Ultra-high voltage transmission tower grounding grid detection device

Abstract

The invention belongs to the technical field of power equipment detection, and relates to an ultrahigh-voltage transmission tower grounding grid detection device which comprises a moving robot, a ground penetrating radar and a remote controller. The motion robot carries a ground penetrating radar, the remote controller is connected with the motion robot and the ground penetrating radar in a wireless communication mode, motion of the motion robot is remotely controlled, detection data of the ground penetrating radar and motion position information of the motion robot are received, and imaging detection and positioning of the underground grounding grid are achieved. Through carrying the ground penetrating radar on the movable motion robot, non-excavation detection is carried out on the grounding grid which is buried underground and invisible to naked eyes, and physical structure abnormity such as deformation or fracture of the grounding grid can be effectively identified. The movement robot is controlled to walk in a remote control mode, detection data are transmitted back, and the automation level and the intelligent level of the detection process are improved.

Description

Technical Field

[0001] This invention relates to the field of power equipment testing technology, specifically to a testing device for the grounding grid of ultra-high voltage transmission towers. Background Technology

[0002] With the continuous expansion of the scale of ultra-high voltage transmission lines, the reliability of the tower grounding network is crucial to the lightning protection and safe operation of the power system.

[0003] In existing technologies, the detection of grounding grids mainly focuses on measuring the continuity resistance of the grounding down conductor, which cannot intuitively reflect the physical shape and deformation of the buried part of the grounding grid. Therefore, the prior art discloses an online monitoring device for the operating status of the grounding grid of transmission line towers. It uses solar power, ARM processor control, oscillator excitation power amplifier, power coil and measuring coil to form a detection circuit. It excites the grounding down conductor with a non-power frequency signal, measures its circuit continuity resistance, and remotely transmits the data to the monitoring center through a GPRS module to realize online remote monitoring and evaluation of the tower grounding status.

[0004] The above-mentioned technical solutions have made progress in monitoring electrical parameters of grounding status, but the following technical problems still exist: they cannot detect the physical deformation of the grounding grid itself; the devices are fixedly installed on the poles and towers, and cannot cover the entire area of ​​the grounding grid for mobile detection; they lack the ability to image the underground grounding grid, making it difficult to intuitively locate the deformation or breakage position.

[0005] In view of this, it is very necessary to provide an ultra-high voltage transmission tower grounding grid detection device to solve the above-mentioned technical problems existing in the prior art. Summary of the Invention

[0006] The purpose of this invention is to solve the technical problems existing in the detection of grounding grids of power transmission towers: the inability to detect the physical deformation of the grounding grid itself; the fixed installation of the device on the tower, which cannot cover the entire area of ​​the grounding grid for mobile detection; and the lack of imaging capability for the underground grounding grid, making it difficult to intuitively locate the deformation or breakage position. The invention provides a design for a grounding grid detection device for ultra-high voltage transmission towers to solve the technical problems existing in the prior art.

[0007] To achieve the above objectives, the present invention provides the following technical solution: This invention provides a grounding grid detection device for ultra-high voltage transmission towers, comprising: a motion robot, a ground penetrating radar, and a remote controller; the motion robot is equipped with a ground penetrating radar, and the remote controller is a handheld integrated control terminal, which is connected to the motion robot and the ground penetrating radar respectively via wireless communication, remotely controlling the movement of the motion robot, receiving the detection data of the ground penetrating radar and the movement position information of the motion robot, and performing imaging detection and positioning of the underground grounding grid.

[0008] The motion robot includes a motion module, a first RTK positioning module, a signal transmission module, and a motion control signal receiving module; the ground penetrating radar includes a detection module and an image transmission module; the remote controller includes a position-detection signal dual-layer imaging module, a motion control module, and a second RTK positioning module.

[0009] Preferably, the motion module includes a first control chip, a chassis, a motion control structure, and Mecanum wheels; the motion control structure includes a second control chip, a first WIFI module, a motor, and an electric drive system. The electric drive system uses a TB6612 motor for driving. The motion control structure is connected to the four Mecanum wheels and is mounted on the chassis structure as a whole.

[0010] Preferably, the first RTK positioning module includes a third control chip, an RTK module, and a signal transmitting antenna. With the cooperation of the signal transmitting antenna, the RTK module collects the motion position information of the robot in real time and transmits the collected motion position information to the third control chip for data processing and time stamping.

[0011] Preferably, the signal transmission module includes a fourth control chip and a first Bluetooth module. The fourth control chip reads the motion position information of the robot from the third control chip and sends it to the remote controller through the first Bluetooth module.

[0012] Preferably, the motion control signal receiving module includes a fifth control chip and a second Bluetooth module. The fifth control chip parses the received motion control commands and sends the parsed control signals to the first control chip.

[0013] Preferably, the detection module includes a host, a power supply, a transmitter, a receiver, and a display structure; the host is equipped with a sixth control chip, which controls the transmitter to emit high-frequency electromagnetic waves into the ground and controls the receiver to receive the echo signal reflected from the interface between the grounding grid and the soil, so as to detect and image the underground grounding grid.

