A power transmission tower intelligent analyzer with a ground net welding point detection function

Abstract

The utility model discloses a kind of transmission tower intelligent analyzers with ground net welding point detection function, including transmitter and receiver, the transmitter is used to apply alternating current to ground net ray, one end is connected with ground stake, the other end is connected on ground net ray exposed joint;The receiver includes receiving antenna, signal analysis module, display screen, main control module, button, high-precision RTK and gyroscope. The analyzer has basic grounding resistance detection, soil resistivity detection and concealed ground net detection, real-time display ground net trend, while having the industry first ground net welding point detection function, effectively reduce the loss of manpower and material resources caused by blind excavation ground net. The equipment overall structure is simple, portable, easy to use, powerful, with greater practical value.

Description

Technical Field

[0001] This utility model relates to the technical field of the power industry, specifically to an intelligent analyzer for transmission towers with ground grid welding point detection function. Background Technology

[0002] With the development of the power industry and the expansion of power grid construction, the number of power poles and towers in various regions is constantly increasing, leading to a growing demand for maintenance of the power pole and tower grounding grid. Poor welding at grounding grid welding points is one of the more common problems. Power poles and towers are typically located in mountainous areas with high altitudes and rugged terrain, making excavation difficult and challenging. Therefore, grid maintenance work still relies heavily on manual, blind excavation, resulting in a massive workload and significant financial investment.

[0003] The existing testing tools have the following disadvantages: (1) The equipment has a complex structure, making it difficult to achieve modular and standardized production; (2) The equipment is heavy, and transporting it to mountainous areas requires a lot of manual labor; (3) The functions are simple and cannot adapt to the needs of multiple scenarios; (4) It cannot inspect the ground grid welding joints, which is not conducive to checking whether the welding joints are broken or rusted. Summary of the Invention

[0004] To address the aforementioned technical shortcomings, the purpose of this utility model is to provide an intelligent analyzer for power transmission towers with grounding grid welding point detection function. This eliminates the need for blind manual excavation and enables precise measurement of the buried path, depth, and welding points of the concealed grounding grid by intelligent instruments, greatly reducing operating costs.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0006] 1. This utility model provides an intelligent analyzer for power transmission towers with ground grid welding point detection function, including a transmitter and a receiver. The transmitter is used to apply alternating current to the ground grid ray. One end of the transmitter is connected to the ground pile, and the other end is connected to the exposed joint of the ground grid ray. The current flows along the pipeline in its extension direction, returns to the ground pile through the ground, and forms a loop. At the same time, an alternating electromagnetic field of the same frequency is formed around the ground grid ray. The receiver scans and receives this alternating electromagnetic field on the ground above the ground grid ray. By detecting the characteristics of the electromagnetic field and the degree of distortion of the electromagnetic field within a certain area, the ground grid ray can be located, its depth determined, and welding point detected.

[0007] The receiver includes a receiving antenna, a signal analysis module, a display screen, a main control module, buttons, a high-precision RTK module, and a gyroscope; wherein:

[0008] (1) Receiving antenna, used to receive electromagnetic wave signals;

[0009] (2) Signal analysis module, which realizes the amplification, acquisition and data processing of the circular antenna signal. The circular antenna signal is generated by the spherical stereo antenna, and each spherical antenna can provide 3 circular antenna signals. It contains 2 spherical antennas, providing 6 circular antenna signals; the front end uses AD8130 low noise differential amplifier chip to realize the pre-amplification of the signal. AD8130 is a differential to single-ended amplifier, which has extremely high common-mode rejection ratio (CMRR) at high frequency, and is used to convert differential signals into single-ended signals.

[0010] (3) The analog-to-digital conversion section uses the AD7606 chip for analog data acquisition of antenna signals. This module uses the AD7606 sampling chip, which has 16-bit resolution and 8-channel synchronous sampling. It is powered by a single 5V power supply and can process ±10V and ±5V true bipolar input signals. It has an internal 2.5V reference voltage and can provide a maximum sampling rate of 200kPS. The communication interface has two options: parallel port and SPI serial port.

[0011] (4) The main control module STM32F407 controls and reads the data, and performs digital filtering and FFT (Fast Fourier Transform) on the read data. Fourier analysis is the transformation of a signal from the original domain (usually time or space) to the frequency domain. After performing FFT on the signal, a complex array is usually obtained, where the amplitude represents the intensity of the frequency component and the phase represents the phase information of the frequency component. After FFT, the amplitude and phase of the signal acquired by each coil are obtained.

