysis and diagnosis platform, using database-provided plan information and model materials. Through these methods, a detailed, complete, and 3D visualized repair plan for each damaged point in the grounding grid is formed.

[0078] (4.3) Report generation submodule The report generation submodule organizes and analyzes various data generated or acquired by the aforementioned platforms and functions. With the support of the built-in report template and engineering database information, it generates a grounding system flaw detection report for this project, which describes various detailed data in the measurement, calculation, flaw detection, and feedback process of the grounding project, and adds repair plans and cost statistics of the repair project.

[0079] (v) Flaw Detection Robot Group The flaw detection robot group includes power supply equipment, mobile equipment, flaw detection lifting structure, laser positioning equipment, ultrasonic flaw detection equipment, high-definition camera, and data transmission equipment. It consists of multiple collaborative flaw detection robots, used to receive and relay flaw detection commands and flaw detection path coordinates issued by the engineering grounding system analysis and diagnosis platform via an industrial router, and also to relay various flaw detection data information.

[0080] (5.1) Power supply equipment The power supply equipment is a structural component of the flaw detection robot, providing power to various devices and modules within the robot. It includes the supporting power supply equipment, wiring, and circuit boards.

[0081] (5.2) Mobile devices The mobile device is a structural component of the flaw detection robot, providing it with mobility. It includes its associated wheels, transmission mechanism, guiding mechanism, control device, and circuit system equipment. This allows the flaw detection robot to move close to the ground for grounding flaw detection.

[0082] (5.3) Flaw detection lifting structure The aforementioned flaw detection upgrade structure is a temporary structural device that needs to be installed on the flaw detection robot when it encounters situations requiring it to raise its own height or to perform longitudinal height grounding detection. It consists of gears, a transmission device, and a lifting frame. Guide wheels in the mobile device engage the motion wheels with the transmission device, and the gear structure converts the forward momentum of the flaw detection robot into lifting power for the lifting frame, moving it upwards along the four support columns of the lifting frame to meet the longitudinal lifting requirements of the flaw detection robot. It is used to detect damage to longitudinal grounding materials buried deep within column structures. The upgrade frame can be pre-installed below the structural column to be detected. Through a positioning system, the flaw detection robot can autonomously enter and automatically achieve height-direction lifting for flaw detection. A simplified version can also be installed on the flaw detection robot for climbing structural obstacles such as stairs.

[0083] (5.4) Laser positioning system The functional components of the laser positioning system flaw detection robot include a laser scanning radar and receiving equipment, a distance testing module, an environmental map reading module, and a real-time navigation device. It uses a 3D laser scanning radar to acquire information about the surrounding environment and structure, achieving centimeter-level ranging accuracy with a single measurement range of 1-15 meters. Simultaneously, it can read the positioning coordinates of engineering buildings on the engineering grounding system analysis and diagnosis platform. This enables the flaw detection robot to have spatial positioning and the ability to identify building structures and obstacles, allowing it to acquire environmental and coordinate information.

[0084] (5.5) Ultrasonic flaw detection equipment The ultrasonic flaw detection equipment is a core functional component of the flaw detection robot. It is used to emit high-frequency ultrasonic waves and receive their reflected signals, using these signals to detect defects in the grounding materials laid within the building structure. It includes an ultrasonic probe, the main unit of the flaw detection equipment and its display screen, a cleaning brush, and a couplant spraying device. The ultrasonic probe is an ultrasonic transducer used to emit and receive ultrasonic waves. The probe frequency and size can be adjusted as needed to provide appropriate sensitivity and resolution for the detection process. The main unit of the flaw detection equipment and its display screen include a control and display unit that controls the ultrasonic wave emission, reception, signal processing, and displays the detection results according to commands from the engineering grounding system analysis and diagnosis platform. The cleaning brush and couplant spraying device are used to clean the flaw detection working surface and spray couplant to fill the gaps between the probe and the inspected material, reducing sound energy loss and ensuring effective transmission of ultrasonic waves into the material.

