CN112904240A - Temporary grounding wire state detection device and method - Google Patents
Temporary grounding wire state detection device and method Download PDFInfo
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Abstract
The invention provides a temporary grounding wire state detection device which comprises a temporary grounding wire and a grounding wire sensing front end structure, wherein the temporary grounding wire comprises a wire hanging hook, a lead and a grounding pin, the wire hanging hook is connected with the grounding pin through the lead, the grounding wire sensing front end structure comprises a wire hanging end sensor module and a grounding end sensor module, the wire hanging end sensor module is arranged in the wire hanging hook, and the wire hanging end sensor module and the grounding end sensor module adopt different hardware configurations. The invention also provides a method for detecting the state of the temporary grounding wire. The invention has the beneficial effects that: the accuracy of judging grounding and hanging states is improved, and the test training required by an artificial intelligence algorithm is simplified.
Description
Technical Field
The invention relates to a temporary grounding wire, in particular to a device and a method for detecting the state of the temporary grounding wire.
Background
During the maintenance of the power grid, grounding wires need to be arranged at the incoming wires of each circuit of the power failure circuit, which may have a call, although the establishment of a work ticket system greatly reduces the occurrence of safety accidents in the power failure maintenance process, because the maintenance site is far away from the dispatching center, the distance between grounding seal wires is long, the hanging and dismantling information of the grounding wires completely depends on the telephone communication between field personnel and dispatching personnel, the key states of whether the grounding wires are actually grounded, whether the grounding wires are actually removed and the like are not controlled by technical means, and the personnel quality and the self-consciousness are not enough, so that even if various safety regulations exist in the working field, more serious accidents caused by the grounding wires are caused due to various factors such as the personnel quality, the working time and the labor intensity.
The state detection of the existing temporary grounding wire mainly adopts two methods according to the prior patents and documents:
(1) image recording method
The method mainly comprises the steps of photographing the ground wire and uploading the ground wire through a wireless network when the state of the ground wire is reported, and confirming the ground wire through a background monitoring center.
(2) Ground wire and specific ground point modification
The method is mainly applied to the exclusive area of the power system such as a transformer substation and the like, and comprises the following steps:
1) for the grounding state detection, a temporary grounding line and a specific grounding point are modified, an RFID mark is added, and after the grounding line is contacted with the specific grounding point, the state confirmation is completed through the RFID.
2) For detection of the hanging state, an ultrasonic distance measuring device is added on the temporary grounding wire, and the hanging state is confirmed by measuring the ground distance of the grounding wire after the hanging is finished.
The method is high in modification cost, is not suitable for scenes of non-power system exclusive areas, and is large in limitation because more temporary grounding points cannot be provided with RFID (radio frequency identification devices).
In addition, patent CN111007430A, publication number "a temporary grounding wire state detection device and method", proposes that a hitching sensing module and a grounding pin sensor module are added to realize the detection of the whole process of the grounding wire work by combining a sensor with an intelligent algorithm, but the method is complicated, and depends on the intelligent algorithm and needs a large amount of tests and data to train and perfect.
In addition, the document "portable short-circuit grounding wire monitoring system research based on data acquisition of internet of things" adopts a pressure sensor to monitor the hanging motion, and simultaneously uses a distance sensor, an angle sensor and a light sensor to judge the grounding state of the grounding pin.
The problems and drawbacks of the above prior methods include:
(1) the range of applicable departments is not full, and the temporary grounding overhaul work of all the departments of the power grid cannot be considered;
(2) the method is not suitable for incomplete scenes, such as night scenes, temporary grounding point operation scenes, line routing inspection scenes and the like, which cannot be properly compatible;
(3) the transformation cost is high, and the existing method adds complex equipment to the ground wire and the grounding point to form a strong association combination, so that the cost is high;
(4) the working procedures and workload of workers are increased, which is not beneficial to the comprehensive popularization and landing of the base layer;
(5) patent earth connection state early warning device (CN202010383208.1) adopts to stir the probe and detects and articulate the action, and the problem exists: the mechanical structure is complex in design and adjustment, and the service life of the probe is prolonged after the probe is pulled and connected for multiple times;
(6) the document portable short circuit grounding wire monitoring system research based on internet of things data acquisition adopts a pressure sensor to monitor hanging connection actions, and simultaneously judges the grounding state of a grounding pin by using a distance sensor, an angle sensor and a light sensor, and has the following defects: the hanging hook and the grounding wire are greatly changed, and meanwhile, the judgment method and the process are complex;
(7) the method provided by the patent of temporary grounding wire state detection equipment and method is tedious, and meanwhile, a large amount of test and data are needed for training and perfecting depending on an intelligent algorithm.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a temporary grounding wire state detection device and a method.
