CN-122017824-A - Ultra-high voltage transmission tower grounding grid detection device

CN122017824ACN 122017824 ACN122017824 ACN 122017824ACN-122017824-A

Abstract

The invention belongs to the technical field of power equipment detection and relates to an ultra-high voltage transmission tower grounding grid detection device which comprises a moving robot, a ground penetrating radar and a remote controller, wherein the moving robot is provided with the ground penetrating radar, the remote controller is respectively connected with the moving robot and the ground penetrating radar in a wireless communication mode, and the movement of the moving robot is controlled remotely, the detection data of the ground penetrating radar and the movement position information of the moving robot are received, so that the imaging detection and the positioning of an underground grounding grid are realized. By mounting the ground penetrating radar on the movable moving robot and performing non-excavation detection on the ground network buried underground and invisible to naked eyes, physical structural anomalies such as deformation or fracture of the ground network can be effectively identified. The moving robot is controlled to walk in a remote control mode and returns detection data, so that the automation level and the intelligent level of the detection process are improved.

Inventors

Zhao guangdong
ZHUANG ZHEN
WU DI
MIAO JUN
WANG CHAO
LI CHAORAN
Bai Pengshuo
ZHU XUEYING

Assignees

国网冀北电力有限公司张家口供电公司

Dates

Publication Date: 20260512
Application Date: 20260206

Claims (10)

1. The ultra-high voltage transmission tower grounding grid detection device is characterized by comprising a moving robot, a ground penetrating radar and a remote controller, wherein the moving robot is provided with the ground penetrating radar, the remote controller is respectively connected with the moving robot and the ground penetrating radar in a wireless communication mode, and remotely controls the movement of the moving robot, receives detection data of the ground penetrating radar and movement position information of the moving robot, and performs imaging detection and positioning on the grounding grid.
2. The ultra-high voltage transmission tower grounding grid detection device according to claim 1 is characterized in that the moving robot comprises a moving module, a first RTK positioning module, a signal transmission module and a movement control signal receiving module, the ground penetrating radar comprises a detection module and a graph transmission module, and the remote controller comprises a position-detection signal double-layer imaging module, a movement control module and a second RTK positioning module.
3. The ultra-high voltage transmission tower grounding grid detection apparatus according to claim 2, wherein the motion module comprises a first control chip, a chassis, a motion control structure and a Mecanum wheel; the first RTK positioning module comprises a third control chip, an RTK module and a signal transmitting antenna, wherein the RTK module acquires the movement position information of the movement robot in real time under the cooperation of the signal transmitting antenna, and transmits the acquired movement position information to the third control chip for data arrangement and time marking; the signal transmission module comprises a fourth control chip and a first Bluetooth module, wherein the fourth control chip reads the movement position information of the movement robot from the third control chip and sends the movement position information to the remote controller through the first Bluetooth module; The motion control signal receiving module comprises a fifth control chip and a second Bluetooth module.
4. The ultra-high voltage transmission tower grounding grid detection device according to claim 3 is characterized in that the fifth control chip analyzes a received motion control command and sends the analyzed control signal to the first control chip, the first control chip outputs a corresponding motor control signal according to the motion control command, the chassis is of a chassis structure made of a planar aluminum alloy material, the motion module, the first RTK positioning module, the signal transmission module, the motion control signal receiving module and the ground penetrating radar are all arranged on the chassis, four Mecanum wheels are symmetrically arranged around the chassis, the four Mecanum wheels are distributed around the chassis in a anticlockwise square manner, the motion control structure comprises a second control chip, a first WIFI module, four groups of motors and an electric drive system, the electric drive system is driven by a TB6612 motor, the first WIFI module is in wireless communication connection with a fourth module of a remote controller, the second control chip drives the motors to move by using a PID control strategy according to the motor control signal output by the first control chip, the motion control structure and the four groups of motors are in coordination control with the four Mecanum wheels, and the four Mecanum wheels are correspondingly connected on the chassis; the first RTK positioning module acquires the movement position information of the movement robot in real time in the running process of the movement robot, the acquired movement position information is recorded into a third control chip, and time marking is carried out; the fourth control chip controls the first Bluetooth module to send the movement position information stored in the third control chip to the remote controller in a Bluetooth mode.
5. The device for detecting the grounding grid of the ultra-high voltage transmission tower according to claim 4, wherein the detection module comprises a host, a power supply, a transmitter, a receiver and a graphic display structure, and the graphic transmission module comprises a seventh control chip and a second WIFI module.
6. The ultra-high voltage transmission tower grounding grid detection device according to claim 5, wherein a sixth control chip is arranged in the host machine, the transmitter is controlled to transmit high-frequency electromagnetic waves to the ground, the receiver is controlled to receive echo signals reflected by the interface between the grounding grid and the soil, a stereoscopic image of the ground grounding grid is displayed through a graphic display structure, and the power supply is used for supplying power; The seventh control chip directly controls the second WIFI module, after the detection module completes underground target detection, detection signals obtained through detection are stored 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, the stored detection signals are returned, and the generated underground grounding grid three-dimensional image data are synchronously transmitted to the remote controller through the second WIFI module through the image display structure.
7. The ultra-high voltage transmission tower grounding grid detection device according to claim 6, wherein the position-detection signal double-layer imaging module comprises an eighth control chip, a third WIFI module and an image display screen, the motion control module comprises a ninth control chip, a fourth WIFI module and a touchable image display screen, and the second RTK positioning module comprises a tenth control chip and a signal receiving antenna and receives motion position information sent by a motion robot.
8. The ultra-high voltage transmission tower grounding grid detection device according to claim 7, wherein the position-detection signal double-layer imaging module receives detection signals from ground penetrating radars and position signals from a moving robot through WIFI, matches and fuses the detection signals and the position signals by using a unified timestamp, and displays movement position information and detection images on an image display screen through wavelet threshold denoising and image reconstruction, so that a grounding grid deformation area is accurately positioned.
9. The device for detecting the grounding grid of the ultra-high voltage transmission tower according to claim 7, wherein after the third WIFI module of the remote controller is in wireless communication connection with the second WIFI module of the ground penetrating radar, the eighth control chip receives detection signals returned by the ground penetrating radar in real time and stores the detection signals into the SRAM of the eighth control chip, and the eighth control chip synchronously receives and stores the movement position information of the movement robot acquired by the signal receiving antenna; The remote controller establishes wireless communication connection with a first WIFI module of the moving robot through a fourth WIFI module, a motion control program is written in a ninth control chip, touch control operation or key operation is carried out on a touchable image display screen, corresponding motion control instructions are generated, the motion control instructions are unidirectionally sent to the moving robot through the fourth WIFI module and the first WIFI module in a WIFI communication mode, and a signal receiving antenna of the remote controller receives a motion position signal and stores the motion position signal in a tenth control chip.
10. The ultra-high voltage transmission tower grounding grid detection device according to claim 9, wherein the ninth control chip is configured to analyze a key or a touch command to output a corresponding level and pulse control signal, drive a motor driving circuit of a moving robot terminal, the moving robot adopts TB6612 motor driving chips, each TB6612 motor driving chip can drive two direct current motors simultaneously, four wheels are configured to drive two groups of TB6612 motor driving chips, one group drives two front wheels, the other group drives two rear wheels, the TB6612 driving chips are provided with AIN1, AIN2, BIN1, BIN2, PWM1 and PWM2 control ports, wherein AIN1 and AIN2 are used for controlling forward rotation and reverse rotation of a first motor, BIN1 and BIN2 are used for controlling forward rotation and reverse rotation of a second motor, the direct current motors are correspondingly rotated forward when AIN1 is at a high level and AIN2 is at a low level, the BIN port control logic is consistent with the same, and the PWM1 and PWM2 control ports are used for controlling the pulse rotation rate by adjusting the duty ratio of the motors.