[0085] (5.6) High-definition camera The high-definition camera is a functional component of the flaw detection robot. It can collect on-site information about the grounding flaw detection project area. The on-site images and videos provided can be identified by the engineering grounding system analysis and diagnosis platform, and used by the platform system module to evaluate and judge the probability of damage at each point of the grounding grid.

[0086] (5.7) Data transmission equipment The data transmission device is a functional component of the flaw detection robot. It is used to exchange data with the engineering grounding system analysis and diagnosis platform server through industrial routers deployed in various areas of the project, receive flaw detection commands and coordinates issued by the system platform, and simultaneously feed back various data information to the platform.

[0087] The following example, using the flaw detection work of the entire grounding system of a hydropower project, illustrates the implementation method of a power station grounding engineering diagnostic system based on an ultrasonic flaw detection robot.

[0088] Step 1: Before the flaw detection work begins, the engineering grounding system analysis and diagnosis platform server needs to be deployed in the equipment room or central control room of the power plant project site. The engineering grounding system analysis and diagnosis platform management application is installed on the server, and the server is connected to the industrial routers and video cameras deployed in various areas of the power plant through network settings and line connections. Equipment is added to areas where industrial routers are missing to realize wireless data transmission within the station.

[0089] Step 2: Set up charging stations for flaw detection robots in various areas of the power station as starting base stations for the flaw detection robot group, and use the engineering grounding system analysis and diagnosis platform program in the server to debug the operating status and flaw detection capabilities of each robot.

[0090] Step 3: Inspect the grounding measurement wells or points of each grounding grid in the power station to obtain various electrical parameters of the grounding grid, including the resistance values ​​of the grounding grid in each area of ​​the power station. Import the grounding grid measurement data of each area, detailed engineering drawings of the power station, engineering model information, video image information, and other data into the engineering grounding system analysis and diagnosis platform to analyze the basic data of the entire station's grounding system.

[0091] Step 4: Use the grounding system calculation submodule of the platform grounding system diagnostic module to perform simulation calculations, generate the theoretical design value of the grounding resistance of the grounding network of each corresponding area of ​​the whole station, and compare and analyze it with the measured values ​​of various electrical parameters of the grounding network of each area on site after confirmation.

[0092] Step 5: Analyze and estimate the probability of damage to each grounding grid point across the entire station using on-site videos, images, and other data, as well as the differences between measured and design values. Then, analyze and simulate the damage points of each grounding grid point using corresponding algorithms. The system will automatically compare and rank the probability of various grounding grid damage scenarios. After a series of calculations, comparisons, and adjustments, a damage probability analysis table for each grounding grid point will be generated in the damage point analysis submodule program interface.

[0093] Step 6: Using the platform's automatic grounding flaw detection module, the flaw detection path generation sub-module automatically analyzes the damage status of each grounding grid point. Based on the distribution of each possible damaged point, the program performs topology path overlay analysis and calculation to generate a flaw detection path, and issues flaw detection commands to each flaw detection robot according to the generated detection path.

[0094] Step 7: Modify and supplement the detection path plan based on the feedback results of each machine's flaw detection and the probability of damage at each grounding grid point. Continue this process until the program continuously performs automatic simulation analysis and calculations to find the damaged grounding grid points on the project site. If the difference between the simulated electrical parameters of each area's grounding grid and the actual measured values ​​of each area is less than the required value, then the damaged grounding grid points are considered to have been found. Afterward, the program will generate the overall grounding grid flaw detection results in the corresponding interface of the automatic grounding flaw detection module.

[0095] Step 8: Utilize the various program functions of the system platform's output module to collect and summarize the data generated during the flaw detection process and corresponding calculations. Then, using template files and corresponding algorithms, generate a BIM model of the entire station's grounding system flaw detection, a grounding grid repair plan report, and an engineering grounding flaw detection report. These will be used in subsequent power station operation and maintenance workflows and other digital system applications.

[0096] Step 9: Use the engineering grounding system analysis and diagnosis platform to issue corresponding commands to make the flaw detection robots in all areas of the station return to the starting base station, and perform routine repairs and maintenance on each component of the flaw detection robot according to the operation manual so that it can be used for the next grounding network flaw detection operation.

