CN112540548B - Grounding control method, grounding control device and readable storage medium - Google Patents

Abstract

The invention provides a grounding control method, a grounding control device and a readable storage medium, wherein a first switch is connected between a sensor and a shielding shell, a second switch is connected between the shielding shell and a grounding point, the first switch is controlled to be closed and the second switch is controlled to be opened as a first grounding mode, and if the noise value of the sensor is not more than a set value, the first grounding mode is kept; if the noise value of the sensor is greater than the set value in the first grounding mode, the first switch is controlled to be opened and the second switch is controlled to be closed to serve as a second grounding mode; and if the noise value of the sensor is not greater than the set value, the second grounding mode is kept. So configured, through the measurement of the noise value of the sensor in the first grounding mode or the second grounding mode, the interference form suffered by the sensor can be identified; by switching the first switch and the second switch, the grounding mode can be switched rapidly to deal with different interference forms. The method for identifying the interference form is simple and has high identification efficiency.

Description

Grounding control method, grounding control device and readable storage medium

Technical Field

The present invention relates to the field of signal transmission technologies, and in particular, to a ground control method, a ground control apparatus, and a readable storage medium.

Background

With the development of electronic technology in the directions of high speed, high precision, high reliability, high sensitivity, high power, weak signal, etc., the electromagnetic compatibility technology is increasingly paid attention by people. Particularly, after modern electronic technologies are adopted in large quantities by artificial satellites, missiles, communication equipment and high-end manufacturing equipment, the problem of electromagnetic compatibility is more prominent.

In high-end manufacturing equipment such as a lithography machine, a magnetic suspension control is adopted for a motion table, and the motion table is a magnetic field. In order to drive the motion table, a plurality of high-power motors are arranged on the motion table. Meanwhile, for position alignment and energy detection, a plurality of weak signal sensors are also arranged on the motion platform, are very close to the magnetic steel and the motor and are far away from the acquisition card of the weak signal sensors, so that the electromagnetic environment is very complex and severe, the weak signal sensors are particularly easy to be subjected to electromagnetic interference, and the ideal performance is not achieved. And the electromagnetic disturbance in the electromagnetic environment is mostly near-field radiation and conduction disturbance of ultralow frequency. According to the description of the GB4824 standard, quantitative measurement cannot be carried out on near-field radiation emission measurement in the industry at present, and a conducted emission test of 0-150 kHz is not in the standard regulation. Therefore, no accurate testing method can accurately measure the emission values of the near-field radiation and the ultralow-frequency conducted disturbance signals in an off-line stage at present.

Under the condition that the emission value of the disturbance signal cannot be accurately measured in the off-line stage, the sensor is directly placed in the electromagnetic environment for verification, and the method is a common method. For weak signal sensors, shielding and grounding are effective solutions to problems, whether radiated interference from space or conducted interference from wires. However, the disturbance form may change with the change of the electromagnetic environment, and in order to cope with the change, the designed shielding and grounding scheme needs to be adjusted and then verified, which often causes a large amount of workload and is inefficient in identifying the disturbance form.

Disclosure of Invention

The invention aims to provide a grounding control method, a grounding control device and a readable storage medium, which aim to solve the problem of low interference form identification efficiency of the existing weak signal sensor.

To solve the above technical problem, the present invention provides a ground control method, which includes:

providing a sensor provided with a shielding shell, a first switch and a second switch, wherein the first switch is connected between the sensor and the shielding shell, and the second switch is connected between the shielding shell and a grounding point;

controlling the first switch to be closed and the second switch to be opened as a first grounding mode;

acquiring a noise value of the sensor, and if the noise value of the sensor is not greater than a set value in the first grounding mode, keeping the first grounding mode;

if the noise value of the sensor is larger than the set value in the first grounding mode, controlling the first switch to be switched off, and controlling the second switch to be switched on as a second grounding mode; and further acquiring the noise value of the sensor in the second grounding mode, and if the noise value of the sensor is not greater than a set value, maintaining the second grounding mode.