[0012] (5) High-precision RTK is used to record the theorem positioning information of ground grid rays and welding points, and to draw the geographic positioning map of ground grid rays and welding points; High-precision RTK is a common geographic location positioning module, which consists of a mobile station module and a base station module. It can achieve centimeter-level positioning and is used to record the theorem positioning information of ground grid rays and welding points. In this system, it is used to draw the geographic positioning map of ground grid rays and to assist in the function of finding welding points;

[0013] (6) Gyroscope, using the MPU9250 module, is used to measure the attitude of the receiver itself, thereby correcting the measured antenna phase information and avoiding the influence of the change of the receiver's own attitude on the antenna measurement results, thereby obtaining the offset angle of the direction of change of the external magnetic field; the MPU9250 module can measure the attitude of the instrument, and can realize the geographical direction recognition by working with the magnetometer, which can effectively identify the attitude of the equipment and has wide applications in robots, drones and conventional equipment.

[0014] The main control module is electrically connected to the receiving antenna, signal analysis module, display screen, buttons, high-precision RTK and gyroscope, controls each peripheral module, receives button operations, and displays the direction information and menu information of the ground grid ray on the display screen.

[0015] The receiving antenna includes an upper stereo antenna and a lower stereo antenna, which are respectively disposed at the upper and lower ends of the receiver.

[0016] 2. The beneficial effects of this utility model are as follows: This utility model discloses an intelligent analyzer for transmission towers with welding point detection function for underground buried ground grids. This analyzer has basic grounding resistance detection, soil resistivity detection, and concealed ground grid detection capabilities, and displays the ground grid direction in real time. It also features an industry-first ground grid welding point detection function, effectively reducing the loss of manpower and resources caused by blindly excavating the ground grid. The device has a simple overall structure, is portable, easy to use, and powerful in function, possessing significant practical value. Based on the signal distortion principle near the welding point, measurements are taken along the direction of the ground grid ray. The receiver measures the degree of signal distortion and the angle of magnetic field change direction, thereby narrowing down the welding point area and locating the welding point. The receiver measures the magnetic field of the ground grid ray through an antenna and deduces the direction of the ground grid ray. Due to changes in the device's own attitude, such as rotation, the antenna inside the receiver will change accordingly, resulting in a change in the measured magnetic field phase. A gyroscope measures the receiver's own attitude change, thus eliminating the change in the instrument's position. High-precision RTK recording of the welding point position allows for the creation of a geographical location map with welding point information. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this utility model 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 some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A schematic diagram of the working principle of an intelligent analyzer for power transmission towers with ground grid welding point detection function provided in this embodiment of the utility model;

[0019] Figure 2 A schematic diagram of the receiver provided for an embodiment of the utility model.

[0020] Figure 3 This is a schematic diagram of the three-dimensional antenna positioning principle in an embodiment of this utility model;

[0021] Figure 4This is a schematic diagram of the equipotential line distribution of the magnetic field strength of the straight conductor in an embodiment of this utility model;

[0022] Figure 5 This is a schematic diagram of the equipotential line distribution of the magnetic field strength at the welding point in an embodiment of this utility model;

[0023] Figure 6 This is a schematic diagram showing the change of magnetic field strength equipotential lines at the welding point during the measurement process, according to an embodiment of this utility model.

[0024] Figure 7 This is the circuit diagram for the signal analysis module;

[0025] Figure 8 This is a schematic diagram of a circular antenna structure;

[0026] Figure 9 This is the circuit diagram for the gyroscope module;

[0027] Figure 10 Schematic diagram of signal acquisition principle using a spherical antenna;

[0028] Figure 11 This is a schematic diagram of the spherical antenna coordinate system after gyroscope correction.

[0029] Explanation of reference numerals in the attached diagram: 1. Transmitter; 2. Receiver; 21. Receiving antenna; 211. Upper stereo antenna; 212. Lower stereo antenna; 22. Signal analysis module; 23. Display screen; 24. Main control module; 25. Button; 26. High-precision RTK; 27. Gyroscope; 3. Ground stake; 4. Exposed connector for grounding grid ray. Detailed Implementation

[0030] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0031] 1. Example:

[0032] A smart analyzer for power transmission towers with ground grid welding point detection function includes a transmitter 1 and a receiver 2. The transmitter 1 is used to apply alternating current to the ground grid ray, one end of which is connected to a ground pile 3, and the other end is connected to the exposed joint 4 of the ground grid ray. Figure 2 As shown, receiver 2 includes a receiving antenna 21, a signal analysis module 22, a display screen 23, a main control module 24, buttons 25, a high-precision RTK 26, and a gyroscope 27;

[0033] The receiving antenna 21, including an upper stereo antenna 211 and a lower stereo antenna 212, is used to receive electromagnetic wave signals. The upper stereo antenna 211 and the lower stereo antenna 212 are respectively located at the upper and lower ends of the receiver 2. The signal analysis module 22 amplifies and digitally filters the signal from the receiving antenna 21 to obtain the signal amplitude and phase of the three-directional antennas of the stereo antenna, realizing the amplification, acquisition, and data processing of the circular antenna signal. The circular antenna signal is generated by spherical stereo antennas, and each spherical antenna can provide 3 channels of circular antenna signal. A total of 2 spherical antennas are included, providing 6 channels of circular antenna signal.

