Underground cable path detection device and detection method

Abstract

The present invention relates to the technical field of power pipeline surveying and mapping, and in particular to an underground cable path detection device and a detection method. The device of the present invention includes a signal transmitting terminal and a signal receiving terminal. The signal transmitting terminal transmits two measurement sinusoidal wave signals to couple to the cable line. The measurement sinusoidal wave carries the sending time. The signal receiving terminal receives the two measurement signals. The buried depth of the cable is determined by the receiving time and the analysis of the waveform, and the path of the cable is further determined according to the buried depth. The detection of the cable line by the device only requires ground operation, so it is simpler to operate and has higher surveying efficiency than the surveying method using an inertial navigation vehicle.

Description

Technical Field

[0001] The present invention relates to the technical field of power pipeline surveying and mapping, and in particular to an underground cable path detection device and a detection method. Background Art

[0002] Cable laying refers to the process of laying and installing cables along the surveyed route to form a cable line. According to the application scenarios, it can be divided into several laying methods, such as overhead, underground (pipeline and direct burial), underwater, wall and tunnel. Reasonable selection of cable laying method is very important to ensure the transmission quality, reliability and construction and maintenance of the line.

[0003] The actual laying path of underground cables is often lost during cable maintenance, relocation, and fault finding. It is impossible to confirm the direction and burial depth of the cables, especially some old cables. Therefore, cable path detection is required.

[0004] A mature technology in the prior art is to use a small vehicle with inertial navigation to travel along the pipeline of the power line to map the path of the pipeline. This technology requires space to accommodate the small vehicle, but it is powerless for directly buried cables.

[0005] Based on this, it is necessary to develop an underground cable path detection device to solve the deficiencies in the prior art. Summary of the invention

[0006] The embodiments of the present invention provide an underground cable path detection device and a detection method, which are used to solve the problem in the prior art that it is necessary to enter the power pipeline to detect the underground cable path.

[0007] In a first aspect, an embodiment of the present invention provides an underground cable path detection device, comprising:

[0008] A signal transmitting terminal and a signal receiving terminal, wherein the signal transmitting terminal is signal-connected to the signal receiving terminal;

[0009] The signal transmitting terminal is used to couple the two generated measuring sine wave signals to the cable, the measuring sine wave signals are modulated with the sending time information as carrier waves, and the two measuring sine wave signals are located in different bands;

[0010] The signal receiving terminal is used to receive the two measured sine wave signals, and determine the path of the underground cable according to the position of the signal receiving terminal and the buried depth of the cable;

[0011] The buried depth of the cable is determined according to the waveforms of the two measured sinusoidal wave signals, the sending time information and the receiving time.

[0012] In a possible implementation, the signal transmitting terminal includes:

[0013] A control module, a local oscillator, a first phase-locked loop, a second phase-locked loop and a mixer;

[0014] The control module is respectively connected to the modulation end signals of the first phase-locked loop and the second phase-locked loop, the local oscillator is respectively connected to the input end signals of the first phase-locked loop and the second phase-locked loop, and the input end of the mixer is respectively connected to the output end signals of the first phase-locked loop and the second phase-locked loop;

[0015] The control module is used to generate information indicating the sending time, and the local oscillator is used to generate a reference sine wave signal;

[0016] The first phase-locked loop and the second phase-locked loop are used to generate the measuring sine wave, wherein the measuring sine wave is generated according to the frequency multiplication of the reference sine wave, the measuring sine wave is modulated with the information indicating the sending time, and the frequency multiplication numbers of the first phase-locked loop and the second phase-locked loop are mutually prime;

[0017] The mixer is used for mixing the two measurement sine waves.

[0018] In a possible implementation, the first phase-locked loop and the second phase-locked loop both include:

[0019] A phase comparator, a filter, a frequency divider and a voltage-controlled oscillator; the input end of the phase comparator is signal-connected to the output end of the frequency divider and the output end of the local oscillator, the output end of the phase comparator is signal-connected to the input end of the filter, the output end of the filter and the output end of the control module are signal-connected to the input end of the voltage-controlled oscillator, and the output end of the voltage-controlled oscillator is signal-connected to the input end of the frequency divider;

[0020] The frequency division number of the frequency divider of the first phase-locked loop and the frequency division number of the frequency divider of the second phase-locked loop are mutually prime.