Optionally, in the ground fault control method, if the noise value of the sensor is greater than the set value in both the first ground fault mode and the second ground fault mode, the noise value of the sensor in the first ground fault mode is compared with the noise value of the sensor in the second ground fault mode;

if the noise value of the sensor in the first grounding mode is larger than the noise value of the sensor in the second grounding mode, determining that the space interference suffered by the sensor is larger than the conducted interference suffered by the sensor;

and if the noise value of the sensor in the first grounding mode is smaller than the noise value of the sensor in the second grounding mode, determining that the space interference suffered by the sensor is smaller than the conducted interference suffered by the sensor.

In order to solve the above technical problem, the present invention further provides a ground control apparatus, including:

a sensor provided with a shield case;

a first switch connected between the sensor and the shield case;

the second switch is connected between the shielding shell and the grounding point;

the control module is respectively in communication connection with the first switch and the second switch and is used for controlling the opening and closing of the first switch and the second switch; the control module comprises a first grounding mode and a second grounding mode; when the control module is in the first ground mode: controlling the first switch to be closed and the second switch to be opened; when the control module is in the second ground mode: controlling the first switch to be opened and the second switch to be closed; and

the acquisition module is respectively in communication connection with the sensor and the control module and is used for acquiring the noise value of the sensor;

the control module is configured to maintain the first grounding mode if the noise value collected by the collection module is not greater than a set value when the control module is in the first grounding mode; if the noise value acquired by the acquisition module is greater than the set value, switching to the second grounding mode; and in the second grounding mode, if the noise value acquired by the acquisition module is not greater than a set value, the second grounding mode is maintained.

Optionally, in the ground control apparatus, the first switch is connected in parallel with a first resistor; the second switch is connected in parallel with the second resistor.

Optionally, in the ground control device, the acquisition module is connected to the sensor through a signal line, a power supply line and a ground line; the sensor is powered by the acquisition module.

Optionally, in the ground control device, one end of the first resistor is connected to the ground line, and the other end of the first resistor is connected to the shielding case.

Optionally, in the ground control apparatus, the first switch, the second switch, the first resistor, the second resistor, and the shielding case are respectively connected to each other through a plurality of connection points, and in all the connection points, a ground resistance between any two of the connection points is less than 100m Ω; the resistance to ground between any two consecutive said connection points is less than 20m omega.

Optionally, in the ground control device, the control module is connected to the first switch through a first switch control signal line, and is connected to the second switch through a second switch control signal line; the signal line, the power supply line, the ground line, the first switch control signal line and the second switch control signal line form a wiring harness, a shielding layer is wrapped outside the wiring harness, and two ends of the shielding layer are electrically connected with the grounding point.

Optionally, in the ground control apparatus, a ground resistance at both ends of the shielding layer is less than 100m Ω.

In order to solve the above technical problem, the present invention further provides a readable storage medium, on which a program is stored, wherein the program can implement the grounding control method as described above when executed by a processor.

In summary, in the ground control method, the ground control apparatus and the readable storage medium provided by the present invention, the first switch is connected between the sensor and the shielding shell, the second switch is connected between the shielding shell and the ground point, and the first switch is controlled to be turned on and the second switch is controlled to be turned off as the first ground mode, and if the noise value of the sensor is not greater than the set value, the first ground mode is maintained; if the noise value of the sensor is greater than the set value in the first grounding mode, the first switch is controlled to be opened and the second switch is controlled to be closed to serve as a second grounding mode; and if the noise value of the sensor is not greater than the set value, the second grounding mode is kept. So configured, through the measurement of the noise value of the sensor in the first grounding mode or the second grounding mode, the interference form suffered by the sensor can be identified; by switching the first switch and the second switch, the grounding mode can be switched rapidly to deal with different interference forms. The method for identifying the interference form is simple and has high identification efficiency.