[0097] This invention integrates technologies such as automatic analysis and calculation of engineering data, engineering robot maintenance, application of engineering BIM model data, and AI recognition to provide an automated flaw detection method based on ultrasonic flaw detection robots for the maintenance of power system grounding grids. By utilizing digital means and robotics, it improves the safety of power plant operation and maintenance systems while reducing the cost of grounding grid maintenance. Simultaneously, through corresponding algorithms, it can quickly calculate high-probability damage points in the grounding system and automatically generate robot flaw detection paths, achieving the goal of reliable, efficient, and low-cost flaw detection, inspection, maintenance, and repair of grounding systems.

[0098] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A power station grounding engineering diagnostic system based on an ultrasonic flaw detection robot, characterized in that, It includes an engineering grounding system analysis and diagnosis platform and a flaw detection robot group. The engineering grounding system analysis and diagnosis platform and the flaw detection robot group transmit and exchange data through an industrial router. The engineering grounding system analysis and diagnosis platform includes an engineering information input module, a grounding system diagnosis module, an automatic grounding flaw detection module, and a test result output module. The grounding system diagnostic module includes a grounding system calculation submodule and a damage point analysis submodule, which are used to calculate and analyze the grounding of the entire station based on various data to find and sort the most likely damage points of the grounding network; The grounding system diagnostic algorithm analyzes various possible damage scenarios of the grounding grid and, through a series of data calculations, comparisons, and simulations, adopts a hierarchical in-depth calculation method to obtain the damage probability of each point in the grounding grid with less computation time cost. The automatic grounding flaw detection module includes a flaw detection path generation submodule, a flaw detection command issuing submodule, and a flaw detection result feedback submodule. It is used to automatically generate flaw detection paths based on the damage probability of each grounding grid point and issue flaw detection commands to the flaw detection robot group. Simultaneously, it receives feedback flaw detection results and performs calculations and analyses on the grounding grid and the entire station's grounding system. The automatic grounding flaw detection algorithm arranges the distribution combination of the grounding grid to be detected areas according to the probability summation method and generates detection paths. After confirmation, it issues flaw detection commands to each flaw detection robot group. Based on the comparison results of the flaw detection results and the actual grounding grid electrical parameters, it adjusts and optimizes the flaw detection scheme until a matching result is generated, each damaged point is marked, and various types of flaw detection data are exported. The grounding system diagnostic algorithm obtains relevant data for various engineering grounding systems through on-site collection and simulation calculations. The algorithm performs multi-level comparative calculations and analyses on all grounding network points in the region until it identifies simulations where the calculated differences in grounding electrical parameters are lower than required values. Based on the magnitude of the differences, each simulation is ranked. The ranking results are then used to weight and adjust the probability of damage for each grounding network point to obtain the probability value of damage for each point. The formula for calculating the probability of damage for each grounding network point is as follows: In the formula, This represents the absolute value of the difference between the actual measured resistance on-site and the design power station. To measure the resistance of the grounding grid in this area. The design resistance value generated and confirmed by simulation calculation for the grounding grid of this area; In the formula, This is a preliminary estimate of the probability of damage at a certain point in the grounding grid; This is the global impact coefficient of the resistance difference on the probability of power grid damage; This represents the total number of grounding grid points in this area. This is the coefficient representing the influence of the resistance difference on the distance between the measurement point and each grounding grid point. The distance between the grounding parameter measurement point and each grounding grid point; As parameters of the on-site environmental impact of grounding points, the video image information reading submodule identifies the degree of geological fissures, structural joint deformation, dampness and water accumulation, and physical damage at the grounding electrode laying location on the engineering site, so as to reflect the risk of damage to a certain grounding point due to the engineering environmental conditions. The algorithm then sorts the points based on their estimated damage probabilities and performs simulation calculations for the damage at points 1 to N. The calculation formula is as follows: In the formula, N is the lower limit of the number of grounding simulation calculation points that need to participate in the grounding grid point; This represents the total number of grounding grid points in this area. The resistance difference adjustment coefficient is calculated for the number of simulated points. It is used to influence and adjust the impact of the difference between the measured and designed grounding grid resistance on the calculation results. The specific value is related to the size of the grounding grid in this area. Secondly, the algorithm simulates various damage scenarios and arranges them in ascending order of the difference between the calculated grounding resistance value and the measured resistance value in the area. Based on the simulated sorting order of damage scenarios for each grounding grid, the algorithm performs a weighted adjustment calculation on the probability of damage to all grounding grid points in the area. The calculation formula is as follows: In the formula, Adjustment value for calculating the probability of damage at a certain point in the grounding grid; To adjust the weighting coefficients based on the probability of each ranking level in the simulated difference ranking, where The value decreases continuously from 1 to n, and can be negative.