The invention provides a temporary grounding wire state detection device which comprises a temporary grounding wire and a grounding wire sensing front end structure, wherein the temporary grounding wire comprises a wire hanging hook, a lead and a grounding pin, the wire hanging hook is connected with the grounding pin through the lead, the grounding wire sensing front end structure comprises a wire hanging end sensor module and a grounding end sensor module, the wire hanging end sensor module is arranged in the wire hanging hook, and the wire hanging end sensor module and the grounding end sensor module adopt different hardware configurations.
As a further improvement of the present invention, the hanging end sensor module includes a hanging end battery, a hanging end bluetooth module, a shielding or distance sensor, a hanging end MCU, an air pressure or height sensor, a hanging end acceleration sensor, and a gyroscope, which are built in the hanging wire hook, wherein output ends of the hanging end battery, the shielding or distance sensor, the air pressure or height sensor, the hanging end acceleration sensor, and the gyroscope are respectively connected to the hanging end MCU, and the hanging end MCU is connected to the hanging end bluetooth module.
As a further improvement of the invention, the hanging end Bluetooth module, the shielding or distance sensor, the hanging end MCU, the air pressure or height sensor, the hanging end acceleration sensor, the gyroscope and the hanging end battery are sequentially arranged from the hook end to the tail end of the hanging hook.
As a further improvement of the invention, the three shielding or distance sensors are arranged in a manner that the circle center of the hanging cable of the wire hanging hook is a semicircle.
As a further improvement of the present invention, the ground terminal sensor module includes an arc-shaped buckle, and a ground terminal acceleration sensor, a gyroscope, a ground terminal bluetooth module, a ground terminal MCU, a microphone, a ground terminal battery, and a ground terminal distance sensor, which are respectively disposed in the arc-shaped buckle, wherein the arc-shaped buckle is fixed on the ground pin, output ends of the ground terminal acceleration sensor, the gyroscope, the microphone, the ground terminal battery, and the ground terminal distance sensor are respectively connected to the ground terminal MCU, and the ground terminal MCU is connected to the ground terminal bluetooth module.
As a further improvement of the invention, the ground terminal acceleration sensor, the gyroscope, the ground terminal bluetooth module, the ground terminal MCU, the microphone, the ground terminal battery and the ground terminal distance sensor are sequentially arranged from the top end to the bottom end of the arc-shaped buckle.
The invention also provides a method for detecting the state of the temporary grounding wire, which comprises the following steps:
step1, detecting the acceleration of the grounding pin and the inclination angle of the grounding pin during knocking in the grounding process through the acceleration sensor of the grounding end and the gyroscope, recording the waveform of the grounding process through a microphone, processing data, and judging whether the grounding depth meets the requirement or not by estimating the grounding depth and combining the numerical value of the distance sensor of the grounding end after the knocking in the vertical state reaches a set degree so as to judge whether the grounding is finished or not;
step2, detecting the acceleration of the grounding pin and the vertical angle change of the grounding pin in the grounding removal process through a grounding end acceleration sensor and a gyroscope, and judging whether the grounding pin is removed or not according to the change of the distance between the grounding end and the ground by a grounding end distance sensor;
step3, judging the height change of the wire hanging hook through an air pressure or height sensor, monitoring whether the state of a shelter or a distance sensor changes when the wire hanging hook rises to the moving height, and indicating that the wire hanging hook is hung on a cable if the state changes; when the state of the shielding or distance sensor is changed and the fact that the wire hook is lowered to the set height is detected, the wire hook is removed.
As a further improvement of the present invention, in Step1, the sound vibration propagation waveform during tapping is recorded using a microphone, and the following estimation of the ground contact depth is performed:
wherein s (t) is waveform data of sound vibration along with time t change in the knocking process recorded by the microphone, a (t), theta (t) is data of acceleration and angle along with time t change recorded by the acceleration sensor and the gyroscope at the grounding end respectively, and f1,f2Respectively, as a function of the estimated depth of contact by microphone waveform and acceleration and angle, d1,d2Respectively, the ground depth, w, estimated from the microphone waveform and acceleration and angle1,w2The weighted values are used for calculating the final grounding depth, and d is the final value of the grounding depth estimated through the microphone, the acceleration and the angle.