Drawings

It will be appreciated by those skilled in the art that the drawings are provided for a better understanding of the invention and do not constitute any limitation to the scope of the invention. Wherein:

fig. 1 is a schematic diagram of a ground control apparatus according to an embodiment of the present invention;

fig. 2 is a schematic diagram of a first grounding mode of the grounding control device according to an embodiment of the present invention;

fig. 3 is a schematic diagram of a second grounding mode of the grounding control device according to an embodiment of the present invention;

fig. 4 is a schematic diagram of a ground resistor according to an embodiment of the invention.

In the drawings:

101-a data acquisition card; 102-an acquisition module; 103-a control module; 104-PC machine; 107-signal lines; 108-supply lines; 109-ground line; 110-a first switch control signal line; 111-a second switch control signal line;

200-physical space; 201-shielding shell; 202-signal processing card; 203-a sensor; 204-a first resistance; 205-a second resistance; 206-a first switch; 207-a second switch; 209-space disturbance; 210-conducting a disturbance signal; 211-disturbance signal;

300-a wire harness; 400-ground point.

Detailed Description

To further clarify the objects, advantages and features of the present invention, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings. It is to be noted that the drawings are in greatly simplified form and are not to scale, but are merely intended to facilitate and clarify the explanation of the embodiments of the present invention. Further, the structures illustrated in the drawings are often part of actual structures. In particular, the drawings may have different emphasis points and may sometimes be scaled differently.

As used in this specification and the appended claims, the singular forms "a", "an", and "the" include plural referents unless the content clearly dictates otherwise. As used in this specification and the appended claims, the term "or" is generally employed in its sense including "and/or" unless the content clearly dictates otherwise.

The core idea of the present invention is to provide a ground control method, a ground control apparatus and a readable storage medium, so as to solve the problem of low efficiency of recognizing the interference form of the existing weak signal sensor, wherein the ground control method includes:

providing a sensor provided with a shielding shell, a first switch and a second switch, wherein the first switch is connected between the sensor and the shielding shell, and the second switch is connected between the shielding shell and a grounding point;

controlling the first switch to be closed and the second switch to be opened as a first grounding mode;

acquiring a noise value of the sensor, and if the noise value of the sensor is not greater than a set value in the first grounding mode, keeping the first grounding mode;

if the noise value of the sensor is larger than the set value in the first grounding mode, controlling the first switch to be switched off, and controlling the second switch to be switched on as a second grounding mode; and further acquiring the noise value of the sensor in the second grounding mode, and if the noise value of the sensor is not greater than a set value, maintaining the second grounding mode.

So configured, through the measurement of the noise value of the sensor in the first grounding mode or the second grounding mode, the interference form suffered by the sensor can be identified; by switching the first switch and the second switch, the grounding mode can be switched rapidly to deal with different interference forms. The method for identifying the interference form is simple and has high identification efficiency.

The following description refers to the accompanying drawings.

Referring to fig. 1 to 4, in which fig. 1 is a schematic diagram of a ground control device according to an embodiment of the present invention, fig. 2 is a schematic diagram of a first ground mode of the ground control device according to the embodiment of the present invention, fig. 3 is a schematic diagram of a second ground mode of the ground control device according to the embodiment of the present invention, and fig. 4 is a schematic diagram of a ground resistance according to the embodiment of the present invention.