[0034] The high-precision RTK 26 is used to record the theorem positioning information of the ground grid rays and welding points, and to draw the geographic positioning map of the ground grid rays and welding points; the gyroscope 27 is used to measure the attitude of the receiver itself, thereby correcting the measured antenna phase information and avoiding the influence of changes in the receiver's own attitude on the antenna measurement results, thus obtaining the offset angle of the direction of change of the external magnetic field; the main control module 24, together with the receiving antenna 21, signal analysis module 22, display screen 23, high-precision RTK 26 and gyroscope 27, receives the operation of button 25 and displays the direction information of the ground grid rays and menu information on the display screen 23.

[0035] The main control module, an STM32F407, controls and reads data from the signal analysis module and other modules. It performs digital filtering and Fast Fourier Transform (FFT) on the read data. Fourier analysis transforms a signal from its original domain (usually time or space) to its frequency domain representation. After performing an FFT, a complex array is typically obtained, where the amplitude represents the intensity of the frequency components and the phase represents the phase information of the frequency components. The FFT then yields the amplitude and phase of the signals acquired by each coil.

[0036] The front end of the signal analysis module uses the AD8130 low-noise differential amplifier chip to amplify the signal. The AD8130 is a differential-to-single-ended amplifier with extremely high common-mode rejection ratio (CMRR) at high frequencies, used to convert differential signals into single-ended signals.

[0037] The analog-to-digital conversion section of the signal analysis module uses the AD7606 chip for analog data acquisition of antenna signals. This module employs the AD7606 sampling chip, featuring 16-bit resolution and 8-channel synchronous sampling. It operates on a single 5V power supply, can handle ±10V and ±5V true bipolar input signals, has an internal 2.5V reference voltage, and can provide a maximum sampling rate of 200kPS. Communication interfaces include parallel and SPI serial ports.

[0038] Signal analysis module circuit such as Figure 7As shown in the diagram, J1 is the coil signal input terminal, used to input the ring antenna signal. Chip U1 (AD8130) amplifies the signal from coil J1, converting the two-ended signal into a differential signal output. Chip U2 (AD7606) samples the signal output from U1 and transmits the data to the main control module STM32F407 via parallel port.

[0039] The receiving antenna is used to receive electromagnetic wave signals. The signal analysis module amplifies the signal from the receiving antenna and converts it into a digital signal. The main control module performs digital filtering and FFT (Fast Fourier Transform) on the read data to obtain the signal amplitude and phase of the three-directional antenna of the stereo antenna.

[0040] A circular antenna with X, Y, and Z axes is used to collect electromagnetic field signals in three directions. When the three-dimensional antenna is located directly above a current-carrying conductor, and an alternating current of a specific frequency flows through the conductor, based on the principle of electromagnetic induction, the XYZ antenna will collect AC signals of different amplitudes and phases. For example... Figure 8 As shown.

[0041] The amplitude values ​​of the signals acquired by the three coils X, Y, and Z are Vx, Vy, and Vz, respectively. With coil Z as the phase 0 degree, the X and Y coils are positive when their phase leads Z and negative when they lag Z. The signs of the X, Y, and Z coil values ​​are Fx, Fy, and Fz, respectively, where Fz = 1. Multiplying the sign bit by the amplitude value yields a triple (Fx × Vx, Fy × Vy, Fz × Vz).

[0042] When an alternating current of a specific frequency flows through a current-carrying conductor, and the current amplitude remains stable, the amplitude and direction of the electromagnetic field at different locations around the current-carrying conductor also remain stable. A spherical antenna at any location in space collects electromagnetic field signals from three different directions, and the number of collected triplets represents the electromagnetic field characteristics at that location.

[0043] High-precision RTK is a common geolocation module, consisting of a mobile station module and a base station module. It can achieve centimeter-level positioning and is used to record the theorem positioning information of ground grid rays and welding points. In this system, it is used to draw the geolocation map of the ground grid rays and assist in the function of locating welding points.