As a further improvement of the present invention, the estimation result of the ground depth is data-fused with the data detected by the ground end distance sensor to obtain a ground depth value for determining the ground end state.
As a further improvement of the present invention, in Step3, it is determined that the hook has hooked the cable and is naturally suspended from the relative height, inclination angle, section and acceleration value of the hook, and it is inferred from the result of the blocking or distance sensor that the hooking of the cable is completed, and if the blocking is removed or the distance is increased and the hook is detected to be lowered to the set height, it is determined that the hook has been removed.
The invention has the beneficial effects that: the accuracy of judging grounding and hanging states is improved, and the test training required by an artificial intelligence algorithm is simplified.
Drawings
Fig. 1 is a schematic diagram of a hanging end sensor module of a temporary grounding wire state detection device according to the present invention.
Fig. 2 is a schematic diagram of a ground terminal sensor module of a temporary ground line state detection apparatus according to the present invention.
Fig. 3 is a flowchart of an algorithm of a ground terminal sensing module of the temporary ground line state detection apparatus according to the present invention.
Fig. 4 is an algorithm flow of a hanging end sensor module of the temporary grounding wire state detection device according to the invention.
Detailed Description
The invention is further described with reference to the following description and embodiments in conjunction with the accompanying drawings.
As shown in fig. 1 to 4, a temporary grounding wire state detection device includes a temporary grounding wire and a grounding wire sensing front end structure, where the temporary grounding wire includes a wire hook 100, a wire and a grounding pin, the wire hook 100 is connected to the grounding pin through the wire, the grounding wire sensing front end structure includes a hanging end sensor module and a grounding end sensor module, the hanging end sensor module is embedded in the wire hook 100, and the hanging end sensor module and the grounding end sensor module adopt different hardware configurations.
The hanging end sensor module comprises a hanging end battery 16, a hanging end Bluetooth module 11, a shielding or distance sensor 12, a hanging end MCU13, an air pressure or height sensor 14, a hanging end acceleration sensor and a gyroscope 15 which are arranged in the hanging wire hook 100, wherein the output ends of the hanging end battery 16, the shielding or distance sensor 12, the air pressure or height sensor 14, the hanging end acceleration sensor and the gyroscope 15 are respectively connected with the hanging end MCU13, the hanging end MCU13 is connected with the hanging end Bluetooth module 11, and data can be wirelessly transmitted through the hanging end Bluetooth module 11.
The hanging end Bluetooth module 11, the shielding or distance sensor 12, the hanging end MCU13, the air pressure or height sensor 14, the hanging end acceleration sensor, the gyroscope 15 and the hanging end battery 16 are sequentially arranged from the hook end 101 to the tail end 102 of the wire hanging hook 100.
The shielding or distance sensors 12 are preferably three and arranged in a semicircle shape around the center of the cable of the wire hook 100.
Earthing terminal sensor module includes arc buckle 200 and places respectively in earthing terminal acceleration sensor and gyroscope 21, earthing terminal bluetooth module 22, earthing terminal MCU23 microphone 24, earthing terminal battery 25 and earthing terminal distance sensor 26 of arc buckle 200, wherein, arc buckle 200 is fixed on the earthing needle, earthing terminal acceleration sensor and gyroscope 21, microphone 24, earthing terminal battery 25 and earthing terminal distance sensor 26's output respectively with earthing terminal MCU23 is connected, earthing terminal MCU23 with earthing terminal bluetooth module 22 is connected.
The ground terminal acceleration sensor and gyroscope 21, the ground terminal bluetooth module 22, the ground terminal MCU23, the microphone 24, the ground terminal battery 25, and the ground terminal distance sensor 26 are sequentially arranged from the top end 201 to the bottom end 202 of the arc buckle 200.