As shown in fig. 1 to 4, an embodiment of the present invention provides a ground control apparatus, which includes: the device comprises asensor 203 provided with a shieldingshell 201, afirst switch 206, asecond switch 207, acontrol module 103 and anacquisition module 102, wherein thefirst switch 206 is connected between thesensor 203 and the shieldingshell 201; thesecond switch 207 is connected between the shieldingcase 201 and a ground point 400 (such as a chassis ground or a ground); thecontrol module 103 is respectively connected to thefirst switch 206 and thesecond switch 207 in a communication manner, and is configured to control the on/off of thefirst switch 206 and thesecond switch 207; thecontrol module 103 comprises a first ground mode and a second ground mode; when thecontrol module 103 is in the first ground mode: controlling thefirst switch 206 to be closed and thesecond switch 207 to be opened; when thecontrol module 103 is in the second ground mode: thefirst switch 206 is controlled to be open and thesecond switch 207 is controlled to be closed. Theacquisition module 102 is in communication connection with thesensor 203 and thecontrol module 103, respectively, and is configured to acquire a noise value of thesensor 203. Thecontrol module 103 is configured to, when in the first grounding mode, maintain the first grounding mode if the noise value acquired by theacquisition module 102 is not greater than a set value; if the noise value acquired by theacquisition module 102 is greater than the set value, switching to the second grounding mode; in the second grounding mode, if the noise value collected by thecollection module 102 is not greater than a set value, the second grounding mode is maintained.

In an exemplary embodiment, theacquisition module 102 and thecontrol module 103 are integrated on adata acquisition card 101; while thesensor 203 and associated accessories are installed in the relatively complexphysical space 200 of the electromagnetic environment, thesensor 203 is preferably an analog sensor that is primarily used to detect weak signals and is therefore sensitive to interference. Optionally, thesensor 203 is mounted on asignal processing card 202, a shieldingcase 201 is disposed outside thesignal processing card 202, the shieldingcase 201 is preferably a metal shielding case, and theshielding case 201 is completely sealed as far as possible without affecting the normal function of thesensor 203, so as to improve the shielding effect. Preferably, thefirst switch 206 is also disposed on thesignal processing card 202, and thesecond switch 207 is located outside thesignal processing card 202. Preferably, thedata acquisition card 101 is disposed away from thephysical space 200, and thedata acquisition card 101 is connected with thesignal processing card 202 and thesecond switch 207 in thephysical space 200 through thewire harness 300 to form a communication connection and an electrical connection. Optionally, thewire harness 300 includes asignal line 107, apower supply line 108, aground line 109, a first switchcontrol signal line 110, and a second switchcontrol signal line 111, thecollection module 102 and thesensor 203 are connected by thesignal line 107, thepower supply line 108, and theground line 109, and preferably, thesensor 203 is powered by thecollection module 102 through thepower supply line 108. Optionally, the data detected by thesensor 203 is pre-processed by thesignal processing card 202 and then transmitted to theacquisition module 102 on thedata acquisition card 101 through the plurality ofsignal lines 107, and the number of thesignal lines 107 is not limited. It is to be understood that theacquisition module 102 can acquire not only the data detected by thesensor 203, but also the noise value of thesensor 203. Thecontrol module 103 controls the opening and closing of thefirst switch 206 and thesecond switch 207 through the first switchcontrol signal line 110 and the second switchcontrol signal line 111, respectively. The outside of thewire harness 300 is preferably coated with a shielding layer, both ends of which are electrically connected to theground point 400.

Optionally, the ground control device is controlled by an upper computer, for example, the upper computer may be aPC 104, thePC 104 is in communication connection with thedata acquisition card 101 through a communication method (for example, ethernet) commonly used in the art, and thePC 104 drives thecontrol module 103 by sending a command, so that thecontrol module 103 realizes on/off control of thefirst switch 206 and thesecond switch 207, thereby realizing switching between the first ground mode and the second ground mode. Further, thePC 104 may further obtain a noise value of the sensor acquired by theacquisition module 102, and perform further judgment and control according to the noise value. Of course, in other embodiments, theacquisition module 102 and thecontrol module 103 may be combined into one module, or directly write the program into thedata acquisition card 101 without using an upper computer, so as to implement direct control. Those skilled in the art can make changes and modifications to the arrangement of the modules according to the prior art, and the invention is not limited thereto.