[0044] A gyroscope is used to measure the attitude of the receiver itself, thereby correcting the measured antenna phase information and avoiding the influence of changes in the receiver's own attitude on the antenna measurement results, thus obtaining the offset angle of the direction of change of the external magnetic field.

[0045] The gyroscope uses the MPU9250 module, a chip that integrates a high-performance 9-axis motion tracking device. It combines a 3-axis gyroscope, a 3-axis accelerometer, a 3-axis magnetometer, and a digital motion processor (DMP). The MPU9250 provides accurate and stable attitude information by fusing data from the accelerometer, gyroscope, and magnetometer. This chip is widely used due to its high precision, low power consumption, and ease of integration.

[0046] After acquiring data from the MPU9250 module, the main control module uses a magnetometer detection algorithm and a Kalman filter algorithm to obtain the pitch, roll, and yaw angles. Pitch, roll, and yaw are commonly used angles to describe the attitude of an object in three-dimensional space. Yaw represents the angle of rotation about a vertical axis, determining the direction the object is facing.

[0047] The gyroscope is installed inside the receiver. The predetermined direction of the gyroscope is set to true north. When pointing north, the yaw angle is 0 degrees. By reading the yaw angle, the current orientation of the module can be determined. The gyroscope module circuit is as follows: Figure 9 As shown in the diagram, the MPU_9250 in the circuit communicates serially with the STM32F407 main control module via the SPI interface of pins 9, 23, and 24 of the U10 chip.

[0048] When using a spherical antenna to collect electromagnetic signals, the spherical antenna rotates as the handheld receiver rotates, with the Z-axis of the circular antenna, perpendicular to the central axis of the circle, serving as the axis of rotation. For example... Figure 10 As shown, the direction and amplitude of the electromagnetic field remain unchanged when the device rotates, but the positions of each antenna in the spherical antenna change, and the amplitude values ​​collected by each coil change. This will cause the results collected by the coil to change, and the values ​​of the characteristic triplet (Fx×Vx, Fy×Vy, Fz×Vz) of the electromagnetic field collected by the coil will change.

[0049] Rotation primarily affects the values ​​of the X and Y coils in the spherical antenna, with minimal impact on the Z coil. The gyroscope, installed inside the receiver, can acquire the angle θ between the X coil plane and north (N). Figure 11 As shown.

[0050] When rotating along the central axis, the value of the Z-coil is minimally affected, and its data is considered unchanged. The triplet (x, y, z) simplifies to a binary pair (x, y) with a deflection angle θ relative to the N direction. Using the coordinate rotation formula, a new binary pair (x1, y1) after angle correction can be obtained. Adding the value of z generates a new triplet (x1, y1, z1).

[0051] x1 = xcos(θ) - ysin(θ);

[0052] y1 = xsin(θ) + ycos(θ);

[0053] z1=z;

[0054] The coordinate system X1, Y1 represents the position of the spherical antenna coil X when it points due north. The corrected triplet value is equivalent to the result collected when the spherical antenna coil X points due north. Since the new triplet (x1, y1, z1) value is always equivalent to the result collected by each coil when the spherical antenna coil X points due north, this value remains stable when the device rotates, thus more stably reflecting the electromagnetic field characteristics of the current position.

[0055] 2. Basic Principles:

[0056] (1) Principle of measuring the orientation of the ground grid using the direct connection method: The basic principle is as follows Figure 1 As shown, the system consists of two parts: a transmitter 1 and a receiver 2. One end of the transmitter is connected to the ground pile 3, and the other end is connected to the exposed connector 4 of the ground grid ray. The transmitter 1 applies an alternating current of a specific frequency to the ground grid ray. This current flows along the pipeline in its extension direction, returns to the ground pile through the ground, and forms a loop. At the same time, an alternating electromagnetic field of the same frequency is formed around the ground grid ray. The receiver 2 scans and receives this alternating electromagnetic field on the ground above the ground grid ray, thereby locating and determining the depth of the ground grid ray.

[0057] (2) Receiver stereo positioning principle: such as Figure 3 As shown, transmitter 1 injects alternating current into the ground grid, generating an alternating electric field on the ground grid ray. Receiver 2 has an upper stereo antenna 211 and a lower stereo antenna 212 installed at its top and bottom positions, respectively, to receive electromagnetic fields from three directions using the principle of electromagnetic induction. The electromagnetic field strength and magnetic field phase in the three directions are obtained, and the burial direction of the ground grid ray is determined based on the magnetic field strength and phase.