[0021] In a possible implementation, the control module includes: a phase detector and a controller, wherein an input end of the phase detector is signal-connected to an output end of the local oscillator, and an output end of the phase detector is signal-connected to the controller;

[0022] The phase detector is used to collect the zero-phase signal of the reference sine wave signal, and the controller is used to lock the moment of zero phase and use the locked moment as the sending moment.

[0023] In a possible implementation manner, the signal receiving terminal includes:

[0024] Receiving module, positioning module, wave recording module and calculation unit;

[0025] The receiving module, the positioning module and the wave recording module are respectively connected to the calculation unit signal, and the receiving module is connected to the wave recording module signal;

[0026] The receiving module is used to receive the target signal and separate the target signal to obtain the two measured sinusoidal wave signals;

[0027] The waveform recording module is used to record the waveforms of the two measured sinusoidal wave signals;

[0028] The positioning module is used to obtain the position of the signal receiving terminal;

[0029] The calculation unit is used to obtain the sending time information by demodulating the measured sine wave signal, and determine the path of the underground cable according to the sending time information, the receiving time, the waveforms of the two measured sine wave signals and the position of the signal receiving terminal.

[0030] In a possible implementation, the receiving module includes:

[0031] A broadband antenna, a low-pass filter and a high-pass filter, wherein the input end of the low-pass filter and the input end of the high-pass filter are respectively connected to the broadband antenna signal, and the output end of the low-pass filter and the output end of the high-pass filter are respectively connected to the recording module and the calculation unit signal;

[0032] The low-pass filter is used to filter out one of the two measured sinusoidal wave signals, and the high-pass filter is used to filter out the other of the two measured sinusoidal wave signals.

[0033] In a second aspect, an embodiment of the present invention provides an underground cable path detection method, characterized in that it is applied to the underground cable path detection device implementation as described in the first aspect or any possible implementation of the first aspect, and the underground cable path detection method includes:

[0034] Acquire the two measured sinusoidal wave signals;

[0035] Demodulating the two measured sinusoidal wave signals to obtain the sending times of the two measured sinusoidal wave signals;

[0036] Determine a transmission phase according to the transmission time and the current time, wherein the transmission phase is the phase of the two measured sine wave signals at the transmitting end;

[0037] Determining the buried depth of the cable according to the transmission phase and the position of the signal receiving terminal;

[0038] Determine the position of the target point according to the position of the signal receiving terminal and the buried depth of the cable, wherein the position of the target point is the position of the closest point between the cable and the signal receiving terminal;

[0039] The path of the underground cable is determined according to the positions of the plurality of target points.

[0040] In a third aspect, an embodiment of the present invention provides a computing unit, comprising a memory and a processor, wherein the memory stores a computer program that can be run on the processor, and when the processor executes the computer program, it implements the steps of the method described in the second aspect or any possible implementation of the second aspect.

[0041] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method described in the second aspect or any possible implementation of the second aspect are implemented.

[0042] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0043] The embodiment of the present invention discloses a method for identifying and splicing power line images, which includes a signal transmitting terminal and a signal receiving terminal. The signal transmitting terminal transmits two measurement sinusoidal wave signals coupled to the cable line, and the measurement sinusoidal wave carries the transmission time. The signal receiving terminal receives the two measurement signals, and determines the buried depth of the cable through the reception time and the analysis of the waveform, and further determines the path of the cable according to the buried depth. The detection of the cable line by the device only requires ground operation, so it is simpler to operate and has higher mapping efficiency than the mapping method using an inertial navigation vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0045] Figure 1 It is a schematic diagram of underground cable path detection provided by an embodiment of the present invention;

[0046] Figure 2 is a waveform diagram received by a signal receiving terminal provided in an embodiment of the present invention;

[0047] Figure 3 is a waveform diagram transmitted by a signal transmitting terminal provided in an embodiment of the present invention;

[0048] Figure 4 is a functional block diagram of a signal transmitting terminal provided in an embodiment of the present invention;

[0049] Figure 5 is a functional diagram of a phase-locked loop provided in an embodiment of the present invention;

[0050] Figure 6 is a functional block diagram of a signal receiving terminal provided by an embodiment of the present invention;

[0051] Figure 7 It is a functional block diagram of a computing unit provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0052] In the following description, specific details such as specific system structures and technologies are provided for the purpose of illustration rather than limitation so as to provide a thorough understanding of the embodiments of the present invention. However, it should be clear to those skilled in the art that the present invention may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, and methods are omitted so as not to obscure the description of the present invention with unnecessary details.