Preferably, thefirst switch 206 is connected in parallel with thefirst resistor 204; thesecond switch 207 is connected in parallel with thesecond resistor 205. More preferably, one end of thefirst resistor 204 is connected to theground line 109, and the other end is connected to theshielding case 201. Optionally, thefirst resistor 204 and thesecond resistor 205 are both selected from mega resistors, and the resistance thereof may be selected from 4M Ω to 10M Ω. Optionally, thefirst resistor 204 is also integrated on thesignal processing card 202. The on-resistances of thefirst switch 206 and thesecond switch 207 are preferably smaller than 20m Ω, and preferably, thefirst switch 206 and thesecond switch 207 are switches with small volumes, so as to avoid occupying too much board card space, and preferably, analog switches are selected. So configured, when thefirst switch 206 is turned on, it is equivalent to bypass thefirst resistor 204, and when thesecond switch 207 is turned on, it is equivalent to bypass thesecond resistor 205. As shown in fig. 4, thefirst switch 206, thesecond switch 207, thefirst resistor 204, thesecond resistor 205, and theshielding case 201 are respectively connected to each other through a plurality of connection points (i.e., the connection point of any two components can be regarded as one connection point), and in all the connection points, the ground resistance between any two connection points is less than 100m Ω; the ground resistance between any two consecutive said connection points is less than 20m omega to ensure a good and continuous grounding of thephysical space 200. Optionally, the ground resistance at both ends of the shielding layer of thewire harness 300 is less than 100m Ω.

Based on the above configuration, the present embodiment further provides a ground control method, which includes:

step S1: controlling thefirst switch 206 to be closed and thesecond switch 207 to be opened as a first grounding mode;

step S2: acquiring a noise value of thesensor 203, and if the noise value of thesensor 203 is not greater than a set value in the first grounding mode, maintaining the first grounding mode;

step S3: if the noise value of thesensor 203 is greater than the set value in the first grounding mode, controlling thefirst switch 206 to be opened and thesecond switch 207 to be closed as a second grounding mode; further, the noise value of thesensor 203 is acquired in the second ground mode, and if the noise value of thesensor 203 is not greater than a set value, the second ground mode is maintained.

As shown in fig. 3, when thecontrol module 103 is configured in the first grounding mode, the shieldingshell 201 and theground line 109 form an equipotential body, thedisturbance signal 211 on theground line 109 is slowly leaked to the grounding point 400 (e.g., the ground) all the way through thefirst switch 206 with a smaller resistance, and the disturbance signal on the shieldingshell 201 is also slowly leaked to thegrounding point 400. Thesecond resistor 205 prevents disturbance signals on thegrounding point 400 from affecting thesensor 203, and the discharge path of the disturbance signals is shown by the arrow direction in fig. 3.

In step S2, thePC 104 reads the noise value of thesensor 203 through thecollection module 102, and if the noise value meets (is not greater than) a set index requirement (i.e., a set value), the grounding mode of the first grounding mode is retained. If the signal level does not meet (is larger than) the set value, it is indicated that the shielding effect of the shieldingshell 201 is not ideal, or the spatial disturbance 209 is too large, and the disturbance signal on the shieldingshell 201 cannot be completely discharged, so that theground wire 109 is affected, and further, the signal level is greatly disturbed. It can thus be determined that this is electromagnetic interference caused by the spatial disturbance 209.

As shown in fig. 4, in the first grounding mode, if the collected noise value of thesensor 203 does not meet the requirement, thePC 104 may issue a command to drive thecontrol module 103 to switch to the second grounding mode, i.e., control thefirst switch 206 to be opened and thesecond switch 207 to be closed. At this time, the disturbance signal on theshielding case 201 directly selects the path of thesecond switch 207 with smaller resistance to be directly drained to thegrounding point 400, thedisturbance signal 211 on theground line 109 is slowly drained to thegrounding point 400 through thefirst resistor 204, and the drainage path of the disturbance signal is shown by an arrow in fig. 4. Furthermore, thePC 104 reads the noise value of thesensor 203 through theacquisition module 102, and if the noise value satisfies (is not greater than) the set value, the grounding mode of the second grounding mode is retained. If the noise value of thesensor 203 does not satisfy (is greater than) the set value in the second grounding mode, it indicates that the overall grounding of thephysical space 200 is not good, the conducteddisturbance signal 210 on thegrounding point 400 is large, the shieldingshell 201 is instead subjected to the conducted disturbance of thegrounding point 400 on thephysical space 200, and the disturbance signal is further coupled to thesensor 203 or thesignal processing card 202.