[0058] (3) Welding point detection principle: The equipotential lines of the electromagnetic field strength of the straight conductor and the equipotential lines of the magnetic field strength of the welding point are respectively as shown in Figure 1. Figure 4 , Figure 5 As shown. The electromagnetic field distribution of a straight conductor is stronger the closer to the conductor, and the equipotential lines are perpendicular to the direction of the electromagnetic field and consistent with the direction of the straight conductor. The electromagnetic field distribution at the welding point is stronger the closer to the welding point, the more pronounced the influence of the phase conductor's electromagnetic field, and the more significant the change in the direction of the equipotential lines.

[0059] When an alternating current is applied, the electromagnetic field of a straight conductor maintains a consistent direction on the horizontal plane at all points in space. However, when multiple conductors intersect and are welded together, the direction of the electromagnetic field on the horizontal plane varies at different points in space, and the change in the electromagnetic field is greater closer to the weld point. The presence of a weld point in the area can be determined by measuring the change in the direction of the electromagnetic field.

[0060] By using a mobile device to probe the area, the spherical antenna can collect electromagnetic field characteristics at various points within the probe area, representing them as triplets. The device reads the current latitude and longitude information via the RTK module and saves it along with the measured triplet data. This generates data records (x1, y1, z1, longitude, latitude) for different latitudes and longitudes. By calculating the triplet count (x1, y1, z1), the electromagnetic field angle value β based on the XY-axis plane at each latitude and longitude can be obtained.

[0061] β = arcsin(y1 / x1);

[0062] During the instrument's detection process, the device identifies the current location using latitude and longitude, and calculates the maximum difference β_difmax between all measured electromagnetic field angle values ​​β corresponding to the current location within a 50cm diameter. β_difmax represents the degree of electromagnetic field distortion within this 50cm diameter area.

[0063] During the measurement process, the closer to the welding point, the higher the degree of electromagnetic field distortion within a 50cm diameter area, and the larger the maximum angle difference β_difmax in this area. For example... Figure 6 As shown in the diagram, regions A, B, and C are closest to the solder joint area. Therefore, region C exhibits the most significant change in the angle of the electromagnetic field, and the solder joint is located within region C. During the test, the maximum angle difference β_difmax between regions is continuously measured. The region with the largest β_difmax value represents the area with the highest degree of distortion; this region is the solder joint area, and the center of this region is used to determine the location of the solder joint.

[0064] This utility model discloses an intelligent analyzer for power transmission towers with ground grid welding point detection function. The equipment is modularly developed, facilitating mass production; its overall weight is lightweight, allowing for single-person transport and significantly reducing transportation costs; the machine has a simple structural design, is easy to operate, and features a visual interface, enabling users to understand the operation method directly without extensive training; it is powerful and accurate, adaptable to various scenarios. This equipment is the first to detect ground grid welding points, accurately identifying their locations in real time.

[0065] Obviously, those skilled in the art can make various modifications and variations to this utility model without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this utility model and their equivalents, this utility model also intends to include these modifications and variations.

Claims

1. A smart analyzer for transmission towers with ground grid welding point detection function, characterized in that, The system includes a transmitter (1) and a receiver (2). The transmitter (1) is used to apply alternating current to the ground grid ray, with one end connected to a ground stake (3) and the other end connected to an exposed connector (4) of the ground grid ray. The receiver includes a receiving antenna (21), a signal analysis module (22), a display screen (23), a main control module (24), buttons (25), a high-precision RTK (26), and a gyroscope (27). A receiving antenna (21) is used to receive electromagnetic wave signals; The signal analysis module (22) amplifies and digitally filters the signal from the receiving antenna (21) to obtain the signal amplitude and phase of the three-directional antennas of the stereo antenna. High-precision RTK (26) is used to record the theorem positioning information of ground grid rays and welding points, and to draw the geographic positioning map of ground grid rays and welding points; The gyroscope (27) is used to measure the attitude of the receiver (2) itself, thereby correcting the measured antenna phase information and avoiding the influence of the change in the attitude of the receiver (2) itself on the antenna measurement results, so as to obtain the offset angle of the direction of change of the external magnetic field. The main control module (24) is electrically connected to the receiving antenna (21), signal analysis module (22), display screen (23), button (25), high-precision RTK (26) and gyroscope (27), and is used to display the direction information and menu information of the ground network ray on the display screen (23).

2. The intelligent analyzer for transmission towers with ground grid welding point detection function as described in claim 1, characterized in that, The receiving antenna (21) includes an upper stereo antenna (211) and a lower stereo antenna (212), which are respectively disposed at the upper and lower ends of the receiver (2).

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