[0014] Preferably, the image transmission module includes a seventh control chip and a second WIFI module, which establishes a connection with the remote controller using a P2P direct connection communication method, and transmits the detection signal collected by the detection module to the remote controller via WIFI.

[0015] As a preferred embodiment, the position-detection signal dual-layer imaging module includes an eighth control chip, a third WIFI module, and an image display screen. The position-detection signal dual-layer imaging module synchronously receives detection signals from ground penetrating radar and position signals from the moving robot via WIFI. It uses a unified timestamp to match and fuse the two types of signals, and displays motion position information and detection images on the image display screen through wavelet threshold denoising and image reconstruction, thereby accurately locating the deformation area of ​​the grounding grid.

[0016] Preferably, the motion control module includes a ninth control chip, a fourth WIFI module, and a touch-screen image display.

[0017] Preferably, the second RTK positioning module includes a tenth control chip and a signal receiving antenna to receive motion position information sent by the robot.

[0018] The beneficial effects of this invention are as follows: This invention, by equipping a mobile robot with ground-penetrating radar, enables the detection device to move autonomously or remotely around the pole and its surrounding area instead of being fixed at the pole. This achieves full coverage of the grounding grid and solves the problems of existing devices being unable to perform mobile detection and having limited detection range.

[0019] This invention utilizes ground-penetrating radar based on the principle of eddy current non-destructive testing to perform high-frequency electromagnetic detection on underground grounding grids. Through echo signal imaging, it achieves visual detection of the grounding grid's morphology, enabling the identification of physical structural anomalies such as deformation and fractures in the grounding grid. This solves the problem in existing technologies that cannot detect the physical deformation of the grounding grid itself.

[0020] This invention enables motion control, detection data transmission, and motion position information feedback through wireless communication, allowing the detection process to be completed without manual intervention or soil excavation. It offers high detection efficiency, flexible operation, and is suitable for grounding grid detection needs in complex environments such as ultra-high voltage transmission towers.

[0021] This invention innovatively applies ground-penetrating radar (GPR) detection technology to the field of deformation detection of power transmission tower grounding grids. Compared with existing detection methods that mainly rely on voltage and current and can only obtain electrical parameters without intuitively reflecting the underground structural state, this invention can form a detection image of the underground grounding grid and realize the imaging display of the detection results, thereby significantly improving the intuitiveness and visibility of grounding grid detection and solving the problem of lack of underground grounding grid imaging capability in existing technologies.

[0022] This invention proposes and implements a dual-layer imaging method based on position and detection signals. It synchronously acquires detection signals from ground-penetrating radar and motion position information obtained by a mobile robot, processing them with a unified timestamp. In subsequent fusion imaging, it achieves a corresponding display of the detected image and the actual spatial position, enabling accurate location of deformation or breakage in the grounding grid. This solves the problems of existing technologies lacking underground grounding grid imaging capabilities and difficulty in intuitively locating faults. It also facilitates subsequent maintenance and replacement operations.

[0023] This invention designs a novel detection device for grounding grids of ultra-high voltage transmission towers. By mounting a ground-penetrating radar on a mobile robot, it performs trenchless detection of the underground, invisible grounding grid. This effectively identifies physical structural anomalies such as deformation or breakage of the grounding grid, solving the problem that existing technologies cannot detect the physical deformation of the grounding grid itself. The robot is remotely controlled to move and transmit detection data, improving the automation and intelligence of the detection process, reducing the intensity of manual intervention, and increasing detection efficiency.

[0024] Therefore, it is evident that the present invention has outstanding substantive features and significant progress compared with the prior art, and the beneficial effects of its implementation are also obvious. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0026] Figure 1 This is a diagram of a detection device for the grounding grid of an ultra-high voltage transmission tower. Figure 2 This is a structural diagram of a motion robot; Figure 3 This is a velocity decomposition distribution diagram of a motion robot; Figure 4 This is a diagram of a ground-penetrating radar structure; Figure 5 This is a diagram of the remote control structure; Figure 6 This is the pin diagram of the TB6612 motor driver chip. Detailed Implementation

[0027] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments. The following embodiments are explanations of the present invention, but the present invention is not limited to the following implementation methods.

[0028] Example: like Figure 1 As shown in the figure, this embodiment provides an ultra-high voltage transmission tower grounding grid detection device, including: a motion robot 1, a ground penetrating radar 2, and a remote controller 3; the motion robot 1 is equipped with the ground penetrating radar 2, and the remote controller 3 is connected to the motion robot 1 and the ground penetrating radar 2 respectively through wireless communication, remotely controlling the movement of the motion robot 1, receiving the detection data of the ground penetrating radar 2 and the movement position information of the motion robot 1, and realizing the imaging detection and positioning of the underground grounding grid.