The improved hanging end sensor module has the following main innovation points:
(1) the built-in sensor is optimized, and the monitoring of the grounding wire hanging process is realized through a more reasonable sensing arranger;
(2) increased the sensor to hanging the state judgement after the improvement, realized not only can detecting the process of hanging and can also hanging the pole and articulate and accomplish the result and carry out accurate judgement: the hanging end sensor module monitors the motion and the state of the hanging process of the wire hanging hook 100 through the air pressure or height sensor 14, the hanging end acceleration sensor and the gyroscope 15, and judges the hanging result through the shielding or distance sensor 12, thereby simplifying the data processing and judging algorithm in the prior art. One or more (preferably three) shielding or distance sensors 12 may be provided to avoid a detection blind area, and the accuracy of hanging result determination is increased;
(3) the final hanging state is judged by adopting a non-contact sensor, so that the problems that the mechanical structure is complex, the service life is long due to repeated use and the like when the final state is judged by using a traditional probe or a spring needle and a microswitch are solved;
(4) the structure of the hanging end module is optimized, so that the detection equipment has less change on the structure of the hanging rod and is more convenient to install.
The improved grounding end sensor module is mainly innovated as follows:
(1) the built-in sensor is optimized, and the grounding process of the grounding wire is monitored through more reasonable sensor arrangement;
(2) the sensor that whether ground connection state accomplishes the judgement has been increased after the improvement, realizes not only can monitoring the process of earthing and can also accurately judge the result whether the earthing is accomplished to the earthing needle: the grounding process is detected through the grounding terminal acceleration sensor, the gyroscope 21 and the microphone 24, the grounding depth is determined through the grounding terminal distance sensor 26 detecting the grounding terminal sensor module and the ground distance, so that the grounding result is judged, and the data processing and judging algorithm in the prior art is simplified;
(3) the microphone 24 is added, so that the recording of the whole grounding process is realized, the acceleration data invalidity when the acceleration sensor exceeds the measuring range during grounding knocking is avoided, the acceleration sensor with high speed and large measuring range can be used for completely recording the acceleration during knocking, and the accurate estimation and calculation of the grounding depth are realized through the microphone signal and the common acceleration sensor through an estimation method.
The working process of the improved temporary grounding wire state detection equipment is as follows:
step1, detecting the acceleration of the grounding pin and the inclination angle of the grounding pin during knocking in the grounding process through a grounding terminal acceleration sensor and a gyroscope, recording the waveform of the grounding process through a microphone, processing data, and judging whether the grounding depth meets the requirement or not by estimating the grounding depth and combining the numerical value of a grounding terminal distance sensor after the knocking in the vertical state reaches a set degree so as to judge whether grounding is finished or not;
step2, detecting the acceleration of the grounding pin and the vertical angle change of the grounding pin in the grounding removal process through a grounding end acceleration sensor and a gyroscope, and judging whether the grounding pin is removed or not according to the change of the distance between the grounding end and the ground;
step3, judging the height change of the wire hanging hook through an air pressure or height sensor, monitoring whether the state of a shielding or distance sensor is changed when the wire hanging hook is lifted to the moving height, and indicating that the wire hanging hook is hung on the cable if the state is changed; when the state of the shielding or distance sensor is changed (shielding is removed or distance is increased), and the fact that the wire hook is lowered to the set height is detected, the wire hook is removed.
The improvement of the method is as follows:
(1) judging whether the grounding pin bears knocking and dives according to the inclination angle, the interval, the acceleration value and the microphone signal of the grounding pin, estimating the diving depth of the grounding pin according to the acceleration value, the knocking times, the duration and the microphone signal, judging whether the grounding state of the grounding pin is good or not, and combining the detection value of the grounding end distance sensor 26 to fuse the estimated depth and the detection value of the grounding end distance sensor 26 to serve as a judgment result of good grounding. If the above-mentioned typical feature (ground depth) is broken, the power-up good condition is considered to be removed.