[0053] In order to make the purpose, technical solutions and advantages of the present invention more clear, a specific implementation method will be described below in conjunction with the accompanying drawings.

[0054] The following is a detailed description of an embodiment of the present invention. This example is implemented based on the technical solution of the present invention, and provides a detailed implementation method and a specific operation process, but the protection scope of the present invention is not limited to the following embodiments.

[0055] Figure 1 A schematic diagram of underground cable path detection provided by an embodiment of the present invention.

[0056] like Figure 1 As shown, it shows the underground cable path detection principle diagram provided by an embodiment of the present invention, which is described in detail as follows:

[0057] An underground cable path detection device includes: a signal transmitting terminal 102 and a signal receiving terminal 103, wherein the signal transmitting terminal is signal-connected with the signal receiving terminal.

[0058] The signal transmitting terminal 102 is used to couple the two generated measuring sine wave signals to the cable. The measuring sine wave signals are modulated with sending time information as carrier waves. The two measuring sine wave signals are located in different bands.

[0059] The signal receiving terminal 103 is used to receive the two measuring sine wave signals, and determine the path of the underground cable according to the position of the signal receiving terminal and the buried depth of the cable. The buried depth of the cable is determined according to the waveforms of the two measuring sine wave signals, the sending time information and the receiving time.

[0060] For example, Figure 1 As shown, the cable 101 is laid below the ground surface, and the signal transmitting terminal 102 loads the signal to one end of the cable 101 by coupling. The signal travels in the direction indicated by the arrow and arrives at the signal receiving terminal 103 on the vehicle. Its path can be divided into two parts, one of which is the cable part and the other is the part corresponding to the cable buried depth H under the trolley. These two parts and the ground distance D between the signal receiving terminal 103 and the signal transmitting terminal 102 together form a right triangle. The cable buried depth H and the ground distance D between the signal receiving terminal 103 and the signal transmitting terminal 102 are the two right-angled sides of the right triangle. The path of signal propagation is the hypotenuse and the straight side of the right triangle-cable buried depth H. If we know the ground distance D between the signal receiving terminal 103 and the signal transmitting terminal 102, we can calculate the cable buried depth H by the Pythagorean theorem, and further determine the actual laying path of the cable.

[0061] As for the transmitted signal wave, an electromagnetic wave is used in one embodiment, and its waveform is a sine wave. Although the propagation speed of electromagnetic waves in different media varies, it is generally sufficient for this application. It is known from the known technology that the product of the wavelength of a wave and the frequency of the wave is the propagation speed of the wave. Therefore, after stabilizing the frequency, the wavelength is also determined. If we know how many waves there are from the signal receiving terminal 103 to the signal transmitting terminal 102, then we can know the length of the propagation path.

[0062] Therefore, in order to clarify how many wavelengths have been experienced (it may not be an integer wavelength, for example, at the two ends of the path, in addition to a number of integer wavelengths, there may also be a phase interval), the dual-wave method is relatively easier to determine.

[0063] Figure 2 The waveform diagram received by the signal receiving terminal provided by the embodiment of the present invention is shown. It can be seen that the phase at the vertical line moment in the first and last ends of the two waveforms can be clearly seen from the phase value of the first waveform 201 of the receiving end and the phase value of the second waveform 202 of the receiving end at this time that it is located in the second wave of the first waveform 201 of the receiving end and the first wave of the second waveform 202 of the receiving end.

[0064] Figure 3The waveform diagram of the signal transmitting terminal provided by the embodiment of the invention is shown. The signal receiving terminal 103 generally starts receiving from the beginning of the waveform. However, due to the distance, what is actually received at this time are the transmitting end first waveform 301 and the transmitting end second waveform 302 transmitted by the signal transmitting terminal 102 at time t-1, and the time difference between the two is t-1.

[0065] In one implementation, the wave as a carrier carries the time when transmission starts, and the mode of carrying the time when transmission starts can be amplitude modulation or frequency modulation. The time difference determined according to the transmission time and the reception time is the time difference t-1 between transmission and reception.