[0029] (a) Composition of the motion robot 1 To improve the intelligence level of grounding grid inspection operations on ultra-high voltage transmission towers, simplify the operation process for inspection personnel, and increase inspection efficiency, a four-wheeled motion robot 1 is designed. The motion robot 1 includes a motion module 11, a first RTK positioning module 12, a signal transmission module 13, and a motion control signal receiving module 14. The overall structure of the motion robot 1 is as follows: Figure 2 As shown.

[0030] The motion module 11 includes a first control chip 111, a chassis 112, a motion control structure 113, and a Mecanum wheel 114; The motion robot 1 is a roller-type crawling structure, with an overall appearance resembling a crawling robot. It adopts a structure combining a flat chassis and four-wheel drive. The chassis 112 is a flat aluminum alloy structure with dimensions of 0.5 meters × 0.6 meters. The motion module 11, the first RTK positioning module 12, the signal transmission module 13, the motion control signal receiving module 14, and the ground penetrating radar 2 are all mounted on the chassis. The use of aluminum alloy material enhances the overall structural strength of the chassis 112, enabling the motion robot 1 to adapt to the complex terrain environment around the tower. The aluminum alloy material also has a certain shielding effect on high-frequency electromagnetic waves, which can reduce the ineffective scattering of electromagnetic waves into the surrounding air during the operation of the ground penetrating radar 2, thereby improving the effectiveness and stability of underground grounding grid detection.

[0031] Four Mecanum wheels 114 are symmetrically mounted around the chassis 112, arranged in a counter-clockwise ○-square pattern. Each Mecanum wheel 114 is an omnidirectional wheel, consisting of a hub and a roller. The roller axis forms a 45° angle with the wheel axle. Under the coordinated control of the rotational speeds of each Mecanum wheel 114, the motion robot 1 can achieve forward, backward, lateral, and in-situ rotational omnidirectional movement, meeting the requirements for flexible coverage and inspection of the tower grounding grid area.

[0032] The first control chip 111, as the core control unit of the motion module 11, receives motion control commands sent by the remote controller 3 and outputs corresponding motor control signals according to the motion control commands. The first control chip 111 can be an STM32 series microcontroller, such as the STM32F103 or STM32F407, which has multiple PWM output interfaces, timer resources and communication interfaces, and can meet the needs of multi-motor collaborative control and real-time motion control.

[0033] The motion control structure 113 includes a second control chip 1131, a first WIFI module 1132, four sets of motors 1133, and an electric drive system 1134. The electric drive system 1134 uses a TB6612 motor to drive the speed and direction of the four sets of motors 1133. The motion control structure 113 is connected to four Mecanum wheels 114 and is mounted on the chassis 112.

[0034] The four sets of motors 1133 are DC geared motors or brushless DC motors, such as DC geared motors with a rated voltage of 12V. The output shafts of the four sets of motors 1133 are fixedly connected to the axles of the corresponding Mecanum wheels 114, providing driving force for the motion robot 1. The reduction mechanism can improve the output torque while ensuring the stability of the motor output speed, so as to meet the power requirements of the motion robot 1 when walking in complex ground environments and carrying the ground-penetrating radar 2. The first WIFI module 1132 establishes a wireless communication connection with the remote controller 3. The second control chip 1131 uses a PID control strategy to drive the motor movement according to the motor control signal output by the first control chip 111, and coordinates the speed and direction of the four sets of motors 1133 to realize the forward and backward movement and left and right translation of the motion robot 1. To realize the left and right translation of the motion robot, a differential control strategy is adopted: the left front wheel and the left rear wheel turn forward, the right front wheel and the right rear wheel turn backward, and the motion robot translates to the right; the left front wheel and the left rear wheel turn backward, the right front wheel and the right rear wheel turn backward, and the motion robot translates to the left.

[0035] Furthermore, to describe the motion mechanism of the robot 1, this invention analyzes the correspondence between the geometric center velocity of the chassis 112 and the rotational speed of each wheel based on the kinematic model of the Mecanum wheels 114. Since the motion speed of the chassis 112 is the overall motion speed of the robot 1, the calculation method of inversely deriving the speed of each wheel from the overall speed is adopted. The rotation direction of the four Mecanum wheels 114 includes the counterclockwise direction. Let its rotational angular velocity be W, and its linear velocity can be calculated from the angular velocity W. The vector connecting the geometric center of chassis 112 to the wheel axle is r. The velocity decomposition distribution of the motion robot is as follows: Figure 3 .

[0036] First, let the velocity of the geometric center of chassis 112 be... A horizontal coordinate system is established at the geometric center of chassis 112, and the velocity is decomposed into velocity components along the coordinate axes: ; in, Let X be the velocity component of the center of chassis 112 in the X direction. It represents the velocity component of the center of chassis 112 in the Y direction.

[0037] Considering that the robot 1 may rotate around the geometric center of the chassis 112 during its movement, let W be the angular velocity around the origin of the coordinate system, and let r be the direction vector of the line connecting the geometric center of the chassis 112 to the coordinate center of each wheel axle. Under the above conditions, it can be determined that the velocity at the axle of the Mecanum wheel 114 is not only affected by the velocity of the geometric center of the chassis 112, but also by the additional velocity component caused by the angular velocity.