2. The power station grounding engineering diagnostic system based on an ultrasonic flaw detection robot according to claim 1, characterized in that, The engineering information input module includes a grounding measurement data reading submodule, an engineering detail drawing information reading submodule, an engineering model information reading submodule, and a video image information reading submodule. It is used to read various basic data of the layout structure and grounding system parameters of each area of ​​the project, and import them into subsequent modules for grounding system diagnosis and analysis and automatic grounding flaw detection. The test result output module includes a model generation submodule, a repair scheme generation submodule, and a report generation submodule. It is used to collect and summarize various data generated during the flaw detection process and corresponding calculations, and organize them into an exportable engineering grounding system test BIM model, grounding grid repair scheme reports for each area, and engineering grounding flaw detection reports. It realizes the organization and summarization of test results and sets up various test data export interfaces for easy reference by other engineering applications. The flaw detection robot group includes power supply equipment, mobile equipment, flaw detection lifting structure, laser positioning equipment, ultrasonic flaw detection equipment, high-definition camera, and data transmission equipment. It consists of multiple flaw detection robots that can work together. It is used to receive and feed back flaw detection commands and flaw detection path coordinates issued by the engineering grounding system analysis and diagnosis platform through an industrial router, and also feed back various flaw detection data information.

3. The power station grounding engineering diagnostic system based on an ultrasonic flaw detection robot according to claim 2, characterized in that, The grounding measurement data reading submodule is used to read and input the measurement results of the resistance value parameters of the engineering grounding system at each grounding measurement point within the engineering area, and to combine the measurement data with the corresponding coordinate points of the constructed engineering three-dimensional model to provide basic calculation data support for grounding system diagnosis. The engineering detail drawing information reading submodule is used to identify drawing elements in engineering detail drawings and supports the recognition of mainstream two-dimensional engineering drawings. Based on the drawing information, a three-dimensional layout model of the building structure and grounding grid is constructed, and it is converted into measurable and usable data information of the engineering grounding system analysis and diagnosis platform system, providing basic calculation data support for grounding system diagnosis; The engineering model information reading submodule is used to import, identify and measure various data such as building structure, grounding system layout and material electrical parameters in the existing 3D engineering model of the project. It supports the recognition of mainstream engineering model file formats and converts them into data information that can be measured and used by the engineering grounding system analysis and diagnosis platform system, providing basic calculation data support for grounding system diagnosis. The video image information reading submodule is used to import and recognize video data information acquired by the high-definition camera of the flaw detection robot and the engineering monitoring camera. By identifying and marking geological fissures, structural joint deformations, dampness, and physical damage at the grounding electrode installation locations in the project through video footage of the engineering site, and calculating the corresponding influencing factors of each point in the grounding grid in the corresponding area based on their scale, the system provides supporting data for grounding diagnosis and analysis based on the characteristics and actual conditions of the engineering site.

4. The power station grounding engineering diagnostic system based on an ultrasonic flaw detection robot according to claim 1, characterized in that, The grounding system calculation submodule analyzes and calculates the data provided by the grounding well measurement results, drawings, models, and on-site video data. It calls the grounding system diagnostic algorithm to compare the design scheme with the on-site measurement results in an electrical manner. Based on the probability of grounding fault occurrence, it sequentially simulates and calculates the theoretical value of the grounding grid measurement resistance in each engineering area when single or multiple points of the grounding grid are damaged. This is used for subsequent comparison and analysis with the actual measurement values. The damage point analysis submodule compares the theoretical and actual measured values ​​of the grounding grid in each measurement area under various damage conditions by calling the grounding system diagnostic algorithm. It integrates and calculates the differences based on the magnitude of the influencing factors, compares and analyzes the differences, and cyclically compares each result. Finally, it arranges the possible damage points of the grounding grid according to the probability of occurrence.