[0066] As for the signal coupling method, a commonly used coupling method is to provide an isolation transformer and a coupling capacitor at the output end of the signal transmitting terminal, one end of the isolation capacitor is connected to the isolation transformer, and the other end is connected to one end of the cable.

[0067] Another coupling method is to load the generated signal onto the cable through a coil that is sleeved on the cable.

[0068] In one implementation, the two measured sine wave signals are generated based on the same fundamental wave frequency multiplication, the two measured sine wave signals have different frequency multiplication numbers, and the two frequency multiplication values ​​are mutually prime.

[0069] In some implementations, the signal transmitting terminal includes: a control module 401 , a local oscillator 402 , a first phase-locked loop 403 , a second phase-locked loop 404 , and a mixer 405 .

[0070] The control module 401 is respectively connected to the modulation end signals of the first phase-locked loop 403 and the second phase-locked loop 404, the local oscillator 402 is respectively connected to the input end signals of the first phase-locked loop 403 and the second phase-locked loop 404, and the input end of the mixer 405 is respectively connected to the output end signals of the first phase-locked loop and the second phase-locked loop 404.

[0071] The control module 401 is used to generate information indicating a sending time, and the local oscillator 402 is used to generate a reference sine wave signal.

[0072] The first phase-locked loop 403 and the second phase-locked loop 404 are used to generate the measuring sine wave, wherein the measuring sine wave is generated according to the frequency doubling of the reference sine wave, the measuring sine wave is modulated with the information indicating the sending time, and the frequency doubling numbers of the first phase-locked loop 403 and the second phase-locked loop 404 are mutually prime.

[0073] The mixer 405 is used to mix the two measurement sinusoidal waves.

[0074] In some implementations, the first phase-locked loop 403 and the second phase-locked loop 404 both include: a phase comparator 501 , a filter 502 , a frequency divider 503 , and a voltage-controlled oscillator 504 .

[0075] The input end of the phase comparator 501 is signal-connected to the output end of the frequency divider 503 and the output end of the local oscillator 402, the output end of the phase comparator 501 is signal-connected to the input end of the filter 502, the output end of the filter 502 and the output end of the control module 401 are signal-connected to the input end of the voltage-controlled oscillator 504, and the output end of the voltage-controlled oscillator 504 is signal-connected to the input end of the frequency divider 503. The frequency division number of the frequency divider 503 of the first phase-locked loop 403 and the frequency division number of the frequency divider 503 of the second phase-locked loop 404 are mutually prime.

[0076] In some embodiments, the control module 401 includes: a phase detector and a controller, wherein the input end of the phase detector is signal-connected to the output end of the local oscillator 402, and the output end of the phase detector is signal-connected to the controller;

[0077] The phase detector is used to collect the zero-phase signal of the reference sine wave signal, and the controller is used to lock the moment of zero phase and use the locked moment as the sending moment.

[0078] For example, in the physical implementation of the system, Figure 4 As shown, the figure shows a functional block diagram of a signal generating terminal provided by an embodiment of the present invention, the local oscillator 402 is used to generate a reference signal, the first phase-locked loop 403 and the second phase-locked loop 404 generate a measurement signal based on the frequency multiplication of the reference signal, and the frequency multiplication values ​​of the two phase-locked loops are mutually prime, such as Figure 3 The two measurement signals generated in the process are respectively 2 times and 3 times the reference signal. After the two signals are generated, they are mixed by the mixer 405 and then output.

[0079] In some application scenarios that use amplitude modulation to load the sending time, the control module 401 uses the information of the sending time as the control quantity to control the amplitude of the output signal of the first phase-locked loop 403 and the second phase-locked loop 404 to achieve the purpose of loading the sending time into the output signal.

[0080] For implementation of the phase-locked loop, see Figure 5, one implementation includes a phase comparator 501, a filter 502, a frequency divider 503 and a voltage controlled oscillator 504. If the signal is loaded into the signal by amplitude modulation, the frequency and amplitude of the output of the voltage controlled oscillator 504 are adjustable, wherein the output frequency is controlled by the filter 502, and the output amplitude is controlled by the control module 401. The signal output by the voltage controlled oscillator 504 is divided by the frequency divider 503, and the divided signal is compared with the signal output by the local oscillator 402 for phase difference. If there is a phase difference, a signal indicating the output frequency of the voltage controlled oscillator 504 is output after filtering by the filter 502, that is, a negative feedback is formed, and finally the purpose of stabilizing the oscillation frequency of the voltage controlled oscillator 504 is achieved.