Preferably, if the noise value of thesensor 203 is greater than the set value in both the first grounding mode and the second grounding mode, the noise value of thesensor 203 in the first grounding mode is compared with the noise value of thesensor 203 in the second grounding mode; if the noise value of thesensor 203 in the first grounding mode is greater than the noise value of thesensor 203 in the second grounding mode, determining that the spatial interference experienced by thesensor 203 is greater than the conducted interference; if the noise value of thesensor 203 in the first grounding mode is smaller than the noise value of thesensor 203 in the second grounding mode, it is determined that the spatial interference experienced by thesensor 203 is smaller than the conducted interference.

If theshield case 201 is not sealed enough and thephysical space 200 is not grounded well, the noise value of thesensor 203 may not satisfy (be greater than) the set value in both the first ground mode and the second ground mode. If the noise values in the two grounding modes do not satisfy the set value, the emphasis on solving the problem can be determined by comparing the noise values of thesensor 203 read by theacquisition module 102 in the two grounding modes, i.e., the first grounding mode and the second grounding mode. Specifically, if the noise value of thesensor 203 read in the grounding mode of the first grounding mode is greater than the noise value of thesensor 203 read in the grounding mode of the second grounding mode, the problem of spatial radiation needs to be solved. On the contrary, if the noise value of thesensor 203 read in the grounding mode of the first grounding mode is smaller than the noise value of thesensor 203 read in the grounding mode of the second grounding mode, the problem of conducted interference needs to be solved, and the problem can be solved through grounding troubleshooting.

Based on the above method, the present embodiment further provides a readable storage medium, on which a program is stored, and the readable storage medium stores a program that can implement the grounding control method as described above when the program is executed by a processor. That is, the grounding control method can realize the switching of the grounding mode by a software-driven mode. Alternatively, the program may be stored in thePC 104, thedata acquisition card 101, or even integrated in thecontrol module 103. Therefore, the grounding control method provided by the present embodiment can be applied as a diagnostic tool by which two grounding modes, i.e., the first grounding mode and the second grounding mode, can be selected freely according to the read noise value of thesensor 203. And judging which disturbance has larger influence on thesensor 203 in the actual electromagnetic environment according to the noise value of thesensor 203 in the two grounding modes of the first grounding mode and the second grounding mode, and further providing reference for seeking a further solution. By applying the grounding control method provided by the embodiment, the root cause of the electromagnetic interference can be found out quickly, the electromagnetic interference problem is solved quickly, the problem solving efficiency is improved, the working procedures are saved, and the identification and the solution of the electromagnetic interference problem become simpler and more convenient.

In addition, through the readable storage medium, the grounding control method provided by the embodiment can also be applied to formal use of products, namely, the grounding control method is directly used in a grounding control device, two grounding modes are switched according to the noise value of thesensor 203, and a correct grounding scheme can be quickly selected in practical use.

In summary, based on the above method, the noise value of thesensor 203 is measured in the first grounding mode or the second grounding mode, so that the interference form suffered by thesensor 203 can be identified; by switching thefirst switch 206 and thesecond switch 207, the grounding mode can be switched quickly to cope with different interference forms. The method for identifying the interference form is simple and has high identification efficiency.

The above-mentioned embodiments are only exemplary descriptions of the present invention and not limitations thereof, and those skilled in the art can make various changes and modifications without departing from the spirit of the present invention, which fall within the protection scope of the appended claims.