[0038] Therefore, the rotational speed V at the axle includes the speed of motion of the geometric center of the chassis 112. The velocity component perpendicular to the angular velocity generated by the angular velocity W Its composition, its expression is: ; The speed V mentioned above is the linear velocity vector at the wheel axle, which is the basis for subsequently determining the rotational speed of the Mecanum wheel 114 and the motor speed.

[0039] It consists of two parts: an axle and a roller, with the roller forming a 45° angle with the axle. To determine the effective driving speed of the Mecanum wheel 114, the rotational speed V at the axle needs to be decomposed along the roller's direction of motion and perpendicular to it. The velocity component perpendicular to the roller's direction of motion has no effect on the wheel's drive and can be ignored; only the velocity component parallel to the roller's direction is retained. .

[0040] The speed along the roller direction is defined as It can be calculated using vector projection. , Used to determine the speed parallel to the direction of the roller.

[0041] Where u is a unit vector along the roller direction. Based on the structural characteristics of the Mecanum wheel 114, the roller direction forms a 45° angle with the coordinate axis, and the unit vector can be expressed as: .

[0042] Decomposing the wheel-axle velocity V along the X and Y axes, we get: ; Substituting into the projection formula, the effective speed along the roller direction is obtained as follows:

[0043] After sorting, the magnitude of the roller's directional velocity is obtained as follows: ; Since the angle between the roller and the axle is 45°, the speed at the point of contact between the wheel and the ground can be further determined based on geometric relationships. Its expression is: .

[0044] Establish an r–t coordinate system at the center of the wheel axle, where and These represent the components of the wheel axle center position vector along the X and Y axes, respectively. Combining the relationship between the center velocity and angular velocity of chassis 112, the wheel axle velocity components can be obtained as follows:

[0045]

[0046] Substituting the above relationship into the Mecanum wheel 114 speed calculation formula, we get: ; The This represents the speed at the point of contact between the Mecanum wheel 114 and the ground. Further determination of the rotational speed of the Mecanum wheel 114 is needed. Then the velocity of the point of contact between the Mecanum wheel 114 and the ground can be divided by the radius of the wheel. ,Right now .

[0047] Through the above calculation process, the correspondence between the geometric center motion speed of the chassis 112 and the rotational speed of each Mecanum wheel 114 can be established, thereby realizing the control process of inferring the rotational speed of each motor from the overall motion state of the motion robot 1, and providing a theoretical basis for the coordinated control of the motors in the motion module 11.

[0048] The first RTK positioning module 12 includes a third control chip 121, an RTK module 122, and a signal transmitting antenna 123. The RTK module 122 is used to collect the motion position information of the robot 1, including latitude and longitude, in real time during its operation. With the cooperation of the signal transmitting antenna 123, the RTK module 122 collects the motion position information of the robot in real time and transmits the collected motion position information to the third control chip 121 for data processing and time stamping.

[0049] The RTK module 122 is a high-precision positioning module based on real-time dynamic differential positioning technology. By receiving carrier phase signals from a satellite navigation system and combining them with differential correction data for real-time calculation, it can provide centimeter-level positioning accuracy in motion. Compared with ordinary positioning methods, the RTK module 122 can effectively reduce the impact of multipath effects, clock errors, and ionospheric delays, making it suitable for precise positioning needs in complex outdoor environments. In this invention, the RTK module 122 is used to output the motion position information of the robot 1 in real time, and in conjunction with a time stamping mechanism, it achieves synchronous matching between the motion position information and the detection signal of the ground penetrating radar 2, providing reliable position data support for subsequent position-detection signal fusion imaging and precise positioning of deformed positions.

[0050] The signal transmission module 13 includes a fourth control chip 131 and a first Bluetooth module 132. The fourth control chip 131 reads the motion position information of the robot from the third control chip 121 and sends the motion position information stored in the third control chip 121 to the remote controller 3 via Bluetooth through the first Bluetooth module 132, thereby establishing a position map with centimeter-level accuracy on the remote controller 3 and using it for subsequent fusion display of position and detection signals.

[0051] The motion control signal receiving module 14 includes a fifth control chip 141 and a second Bluetooth module 142, which are connected by a physical structure and integrated on the chassis 112. The fifth control chip 141 parses the received motion control commands and transmits the parsed motion control commands to the first control chip 111 through the second Bluetooth module 142, thereby realizing the remote control operation of the motion robot 1.

[0052] (ii) Ground Penetrating Radar like Figure 4 As shown, the ground-penetrating radar 2 includes a detection module 21 and an image transmission module 22; the two work together to realize the detection, imaging and data transmission of the underground grounding grid.