[0081] In the implementation method of capturing the sending moment, since the two measurement signal waves are multiples of the reference wave, the zero phase of the reference wave is the zero phase of the two measurement signal waves. Therefore, the moment when the zero phase of the reference wave is captured can capture the common zero phase of the two measurement signals.

[0082] In the control module 401, a phase detector is provided. When the phase detector detects a zero phase, the current time is locked and modulated into the measurement signal wave.

[0083] In some implementations, the signal receiving terminal includes: a receiving module 601, a positioning module 602, a wave recording module 603, and a computing unit 604. The receiving module 601, the positioning module 602, and the wave recording module 603 are respectively connected to the computing unit 604 by signal, and the receiving module 601 is connected to the wave recording module 603 by signal.

[0084] The receiving module 601 is used to receive a target signal and separate the target signal to obtain the two measured sine wave signals. The recording module 603 is used to record the waveforms of the two measured sine wave signals. The positioning module 602 is used to obtain the position of the signal receiving terminal. The calculation unit 604 is used to obtain the sending time information by demodulating the measured sine wave signal, and determine the path of the underground cable according to the sending time information, the receiving time, the waveforms of the two measured sine wave signals and the position of the signal receiving terminal.

[0085] In some embodiments, the receiving module 601 includes: a broadband antenna, a low-pass filter and a high-pass filter. The input end of the low-pass filter and the input end of the high-pass filter are respectively connected to the broadband antenna signal, and the output end of the low-pass filter and the output end of the high-pass filter are respectively connected to the recording module 603 and the calculation unit 604. The low-pass filter is used to filter out one of the two measured sinusoidal wave signals, and the high-pass filter is used to filter out the other of the two measured sinusoidal wave signals.

[0086] For example, Figure 6 As shown, Figure 6 The functional block diagram of the signal receiving terminal provided by the embodiment of the present invention is shown. The signal receiving terminal includes a receiving module 601 , a positioning module 602 , a wave recording module 603 and a calculation unit 604 .

[0087] The receiving module 601 is used to receive signals and process the signals to obtain two measurement sine waves. The recording module 603 stores the two sine waves. The positioning module 602 is used to locate the current position.

[0088] A positioning module 602 adopts RTK positioning technology, RTK (Real Time Kinematic), that is, carrier phase difference technology, which can provide three-dimensional positioning results of the measuring station in a specified coordinate system in real time and achieve centimeter-level accuracy.

[0089] As for the receiving module 601, in one technology, a broadband antenna is used to receive signals, and one of the two measured sine waves is filtered out by a low-pass filter and a high-pass filter respectively, so that two measured sine waves are obtained respectively.

[0090] The underground cable path detection device of the present invention includes a signal transmitting terminal and a signal receiving terminal. The signal transmitting terminal transmits two measurement sine wave signals coupled to the cable line. The measurement sine wave carries the sending time. The signal receiving terminal receives the two measurement signals. The buried depth of the cable is determined by the receiving time and the analysis of the waveform, and the path of the cable is further determined according to the buried depth. The detection of the cable line by the device only requires ground operation, so it is simpler to operate and has higher mapping efficiency than the mapping method using an inertial navigation vehicle.

[0091] The embodiment of the present invention further provides an underground cable path detection method, which is applied to the above-mentioned underground cable path detection device. The underground cable path detection method includes:

[0092] Acquire the two measured sinusoidal wave signals;

[0093] Demodulating the two measured sinusoidal wave signals to obtain the sending times of the two measured sinusoidal wave signals;

[0094] Determine a transmission phase according to the transmission time and the current time, wherein the transmission phase is the phase of the two measured sine wave signals at the transmitting end;

[0095] Determining the buried depth of the cable according to the transmission phase and the position of the signal receiving terminal;

[0096] Determine the position of the target point according to the position of the signal receiving terminal and the buried depth of the cable, wherein the position of the target point is the position of the closest point between the cable and the signal receiving terminal;

[0097] The path of the underground cable is determined according to the positions of the plurality of target points.