5. The power station grounding engineering diagnostic system based on an ultrasonic flaw detection robot according to claim 1, characterized in that, The steps of the grounding system diagnostic algorithm are as follows: S1. Obtain various engineering information data, including on-site measurement data, engineering drawing information, engineering model information, and on-site image information, through the engineering information input module and import them into the engineering grounding system analysis and diagnosis platform; S2. Confirm whether the grounding grid resistance values ​​and other electrical parameters obtained from the grounding measurement wells at each point of the power station are normal parameters, and whether they match the historical test data of the power station's operation and maintenance. S3. Using the building structure model and electrical parameter model data provided by the engineering information input module, perform grounding grid model simulation analysis and calculation to obtain the theoretical design values ​​of each electrical parameter that the grounding grid in this area should achieve in the design scheme; S4. Confirm whether the electrical parameter values ​​generated by the simulation calculation of the grounding design scheme match the corresponding parameters in the relevant design results documents; S5. Compare and analyze the differences between the measured resistance values ​​of the grounding grid in each area and the design resistance values ​​obtained by simulation calculation; S6. Conduct a preliminary analysis and estimation of the probability of damage to all points of the grounding grid in each area, so as to perform subsequent sorting calculations based on the estimated damage of each point; at the same time, during the estimation process, the identified video information data is provided through the engineering information input module to consider the damage of each point due to environmental factors. S7. Sort the points of the grounding grid according to the estimated damage probability, and perform simulation calculations of the damage situation of 1 to N points. Points with a high probability of damage to the grounding grid will be selected first and more often for damage simulation calculations. The calculated value of the grounding resistance of the area under various damage conditions will be simulated and calculated in turn and compared with the actual measured value. Make full use of the engineering conditions and operation and maintenance experience collected on site to improve the efficiency of program operation. S8. Perform grounding damage simulation calculations for each situation according to the above calculation process and compare them with the actual measured values ​​on site. When the minimum difference value of grounding resistance obtained by simulation calculation in each situation is greater than or equal to the required value, continue the simulation calculation according to the original process and sequence until the grounding resistance value obtained by simulation calculation of the damaged situation is less than the required value and it is considered that a close grounding system damage simulation situation has been found. S9. Arrange the simulated damage scenarios in ascending order of the difference between the calculated grounding resistance value and the measured resistance value of the area. S10. Based on the simulated damage ranking of each grounding grid and the damaged point number under each condition, perform a weighted adjustment calculation on the damage probability of all grounding grid points in the area; assign weight coefficient values ​​to the damaged points corresponding to various grounding grid damage simulation conditions and the ranking order of the conditions, and calculate and adjust the damage probability of each point. S11. After weighted adjustment calculation, regenerate and export the damage probability values ​​of each grounding grid point in this area for use by the subsequent automatic flaw detection path generation module.

6. The power station grounding engineering diagnostic system based on an ultrasonic flaw detection robot according to claim 1, characterized in that, The flaw detection path generation submodule calls the automatic grounding flaw detection algorithm, calculates and generates the robot's automatic flaw detection path based on the damage probability of each point in the engineering grounding network, and uses the method of equal total damage probability. The generated flaw detection paths will cover as many potentially damaged grounding network point areas as possible, sorted according to the damage probability of each point, under the condition of minimizing the total path. The flaw detection command issuing submodule, through the corresponding calculation process of the automatic grounding flaw detection algorithm, uses industrial routers deployed in the engineering area to issue flaw detection commands and flaw detection paths to the flaw detection robot group; at the same time, it coordinates multiple robots to work together to perform ultrasonic flaw detection scanning on each grounding grid that may be damaged along the path. The flaw detection result feedback submodule calls the corresponding calculation process of the automatic grounding flaw detection algorithm, uses an industrial router to receive the field data and images fed back by each flaw detection robot group, eliminates or adds new grounding grid damage points according to the flaw detection results, and re-simulates and calculates electrical parameters for comparison with the field detection parameters.