Description

Ultra-high voltage transmission tower grounding grid detection device Technical Field The invention relates to the technical field of power equipment detection, in particular to an ultrahigh voltage transmission tower grounding grid detection device. Background Along with the continuous expansion of the scale of the ultra-high voltage transmission line, the reliability of the tower grounding grid is important for lightning protection and safe operation of the power system. In the prior art, the detection of the grounding grid is concentrated on the measurement of the on-resistance of the grounding lead, and the physical form and deformation condition of the buried part of the grounding grid cannot be intuitively reflected. Therefore, the prior art discloses an on-line monitoring device for the running condition of a grounding grid of a transmission line tower, which comprises a detection loop formed by solar power supply, ARM processor control, an oscillator excitation power amplifier, a power coil and a measuring coil, a grounding down-lead is excited by a non-power frequency signal, the on-resistance of the loop is measured, and data is remotely transmitted to a monitoring center through a GPRS module, so that the on-line remote monitoring and evaluation of the grounding condition of the tower are realized. The technical scheme has advanced in the aspect of monitoring the electrical parameters of the grounding state, but still has the following technical problems that the physical deformation condition of the grounding grid cannot be detected, the device is fixedly arranged on a pole tower, the whole area of the grounding grid cannot be covered for mobile detection, the imaging capability of the grounding grid is lacking, and deformation or fracture positions are difficult to position visually. In view of the above, the present invention provides an ultrahigh voltage transmission tower grounding grid detection device to solve the above technical problems in the prior art. Disclosure of Invention The invention aims to solve the technical problems that in the prior art, the physical deformation condition of a grounding grid cannot be detected in the grounding grid detection of a pole tower, the device is fixedly arranged on the pole tower and cannot cover the whole area of the grounding grid to carry out mobile detection, the imaging capability of the underground grounding grid is lacking, and deformation or fracture positions are difficult to be positioned in a visual way, and provides an ultrahigh voltage transmission pole tower grounding grid detection device which is designed to solve the technical problems in the prior art. In order to achieve the above purpose, the present invention provides the following technical solutions: The invention provides an ultra-high voltage transmission tower grounding grid detection device which comprises a moving robot, a ground penetrating radar and a remote controller, wherein the moving robot is provided with the ground penetrating radar, the remote controller is a handheld comprehensive control terminal and is respectively connected with the moving robot and the ground penetrating radar in a wireless communication mode, and the movement of the moving robot is controlled remotely, the detection data of the ground penetrating radar and the movement position information of the moving robot are received, and the imaging detection and the positioning are carried out on the grounding grid. The moving robot comprises a moving module, a first RTK positioning module, a signal transmission module and a movement control signal receiving module, the ground penetrating radar comprises a detection module and a picture transmission module, and the remote controller comprises a position-detection signal double-layer imaging module, a movement control module and a second RTK positioning module. Preferably, the motion module comprises a first control chip, a chassis, a motion control structure and Mecanum wheels, the motion control structure comprises a second control chip, a first WIFI module, a motor and an electric driving system, the electric driving system is driven by a TB6612 motor, and the motion control structure is correspondingly connected with the four Mecanum wheels and integrally installed on the chassis structure. Preferably, the first RTK positioning module includes a third control chip, an RTK module and a signal transmitting antenna, where the RTK module acquires the motion position information of the motion robot in real time under the cooperation of the signal transmitting antenna, and transmits the acquired motion position information to the third control chip for data arrangement and time marking. Preferably, the signal transmission module comprises a fourth control chip and a first Bluetooth module, and the fourth control chip reads the movement position information of the movement robot from the third control chip and sends the movement position information to