[0098] In some implementations, determining the buried depth of the cable according to the transmission phase and the position of the signal receiving terminal includes:

[0099] Determine the number of the measuring sine waves from the measuring sine wave transmitting end to the receiving end according to the transmitting phase;

[0100] The buried depth of the cable is determined according to the number of the measuring sine waves between the measuring sine wave transmitting end and the receiving end, the wavelength of the measuring sine waves, the ground distance between the measuring sine wave transmitting end and the receiving end, and a first formula, wherein the first formula is:

[0101]

[0102] Wherein, N is the number of the measuring sine waves between the measuring sine wave transmitting end and the measuring sine wave receiving end, λ is the wavelength, H is the buried depth of the cable, L is the distance between the measuring sine wave transmitting end and the measuring sine wave receiving end, and D is the ground distance between the measuring sine wave transmitting end and the measuring sine wave receiving end.

[0103] For example, the time difference between sending and receiving and the two phases can be used to determine how many waves one of the measured sine waves has experienced from the signal transmitting end to the signal receiving end. As mentioned above, the wavelength can be determined based on the frequency, so the distance from the transmitting end to the receiving end can be calculated based on the wavelength and the number of waves.

[0104] The distance between the sender and the receiver is Figure 1 The sum of the hypotenuse length of the right triangle and the buried depth of the cable. The hypotenuse length, the buried depth of the cable and the ground distance between the transmitter and the receiver conform to the Pythagorean theorem. After determining the ground distance between the transmitter and the receiver, the buried depth of the cable can be determined according to the following formula:

[0105]

[0106] Wherein, N is the number of the measuring sine waves between the measuring sine wave transmitting end and the measuring sine wave receiving end, λ is the wavelength, H is the buried depth of the cable, L is the distance between the measuring sine wave transmitting end and the measuring sine wave receiving end, and D is the ground distance between the measuring sine wave transmitting end and the measuring sine wave receiving end.

[0107] The burial depth in the above formula is the burial depth of the cable below the corresponding signal receiving terminal. The cable is detected point by point, and then the path of the cable can be restored by fitting between the multiple measured points.

[0108] Figure 7 is a functional block diagram of a terminal provided by an embodiment of the present invention. Figure 7 As shown, the computing unit 7 of this embodiment includes: a processor 700 and a memory 701, wherein the memory 701 stores a computer program 702 that can be run on the processor 700. When the processor 700 executes the computer program 702, the steps in the above-mentioned underground cable path detection method and embodiment are implemented.

[0109] Exemplarily, the computer program 702 may be divided into one or more modules / units, and the one or more modules / units are stored in the memory 701 and executed by the processor 700 to implement the present invention.

[0110] The computing unit 7 may be a computing device such as a desktop computer, a notebook, a PDA, or a cloud server. The computing unit 7 may include, but is not limited to, a processor 700 and a memory 701. Those skilled in the art will appreciate that Figure 7 It is only an example of the computing unit 7 and does not constitute a limitation on the computing unit 7. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the terminal may also include input and output devices, network access devices, buses, etc.

[0111] The processor 700 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0112] The memory 701 may be an internal storage unit of the computing unit 7, such as a hard disk or memory of the computing unit 7. The memory 701 may also be an external storage device of the computing unit 7, such as a plug-in hard disk, a smart media card (SMC), a secure digital card (SD), a flash card, etc. equipped on the computing unit 7. Further, the memory 701 may also include both an internal storage unit of the computing unit 7 and an external storage device. The memory 701 is used to store the computer program and other programs and data required by the terminal. The memory 701 may also be used to temporarily store data that has been output or is to be output.

[0113] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the implementation method can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method implementation method, which will not be repeated here.

[0114] In the above-mentioned embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0115] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0116] In the embodiments provided by the present invention, it should be understood that the disclosed devices / terminals and methods can be implemented in other ways. For example, the device / terminal embodiments described above are only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0117] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0118] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0119] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention implements all or part of the processes in the above-mentioned implementation method, and can also be completed by instructing related hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, it can implement the steps of the above-mentioned underground cable path detection method implementation method. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device that can carry the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal and software distribution medium.