7. The power station grounding engineering diagnostic system based on an ultrasonic flaw detection robot according to claim 1, characterized in that, The automatic grounding flaw detection algorithm uses the principle that the sum of the damage probabilities of grounding grid points is equal to generate paths for various grounding grid damage scenarios. This is achieved by calculating... The sum of probabilities of the most likely damaged points Then, the sum of the probabilities is calculated and arranged as follows: The various combinations of damaged locations are analyzed; and cyclical simulation calculations are performed to compare the differences between the actual flaw detection results and the measured values ​​until all damaged locations of the grounding grid in this area are found. The calculation formula is as follows: In the formula, The number of points with a high probability of being damaged is counted, rounded to a positive integer. This will affect the accuracy of subsequent damage point sorting and path generation calculations performed by the program. The larger the value, the higher the calculation accuracy but the longer the calculation time. The coverage area of ​​high-probability damage points specifically refers to the sum of the areas of the interconnected mesh holes surrounding each high-probability damage point. This represents the total area of ​​the grounding grid in this region; The statistical calculation adjustment coefficient for high-probability damage points affects the calculation results depending on the accuracy requirements. Then, based on various combinations of damage points, the distribution of damage points under each condition is connected according to the minimum path to generate a preliminary flaw detection path. The preliminary detection paths generated individually for each condition are then overlaid in a 3D topology map. After overlay, a main path and several branch paths are extracted through calculation. Various path schemes are then arranged and combined using an algorithm, as shown in the following formula: Path statistics method 1: + Path statistics method N: + In the formula The total path length for each of the 1 to n flaw detection path statistics methods; This refers to the length of the main path in various flaw detection path statistics methods. The length of each branch path in various flaw detection path statistics methods; The length of the portion of each main path covered by branch paths in various flaw detection path statistics methods; This refers to the path length of the detection robot returning from the end of each branch path in various flaw detection path statistics methods; After obtaining the path plan, the robot group in each area of ​​the project issues flaw detection commands and feeds back flaw detection, positioning, video and image data information through the industrial routers in each area.

8. The power station grounding engineering diagnostic system based on an ultrasonic flaw detection robot according to claim 7, characterized in that, The automatic grounding flaw detection algorithm flow is as follows: S1. Read the damage probability of each area's grounding grid point generated by the grounding system diagnostic module and algorithm. Based on the damage probability calculation value, use the algorithm of equal probability sum to first calculate... The sum of probabilities of the most likely damaged points Then, the sum of the probabilities is calculated and arranged as follows: Various combinations of damaged locations; S2. Based on the various combinations of damaged points, the distribution of damaged points under each case is connected in series according to the shortest path to generate a preliminary flaw detection path; then, the preliminary detection paths generated individually under each case are superimposed in a topology map in three-dimensional space, and after superposition, a main path and several branch paths are extracted by calculation; using an algorithm to arrange and combine various path schemes, the shortest path covering all possible damaged grounding grid points is obtained. S3. After obtaining and confirming the minimum flaw detection path scheme, use the flaw detection command issuing submodule to issue flaw detection commands to the robot groups in each area of ​​the project, and direct the robot groups to perform ultrasonic flaw detection on the grounding grid of each area according to the preset path. S4. The flaw detection robots in each area will automatically coordinate and execute flaw detection commands through program algorithms, and use ultrasonic flaw detection equipment to find and record the actual flaw detection results of the grounding materials in each area; flaw detection, positioning, video and image data information will be fed back through the industrial routers in each area. S5. Based on the on-site flaw detection feedback, use the calculation capabilities of the grounding system diagnostic module to update the actual distribution of damaged points of each grounding grid, the damaged area of ​​each point, and the degree of damage to the grounding materials in three-dimensional space; use the above information to perform simulation calculations of various electrical parameters of the grounding grid, including the grounding grid resistance value. S6. Compare the electrical parameters obtained from the simulation calculation of the grounding grid in each area after flaw detection with the actual measured values ​​in each area; if the difference is greater than the required value, continue to arrange the flaw detection robot for detection according to the order of damage, or modify the damage probability of one or more grounding grid points according to the on-site flaw detection results and regenerate the supplementary detection path; if the difference is less than the required value, it is considered that each damaged point of the grounding grid has been found. S7. After obtaining the damaged grounding grid locations in each area, the program will mark the flaw detection data and images of each damaged location in three-dimensional space and generate flaw detection results; these will be used by the subsequent detection result output module to generate relevant report results.