The problem of calculating the grounding depth by adopting the acceleration sensor to record the acceleration data in the grounding process of the grounding pin is solved: the acceleration is easy to surpass the sensor range among the process of knocking, has higher requirement to sensor sampling frequency simultaneously, and it is inaccurate to adopt ordinary acceleration sensor estimation earthing depth to produce great error result easily, and the improvement of this patent is for adopting microphone 24 record to strike the sound vibration propagation waveform of in-process, avoids losing data when acceleration sensor exceedes the range, combines the microphone data can be more accurate simultaneously and estimate earthing depth, and its algorithm summarizes as follows:
wherein s (t) isThe microphone records waveform data of sound vibration along with time t in the knocking process, a (t), theta (t) is respectively data of acceleration and angle along with time t recorded by the acceleration sensor and the gyroscope, and f1,f2Respectively, as a function of the estimated depth of contact by microphone waveform and acceleration and angle, d1,d2Respectively, the ground depth, w, estimated from the microphone waveform and acceleration and angle1,w2The weighted values of the final grounding depth are calculated, d is the final value of the grounding depth estimated through the microphone, the acceleration and the angle, the method can estimate and calculate the grounding depth more accurately, and then data fusion is carried out on the result and the data detected by the grounding end distance sensor 26, so that the more accurate grounding depth value for judging the grounding final state can be obtained.
(2) The relative height, inclination angle, interval and acceleration value of the wire hook 200 are used for judging that the wire hook is hung with a cable and is naturally suspended, the result of a shielding (or distance) sensor is combined for reasoning and judging that the connection of the electric wire is completed, and if the typical characteristics are damaged, the wire hook 200 is judged to be removed.
Through the improvement of the software algorithm, the design and arrangement of the sensors are optimized, the judgment on the final hanging state and the final grounding state is increased, and the software algorithm of the monitoring system is simplified. Meanwhile, the original patent algorithm is improved, the accuracy of grounding and hanging state judgment is improved, and the test training required by the artificial intelligence algorithm is simplified.
The invention designs a state monitoring device and a state monitoring method for a temporary grounding wire in a field use process, and particularly relates to operation sequence detection of the temporary grounding wire, grounding state detection of the grounding wire and hanging state detection of the grounding wire.
In the invention, the temporary grounding wire is taken as an article with typical behavior action, and a detachable operation and behavior detection module (similar wearable device) is configured for the article to judge the state of the article, so that the detection of the detection device and the temporary grounding wire under the condition without any electrical connection is realized, and the article can be used after being assembled without configuration.
The invention does not need to carry out large-scale reconstruction on the management occasions of the existing temporary grounding wires such as a power station, a transformer substation, an electric power station and a power supply station, can inherit and use the existing temporary grounding wires, has no influence on the existing maintenance operation process, exists as a non-inductive guarantee mechanism, is beneficial to basic level personnel to accept, and is convenient to popularize and apply in various places of an electric power system.
The equipment and the method for detecting the state of the temporary grounding wire have the following advantages that:
(1) the sensor arrangement is simplified and optimized, the judgment on the final hanging state and the final grounding state is increased, and the software algorithm of the monitoring system is simplified;
(2) the microphone sensor is added and used as an auxiliary sensor for monitoring the working process of the grounding wire, so that the whole grounding process can be recorded by the aid of the acceleration sensor without high-speed large range, the whole grounding process can be recorded, the module cost is reduced, and the module volume is reduced;
(3) compared with a grounding wire state early warning device (CN202010383208.1), the final hanging state is judged by adopting a shielding (or distance) sensor, so that the change of the original hanging rod is reduced, the mechanical design difficulty is reduced, and the service life of equipment is prolonged;
(4) compared with the research of a portable short-circuit grounding wire monitoring system based on data acquisition of the Internet of things in the literature, the portable short-circuit grounding wire monitoring system based on the data acquisition of the Internet of things has the advantages that the number of sensors is simplified, a grounding state monitoring and judging algorithm is optimized, and the problems that a light sensor in the literature cannot work under certain conditions and the like are solved.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.
Claims (10)
1. The utility model provides a earthing for work line state check out test set, includes earthing for work line and earth connection sensing front end structure, earthing for work line includes peg hook, wire and earthing pin, the peg hook passes through the wire with the earthing pin is connected, earth connection sensing front end structure includes link end sensor module and earthing terminal sensor module, its characterized in that: the hanging end sensor module is arranged in the hanging wire hook, and the hanging end sensor module and the grounding end sensor module adopt different hardware configurations.
2. A temporary grounding line state detection apparatus as claimed in claim 1, wherein: the hanging end sensor module comprises a hanging end battery, a hanging end Bluetooth module, a shielding or distance sensor, a hanging end MCU, an air pressure or height sensor, a hanging end acceleration sensor and a gyroscope, wherein the hanging end battery, the shielding or distance sensor, the air pressure or height sensor, the hanging end acceleration sensor and the gyroscope are arranged in the hanging wire hook, the output ends of the hanging end battery, the shielding or distance sensor, the air pressure or height sensor, the hanging end acceleration sensor and the gyroscope are respectively connected with the hanging end MCU, and the hanging end MCU is connected with the hanging end Bluetooth module.