[0053] The detection module 21 is based on the principle of eddy current non-destructive testing and includes a host 211, a power supply 212, a transmitter 213, a receiver 214, and a display structure 215. The host 211 is equipped with a sixth control chip, which controls the transmitter 213 to emit high-frequency electromagnetic waves into the ground and controls the receiver 214 to receive the echo signal reflected from the interface between the grounding grid and the soil. The display structure 215 displays a three-dimensional image of the underground grounding grid, thereby realizing the detection and imaging of the underground grounding grid. The power supply 212 is used for power supply.

[0054] When electromagnetic waves propagate through media such as soil, their propagation path, electromagnetic field strength, and waveform characteristics change depending on the electromagnetic properties and geometry of the medium. When electromagnetic waves encounter interfaces between media of different materials during propagation, varying degrees of reflection occur. Since the grounding grid of transmission towers is typically constructed from metal strips approximately 12 centimeters in diameter, the ferromagnetism of these strips differs significantly from that of the surrounding soil. This difference results in a substantial reflected echo at the interface between the transmission tower grounding grid and the soil. Based on this, the underground grounding grid of transmission towers can be detected and located.

[0055] When the detection module 21 is working, the sixth control chip controls the transmitter 213 to emit high-frequency broadband electromagnetic waves towards the underground object being detected. The receiver 214 receives the electromagnetic wave signals reflected back from the object being detected and stores the electromagnetic wave signals in the control chip according to the different arrival times of the reflected waves. Based on the analysis of the travel time, amplitude, and waveform characteristics of the received reflected waves, an imaging detection of the underground grounding grid distribution is obtained, and a three-dimensional image of the underground grounding grid is constructed. The three-dimensional image of the underground grounding grid is displayed through the image display structure 215, thereby determining whether there is any deformation of the grounding grid in the horizontal or vertical direction, providing a basis for subsequent operation and maintenance work. During the detection process, the detection signal is synchronously time-marked, laying the foundation for the subsequent establishment of a position-detection signal dual-layer image model.

[0056] From the perspective of electromagnetic principles, for electromagnetic waves to propagate in a medium, they must satisfy Maxwell's equations, and their electric field intensity components can be expressed as follows: .

[0057] in, Let x be the electric field strength at a propagation distance Z=x. Let be the electric field strength at Z=0, k=β-jα be the propagation constant, α be the attenuation constant representing the degree of attenuation of the electromagnetic wave per unit propagation distance, and β be the phase shift constant representing the phase change per unit propagation distance. Their expressions are as follows:

[0058]

[0059] As can be seen from the above relationships, both the attenuation constant α and the phase shift constant β are closely related to the electromagnetic wave angular frequency ω, the medium's permeability μ, and the dielectric constant ε. Therefore, when an electromagnetic wave propagates in an engineering medium and encounters an interface with different electromagnetic properties, reflection occurs. By analyzing the time history and dynamic characteristics of the reflected wave, the structure of the underground medium can be determined.

[0060] The image transmission module 22 is used to transmit detection data and image information between the detection module 21 and the remote controller 3. The image transmission module 22 includes a seventh control chip 221 and a second WIFI module 222, with the seventh control chip 221 directly controlling the second WIFI module 222. After completing underground target detection, the detection module 21 stores the detected signals in the SRAM of the seventh control chip 221. The seventh control chip 221 establishes a communication link between the ground penetrating radar 2 and the remote controller 3 through the second WIFI module 222, transmitting the stored detection signals back. Simultaneously, the generated three-dimensional image data of the underground grounding network is synchronously transmitted to the remote controller 3 via the second WIFI module 222 through the image display structure 215. Further processing and imaging display are performed in the remote controller 3, realizing the transmission of detection signals and image data. The first WIFI module 1132 and the second WIFI module 222 can be ESP32 WIFI modules.

[0061] Both the first Wi-Fi module 1132 and the second Wi-Fi module 222 support two communication methods: one is network connection communication via a router, which has a longer communication distance but higher system cost and requires additional router configuration; the other is P2P direct connection communication, which does not require a router and allows the two Wi-Fi networks to establish a communication connection directly, resulting in lower cost but a relatively shorter transmission distance. Considering factors such as communication distance, system cost, and usage scenarios, the image signal transmission in this invention adopts the P2P direct connection communication method.

[0062] In the P2P direct connection communication mode, two Wi-Fi networks establish a direct connection through a preset communication protocol. One Wi-Fi network is set to Soft-AP mode to create an independent Wi-Fi network, while the other Wi-Fi network connects to the Soft-AP network as a Station (STA). After the connection is established, the IP addresses of both Wi-Fi networks remain fixed, enabling stable communication and transmission of detection signals and image data through these fixed IP addresses.

[0063] (iii) Remote control like Figure 5 As shown, the remote controller 3 is a handheld integrated control terminal used for motion control of the robot 1, acquisition of motion position information, and imaging and display of the detection signals from the ground-penetrating radar 2. The remote controller 3 includes a position-detection signal dual-layer imaging module 31, a motion control module 32, and a second RTK positioning module 33. Through the collaborative work of these modules, unified control and information fusion processing of the detection process are achieved.