9. The power station grounding engineering diagnostic system based on an ultrasonic flaw detection robot according to claim 2, characterized in that, The model generation submodule summarizes, organizes, and analyzes various engineering data information, and calls or constructs a BIM model of the engineering building structure and grounding material layout in three-dimensional space; at the same time, it adds or associates various automatic flaw detection results of the engineering grounding system to the corresponding three-dimensional model, including flaw detection results of damage at each point of the grounding grid, calculation process parameters, electrical parameters, time detection results, simulation results of each process, and image and video information collected by on-site cameras and flaw detection robots; The repair scheme generation submodule assesses the damage to the grounding grid in each area by using information collected on-site by robot flaw detection and various data generated during simulation calculations. Based on the specific conditions of the engineering area, burial location, and burial depth, it queries and searches the engineering database for corresponding overall grounding electrode repair schemes. It then excavates and welds the grounding electrode materials at the damaged parts of the area for targeted repair, and clarifies the repair scheme details based on the data obtained from measurements in the BIM 3D model. The report generation submodule organizes and analyzes various data generated or acquired by the aforementioned platforms and functions. With the support of built-in report templates and engineering database information, it generates a grounding system flaw detection report for this project, which describes various detailed data in the measurement, calculation, flaw detection, and feedback process of the grounding project, and includes repair plans and cost statistics for the repair project, in accordance with template requirements and engineering report writing rules.

10. The power station grounding engineering diagnostic system based on an ultrasonic flaw detection robot according to claim 2, characterized in that, The power supply equipment is a structural component of the flaw detection robot, providing power to the various devices and modules within the robot. The mobile device is a structural component of the flaw detection robot, providing the robot with mobility. It includes matching wheels, transmission mechanism, guiding mechanism, control device, and circuit system equipment, enabling the flaw detection robot to move close to the ground and perform grounding flaw detection. The aforementioned flaw detection lifting structure is a temporary structural device that needs to be installed on the flaw detection robot when it needs to raise its own height or to perform longitudinal height grounding electrode detection. It consists of gears, a transmission device, and a lifting frame. The guide wheels in the mobile device engage the moving wheels with the transmission device, and the gear structure converts the forward power of the flaw detection robot into the lifting power of the lifting frame, which moves upward along the four support columns of the lifting frame to meet the longitudinal lifting requirements of the flaw detection robot in the height direction. It is used to detect the damage of the longitudinal grounding electrode material buried in the column structure in the height direction. The functional components of the laser positioning equipment flaw detection robot include a laser scanning radar and receiving device, a distance testing module device, an environmental map reading module device, and a real-time navigation device. It uses a 3D laser scanning radar to acquire information about the surrounding environmental structure. The ultrasonic flaw detection equipment is a core functional component of the flaw detection robot. It is used to emit high-frequency ultrasonic waves and receive their reflected signals. These signals are used to detect defects in the grounding materials laid in the building structure. The equipment includes an ultrasonic probe, a flaw detection main unit and display screen, a cleaning brush head and a coupling agent spraying device. The high-definition camera is a functional component of the flaw detection robot. It collects on-site information of the grounding flaw detection engineering area. The on-site pictures and videos provided are identified by the engineering grounding system analysis and diagnosis platform, and are used by the platform system module to evaluate and judge the probability of damage at each point of the grounding grid. The data transmission device is a functional component of the flaw detection robot. It is used to exchange data with the engineering grounding system analysis and diagnosis platform server through industrial routers deployed in various areas of the project, receive flaw detection commands and coordinates issued by the system platform, and simultaneously feed back various data information to the platform.

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