3. A temporary grounding line state detection apparatus as claimed in claim 2, wherein: the hanging end Bluetooth module, the shielding or distance sensor, the hanging end MCU, the air pressure or height sensor, the hanging end acceleration sensor, the gyroscope and the hanging end battery are sequentially arranged from the hook end to the tail end of the wire hanging hook.
4. A temporary grounding line state detection apparatus as claimed in claim 3, wherein: the shielding or distance sensors are three and are arranged by taking the circle center of the hanging cable of the wire hanging hook as a semicircle.
5. A temporary grounding line state detection apparatus according to claim 1 or 2, characterized in that: earthing terminal sensor module includes the arc buckle and places in respectively earthing terminal acceleration sensor and gyroscope, earthing terminal bluetooth module, earthing terminal MCU, microphone, earthing terminal battery and earthing terminal distance sensor of arc buckle, wherein, the arc buckle is fixed on the earthing needle, earthing terminal acceleration sensor and gyroscope, microphone, earthing terminal battery and earthing terminal distance sensor's output respectively with earthing terminal MCU connects, earthing terminal MCU with earthing terminal bluetooth module connects.
6. A temporary grounding line state detection apparatus as claimed in claim 5, wherein: and the grounding end acceleration sensor, the gyroscope, the grounding end Bluetooth module, the grounding end MCU, the microphone, the grounding end battery and the grounding end distance sensor are sequentially arranged from the top end to the bottom end of the arc-shaped buckle.
7. A method for detecting the state of a temporary grounding wire is characterized by comprising the following steps:
step1, detecting the acceleration of the grounding pin and the inclination angle of the grounding pin during knocking in the grounding process through the acceleration sensor of the grounding end and the gyroscope, recording the waveform of the grounding process through a microphone, processing data, and judging whether the grounding depth meets the requirement or not by estimating the grounding depth and combining the numerical value of the distance sensor of the grounding end after the knocking in the vertical state reaches a set degree so as to judge whether the grounding is finished or not;
step2, detecting the acceleration of the grounding pin and the vertical angle change of the grounding pin in the grounding removal process through a grounding end acceleration sensor and a gyroscope, and judging whether the grounding pin is removed or not according to the change of the distance between the grounding end and the ground by a grounding end distance sensor;
step3, judging the height change of the wire hanging hook through an air pressure or height sensor, monitoring whether the state of a shelter or a distance sensor changes when the wire hanging hook rises to the moving height, and indicating that the wire hanging hook is hung on a cable if the state changes; when the state of the shielding or distance sensor is changed and the fact that the wire hook is lowered to the set height is detected, the wire hook is removed.
8. A method for detecting a state of a temporary grounding wire according to claim 7, characterized in that: in Step1, the sound vibration propagation waveform during the tapping is recorded using a microphone, and the following estimation of the ground depth is made:
wherein s (t) is waveform data of sound vibration along with time t change in the knocking process recorded by the microphone, a (t), theta (t) is data of acceleration and angle along with time t change recorded by the acceleration sensor and the gyroscope at the grounding end respectively, and f1,f2Respectively, as a function of the estimated depth of contact by microphone waveform and acceleration and angle, d1,d2Respectively, the ground depth, w, estimated from the microphone waveform and acceleration and angle1,w2The weighted values are used for calculating the final grounding depth, and d is the final value of the grounding depth estimated through the microphone, the acceleration and the angle.
9. A method for detecting a state of a temporary grounding wire according to claim 8, characterized in that: and performing data fusion on the estimation result of the grounding depth and the data detected by the grounding end distance sensor to obtain the grounding depth value for judging the final grounding state.
10. A method for detecting a state of a temporary grounding wire according to claim 7, characterized in that: in Step3, the relative height, inclination angle, interval and acceleration of the hook are used to determine that the hook has hung the cable and is naturally suspended, and the result of the shielding or distance sensor is used to infer that the hooking of the cable is completed, and if the shielding is removed or the distance is increased and the hook is detected to be lowered to the set height, the hook is determined to be removed.
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