[0064] During operation, the remote controller 3 establishes a connection with the motion robot 1 and the ground penetrating radar 2 via wireless communication, and receives the motion position information of the motion robot and the detection signal returned by the ground penetrating radar 2 in real time; the eighth control chip 311 of the position-detection signal dual-layer imaging module 31 completes data storage, processing, imaging and interactive control, providing operators with intuitive and reliable detection and positioning basis.

[0065] The position-detection signal dual-layer imaging module 31 is used to realize the fusion processing and visualization display of the detection signal of the ground penetrating radar 2 and the motion position information of the robot. The position-detection signal dual-layer imaging module 31 includes an eighth control chip 311, a third WIFI module 312, and an image display screen 313. After the third WIFI module 312 of the remote controller 3 establishes a wireless communication connection with the second WIFI module 222 of the ground penetrating radar 2, the eighth control chip 311 can receive the detection signal returned by the ground penetrating radar 2 in real time and store it in the SRAM of the eighth control chip 311. At the same time, the eighth control chip 311 also synchronously receives and stores the motion position information of the robot acquired by the signal receiving antenna 332, thereby realizing centralized management of detection data and motion position information on the same hardware platform.

[0066] To improve the imaging quality of the detection signal, the eighth control chip 311 integrates a dedicated denoising algorithm to suppress noise components introduced by terrain undulations and environmental interference. The algorithm denoises the detection signal, and considering the need to highlight the edge features between the grounding grid and the underground soil in the final imaging, a wavelet thresholding denoising method is used. This maps the detection signal to the wavelet domain, where effective information is mainly concentrated in wavelet coefficients with larger amplitudes, while noise is distributed in wavelet coefficients with smaller amplitudes. By setting a threshold, wavelet coefficients smaller than the threshold are set to zero or reduced, and then wavelet reconstruction is performed. This method effectively preserves the edge and detailed features of the grounding grid while suppressing noise, meeting the processing requirements of the ground penetrating radar 2 detection signal.

[0067] After denoising the detection signal, the denoised detection signal and the position signal are comprehensively processed. A position-detection signal dual-layer imaging model is proposed. During the data acquisition stage, the control chip records a unified timestamp for both the denoised detection signal and the position signal. During the data processing stage, the detection image and spatial position at the same moment are accurately matched based on the timestamp information, achieving a one-to-one correspondence between the denoised detection signal and the motion position information. Through the position-detection signal dual-layer imaging model, a detection result with spatiotemporal consistency is constructed and rendered and displayed in real time on the image display screen.

[0068] Through the above processing, the position-detection signal dual-layer imaging module 31 effectively integrates the detection signal and motion position information, improves detection accuracy and positioning efficiency, provides maintenance personnel with an intuitive and reliable visualization interface, quickly locates the deformed section of the grounding grid, and provides precise guidance for subsequent inspection and maintenance work.

[0069] The motion control module 32 is used to control the direction of travel and motion state of the robot 1 by the remote controller 3. The motion control module 32 includes a ninth control chip 321, a fourth WIFI module 322, and a touch screen display 323. The remote controller 3 establishes a wireless communication connection with the robot 1 through the fourth WIFI module 322. The motion control program is written in the ninth control chip 321. The operator can perform touch operation or button operation on the touch screen display 323 to generate corresponding motion control commands, which are sent to the robot 1 in real time via the fourth WIFI module 322, thereby realizing the control of the robot 1's forward, backward, left and right movement, and turning motion states.

[0070] At the motion control implementation level, the ninth control chip 321 parses button or touch commands and outputs motion control signals containing level and pulse signals to drive the motor drive circuit of the motion robot 1. The motion robot 1 uses the TB6612 motor driver chip as the execution drive unit. The pin diagram of the TB6612 motor driver chip is shown below. Figure 6 As shown. Each TB6612 motor driver chip can drive two DC motors simultaneously. Only two sets of TB6612 motor driver chips are needed to independently control all four wheels; one set drives the two front wheels, and the other drives the two rear wheels. The TB6612 motor driver chip has AIN1, AIN2, BIN1, BIN2, PWM1, and PWM2 control ports. AIN1 and AIN2 control the forward and reverse rotation of the first motor, while BIN1 and BIN2 control the forward and reverse rotation of the second motor. When AIN1 is high and AIN2 is low, the corresponding DC motor rotates forward; conversely, the DC motor rotates in reverse. The control logic of the BIN port is consistent with this. The PWM1 and PWM2 ports are used to input pulse signals, and precise control of the motor speed is achieved by adjusting the pulse duty cycle.

[0071] Based on the above control logic, the ninth control chip 321 can achieve coordinated adjustment of the direction and speed of the four motors 1133 by programmatically controlling the combination of levels of each control port and the duty cycle of PWM, thereby completing the forward and backward movement, turning and posture control of the motion robot 1, and ensuring the stability and flexibility of the motion control process.