Claims (9)

1. A ground control method, comprising:

providing a sensor provided with a shielding shell, a first switch and a second switch, wherein the first switch is connected between the sensor and the shielding shell, and the second switch is connected between the shielding shell and a grounding point;

controlling the first switch to be closed and the second switch to be opened as a first grounding mode;

acquiring a noise value of the sensor, and if the noise value of the sensor is not greater than a set value in the first grounding mode, keeping the first grounding mode;

if the noise value of the sensor is larger than the set value in the first grounding mode, controlling the first switch to be switched off, and controlling the second switch to be switched on as a second grounding mode; further acquiring a noise value of the sensor in the second grounding mode, and if the noise value of the sensor is not greater than a set value, keeping the second grounding mode;

the first switch is connected between the sensor and the shielding shell; the second switch is connected between the shielding shell and the grounding point; the first switch is connected with the first resistor in parallel; the second switch is connected in parallel with the second resistor.

2. The ground control method according to claim 1, wherein if the noise value of the sensor is greater than the set value in both the first ground mode and the second ground mode, the noise value of the sensor in the first ground mode is compared with the noise value of the sensor in the second ground mode;

if the noise value of the sensor in the first grounding mode is larger than the noise value of the sensor in the second grounding mode, determining that the space interference suffered by the sensor is larger than the conducted interference suffered by the sensor;

and if the noise value of the sensor in the first grounding mode is smaller than the noise value of the sensor in the second grounding mode, determining that the space interference suffered by the sensor is smaller than the conducted interference suffered by the sensor.

3. An earth control device, comprising:

a sensor provided with a shield case;

a first switch connected between the sensor and the shield case;

the second switch is connected between the shielding shell and the grounding point;

the control module is respectively in communication connection with the first switch and the second switch and is used for controlling the opening and closing of the first switch and the second switch; the control module comprises a first grounding mode and a second grounding mode; when the control module is in the first ground mode: controlling the first switch to be closed and the second switch to be opened; when the control module is in the second ground mode: controlling the first switch to be opened and the second switch to be closed; and

the acquisition module is respectively in communication connection with the sensor and the control module and is used for acquiring the noise value of the sensor;

the control module is configured to maintain the first grounding mode if the noise value collected by the collection module is not greater than a set value when the control module is in the first grounding mode; if the noise value acquired by the acquisition module is greater than the set value, switching to the second grounding mode; in the second grounding mode, if the noise value acquired by the acquisition module is not greater than a set value, the second grounding mode is maintained;

the first switch is connected between the sensor and the shielding shell; the second switch is connected between the shielding shell and the grounding point; the first switch is connected with the first resistor in parallel; the second switch is connected in parallel with the second resistor.

4. The grounding control device as claimed in claim 3, wherein the collection module is connected with the sensor through a signal line, a power supply line and a ground line; the sensor is powered by the acquisition module.

5. The ground control device of claim 4, wherein one end of the first resistor is connected to the ground line and the other end is connected to the shield case.

6. The ground control device of claim 5, wherein the first switch, the second switch, the first resistor, the second resistor, and the shielding case are connected to each other through a plurality of connection points, respectively, and a ground resistance between any two of the connection points is less than 100m Ω among all the connection points; the resistance to ground between any two consecutive said connection points is less than 20m omega.

7. The ground control device of claim 4, wherein the control module is connected to the first switch by a first switch control signal line and to the second switch by a second switch control signal line; the signal line, the power supply line, the ground line, the first switch control signal line and the second switch control signal line form a wiring harness, a shielding layer is wrapped outside the wiring harness, and two ends of the shielding layer are electrically connected with the grounding point.

8. The ground control device of claim 7, wherein the ground resistance across the shield layer is less than 100m Ω.

9. A readable storage medium on which a program is stored, the program being capable of implementing the ground control method according to claim 1 or claim 2 when executed by a processor.

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