[0072] The second RTK positioning module 33 includes a tenth control chip 331 and a signal receiving antenna 332, used to receive and record the motion position information of the motion robot 1. During the operation and detection of the motion robot, the motion robot 1 sends motion position signals through the signal transmitting antenna 123, and the signal receiving antenna 332 at the remote controller 3 receives the motion position signals and stores them in the tenth control chip 331.

[0073] During the ground-penetrating radar (GPR) detection process, the echo signal collected by the detection module 21 is transmitted back to the remote controller 3 via the third WIFI module 312 for imaging processing. Simultaneously, the signal receiving antenna 332 continuously records the trajectory and spatial position of the moving robot. When deformation or abnormality is detected in the grounding grid within the detection image, the problematic section can be located. The movement position information and the detection signal together form a dual-layer corresponding image, achieving a precise correspondence between the detection results and the movement position, providing accurate positioning references for subsequent construction, replacement, and maintenance operations.

[0074] Furthermore, since this embodiment involves a large number of control chips, all of them are described in detail: The first control chip 111, as the core control unit of the motion module 11, receives motion control commands sent by the fifth control chip 141 and outputs corresponding motor control signals according to the motion control commands; the second control chip 1131, based on the motor control signals output by the first control chip 111, uses a PID control strategy to drive the motor movement and coordinates the speed and direction of the four sets of motors 1133; the third control chip 121 stores the motion position information of the motion robot and timestamps it; the fourth control chip 131 controls the first Bluetooth module 132 to send the motion position information stored in the third control chip 121 to the remote controller 3 via Bluetooth; the fifth control chip 141 transmits the received motion control commands to the first control chip 111 through the second Bluetooth module 142, realizing the remote control operation of the motion robot 1; the sixth The control chip controls the transmitter 213 to emit high-frequency electromagnetic waves into the ground and controls the receiver 214 to receive the echo signal reflected from the interface between the grounding grid and the soil; the seventh control chip 221 establishes a communication link between the ground penetrating radar 2 and the remote controller 3 through the second WIFI module 222 and transmits the stored detection signal back; the eighth control chip 311 receives the detection signal transmitted back by the ground penetrating radar 2 through the third WIFI module 312 and stores it in the SRAM of the eighth control chip 311; the ninth control chip 321 parses the button or touch command and outputs a motion control signal containing level and pulse, which is transmitted unidirectionally to the fifth control chip through the fourth WIFI module 322 and the first WIFI module 1132; the signal receiving antenna 332 at the end of the remote controller 3 receives the motion position signal and stores it in the tenth control chip 331.

[0075] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. The methods disclosed in the embodiments are described simply because they correspond to the systems disclosed in the embodiments; relevant details can be found in the method section.

[0076] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0077] In the embodiments provided by this invention, it should be understood that the disclosed systems and methods can be implemented in other ways. For example, the system embodiments described above are merely illustrative. For instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between systems or units may be electrical, mechanical, or other forms.

[0078] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0079] In addition, the functional modules in the various embodiments of the present invention can be integrated into one processing unit, or each module can exist physically separately, or two or more modules can be integrated into one unit.

[0080] Similarly, in the various embodiments of the present invention, each processing unit can be integrated into a functional module, or each processing unit can exist physically, or two or more processing units can be integrated into a functional module.

[0081] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented directly by hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0082] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0083] The above-disclosed embodiments are merely preferred embodiments of the present invention, but the present invention is not limited thereto. Any non-creative variations that can be conceived by those skilled in the art, as well as any improvements and modifications made without departing from the principles of the present invention, should fall within the protection scope of the present invention.

Claims

1. A detection device for the grounding grid of ultra-high voltage transmission towers, characterized in that, include: Motion robots, ground-penetrating radar, and remote controllers; The motion robot is equipped with a ground-penetrating radar. The remote controller is connected to both the motion robot and the ground-penetrating radar via wireless communication. It can remotely control the movement of the motion robot, receive detection data from the ground-penetrating radar and the movement position information of the motion robot, and perform imaging detection and positioning of the underground grounding grid.

2. The ultra-high voltage transmission tower grounding grid detection device according to claim 1, characterized in that, The motion robot includes a motion module, a first RTK positioning module, a signal transmission module, and a motion control signal receiving module; the ground penetrating radar includes a detection module and an image transmission module; the remote controller includes a position-detection signal dual-layer imaging module, a motion control module, and a second RTK positioning module.

3. The ultra-high voltage transmission tower grounding grid detection device according to claim 2, characterized in that, The motion module includes a first control chip, a chassis, a motion control structure, and Mecanum wheels; The first RTK positioning module includes a third control chip, an RTK module, and a signal transmitting antenna. With the cooperation of the signal transmitting antenna, the RTK module collects the motion position information of the robot in real time and transmits the collected motion position information to the third control chip for data processing and time stamping. The signal transmission module includes a fourth control chip and a first Bluetooth module. The fourth control chip reads the motion position information of the robot from the third control chip and sends it to the remote controller through the first Bluetooth module. The motion control signal receiving module includes a fifth control chip and a second Bluetooth module.

4. The ultra-high voltage transmission tower grounding grid detection device according to claim 3, characterized in that, The fifth control chip parses the received motion control command and sends the parsed control signal to the first control chip. The first control chip outputs the corresponding motor control signal according to the motion control command. The chassis is a flat aluminum alloy structure. The motion module, first RTK positioning module, signal transmission module, motion control signal receiving module, and ground-penetrating radar are all mounted on the chassis. Four Mecanum wheels are symmetrically mounted around the chassis, arranged in a counter-clockwise square pattern. The motion control structure includes a second control chip, a first WIFI module, four sets of motors, and an electric drive system. The electric drive system uses TB6612 motors. The first WIFI module is wirelessly connected to the fourth WIFI module of the remote control. The second control chip uses a PID control strategy to drive the motors based on the motor control signals output by the first control chip, coordinating the speed and direction of the four sets of motors. The motion control structure is connected to the four Mecanum wheels and mounted on the chassis structure. The first RTK positioning module collects the robot's position information in real time during operation. The collected position information is recorded in the third control chip and time-stamped. The fourth control chip controls the first Bluetooth module to send the motion position information stored in the third control chip to the remote controller via Bluetooth.

5. The ultra-high voltage transmission tower grounding grid detection device according to claim 4, characterized in that, The detection module includes a host, power supply, transmitter, receiver, and image display structure; the image transmission module includes a seventh control chip and a second WIFI module.

6. The ultra-high voltage transmission tower grounding grid detection device according to claim 5, characterized in that, The host is equipped with a sixth control chip, which controls the transmitter to emit high-frequency electromagnetic waves into the ground and controls the receiver to receive the echo signal reflected from the interface between the grounding grid and the soil. The chip displays a three-dimensional image of the underground grounding grid through a graphic display structure. The power supply is used for power supply. The seventh control chip directly controls the second WIFI module. After the detection module completes the underground target detection, it stores the detected signal in the SRAM of the seventh control chip. The seventh control chip establishes a communication link between the ground penetrating radar and the remote controller through the second WIFI module, and transmits the stored detection signal back. The generated three-dimensional image data of the underground grounding network is synchronously transmitted to the remote controller through the second WIFI module via the image display structure.

7. The ultra-high voltage transmission tower grounding grid detection device according to claim 6, characterized in that, The position-detection signal dual-layer imaging module includes an eighth control chip, a third WIFI module, and an image display screen; the motion control module includes a ninth control chip, a fourth WIFI module, and a touch-sensitive image display screen; the second RTK positioning module includes a tenth control chip and a signal receiving antenna, which receives motion position information sent by the motion robot.

8. The ultra-high voltage transmission tower grounding grid detection device according to claim 7, characterized in that, The position-detection signal dual-layer imaging module receives detection signals from ground-penetrating radar and position signals from a moving robot via WIFI. It matches and fuses the detection and position signals using a unified timestamp, and displays the motion position information and detection image on the image display screen through wavelet threshold denoising and image reconstruction, thereby accurately locating the deformation area of ​​the grounding grid.

9. A detection device for the grounding grid of an ultra-high voltage transmission tower according to claim 7, characterized in that, After the third WIFI module of the remote controller establishes a wireless communication connection with the second WIFI module of the ground penetrating radar, the eighth control chip receives the detection signal returned by the ground penetrating radar in real time and stores it in the SRAM of the eighth control chip. The eighth control chip synchronously receives and stores the motion position information of the moving robot obtained by the signal receiving antenna. The remote controller establishes a wireless communication connection with the first WIFI module of the motion robot through the fourth WIFI module. The motion control program is written in the ninth control chip. Touch operation or button operation is performed on the touch screen to generate corresponding motion control commands, which are unidirectionally sent from the remote controller to the motion robot by the fourth WIFI module and the first WIFI module through WIFI communication. The signal receiving antenna of the remote controller receives the motion position signal and stores it in the tenth control chip.

10. A grounding grid detection device for ultra-high voltage transmission towers according to claim 9, characterized in that, The ninth control chip parses button or touch commands and outputs corresponding level and pulse control signals to drive the motor drive circuit on the robot. The robot uses TB6612 motor drive chips, each of which can drive two DC motors simultaneously. The four wheels are equipped with two sets of TB6612 motor drive chips, one set driving the two front wheels and the other set driving the two rear wheels. The TB6612 drive chip is equipped with AIN1, AIN2, BIN1, BIN2, PWM1, and PWM2 control ports. AIN1 and AIN2 are used to control the forward and reverse rotation of the first motor, and BIN1 and BIN2 are used to control the forward and reverse rotation of the second motor. When AIN1 is high and AIN2 is low, the corresponding DC motor rotates forward, and vice versa. The control logic of the BIN port is the same. The PWM1 and PWM2 ports are used to input pulse signals, and the motor speed is controlled by adjusting the pulse duty cycle.

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