[0120] The above-described embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. An underground cable path detection device, characterized in that: include: A signal transmitting terminal and a signal receiving terminal, wherein the signal transmitting terminal is signal-connected to the signal receiving terminal; The signal transmitting terminal is used to couple the two generated measuring sine wave signals to the cable, the measuring sine wave signals are modulated with the sending time information as carrier waves, and the two measuring sine wave signals are located in different bands; The signal receiving terminal is used to receive the two measured sine wave signals, and determine the path of the underground cable according to the position of the signal receiving terminal and the buried depth of the cable; The buried depth of the cable is determined according to the waveforms of the two measured sinusoidal wave signals, the sending time information and the receiving time; Determine a transmission phase according to the transmission time and the current time, wherein the transmission phase is the phase of the two measured sine wave signals at the transmitting end; Determine the number of the measuring sine waves from the measuring sine wave transmitting end to the receiving end according to the transmitting phase; Determine the distance between the measuring sine wave sending end and the receiving end according to the number of the measuring sine waves between the measuring sine wave sending end and the receiving end and the wavelength of the measuring sine waves; Determine the buried depth of the cable according to the number of the measuring sine waves between the measuring sine wave transmitting end and the receiving end, the wavelength of the measuring sine waves, the ground distance between the measuring sine wave transmitting end and the receiving end, the Pythagorean theorem and the first formula; The first formula is as follows: Wherein, N is the number of the measuring sine waves between the measuring sine wave transmitting end and the measuring sine wave receiving end, λ is the wavelength, H is the buried depth of the cable, L is the distance between the measuring sine wave transmitting end and the measuring sine wave receiving end, and D is the ground distance between the measuring sine wave transmitting end and the measuring sine wave receiving end.

2. The underground cable path detection device according to claim 1, characterized in that: The signal transmitting terminal comprises: A control module, a local oscillator, a first phase-locked loop, a second phase-locked loop and a mixer; The control module is respectively connected to the modulation end signals of the first phase-locked loop and the second phase-locked loop, the local oscillator is respectively connected to the input end signals of the first phase-locked loop and the second phase-locked loop, and the input end of the mixer is respectively connected to the output end signals of the first phase-locked loop and the second phase-locked loop; The control module is used to generate information indicating the sending time, and the local oscillator is used to generate a reference sine wave signal; The first phase-locked loop and the second phase-locked loop are used to generate the measuring sine wave, wherein the measuring sine wave is generated according to the frequency multiplication of the reference sine wave, the measuring sine wave is modulated with the information indicating the sending time, and the frequency multiplication numbers of the first phase-locked loop and the second phase-locked loop are mutually prime; The mixer is used for mixing the two measurement sine waves.

3. The underground cable path detection device according to claim 2, characterized in that: The first phase-locked loop and the second phase-locked loop both include: A phase comparator, a filter, a frequency divider and a voltage-controlled oscillator; the input end of the phase comparator is signal-connected to the output end of the frequency divider and the output end of the local oscillator, the output end of the phase comparator is signal-connected to the input end of the filter, the output end of the filter and the output end of the control module are signal-connected to the input end of the voltage-controlled oscillator, and the output end of the voltage-controlled oscillator is signal-connected to the input end of the frequency divider; The frequency division number of the frequency divider of the first phase-locked loop and the frequency division number of the frequency divider of the second phase-locked loop are mutually prime.

4. The underground cable path detection device according to claim 2, characterized in that: The control module comprises: a phase detector and a controller, wherein the input end of the phase detector is connected to the output end of the local oscillator by signal, and the output end of the phase detector is connected to the controller by signal; The phase detector is used to collect the zero-phase signal of the reference sine wave signal, and the controller is used to lock the moment of zero phase and use the locked moment as the sending moment.

5. The underground cable path detection device according to any one of claims 1 to 4, characterized in that: The signal receiving terminal comprises: Receiving module, positioning module, wave recording module and calculation unit; The receiving module, the positioning module and the wave recording module are respectively connected to the calculation unit signal, and the receiving module is connected to the wave recording module signal; The receiving module is used to receive the target signal and separate the target signal to obtain the two measured sinusoidal wave signals; The waveform recording module is used to record the waveforms of the two measured sinusoidal wave signals; The positioning module is used to obtain the position of the signal receiving terminal; The calculation unit is used to obtain the sending time information by demodulating the measured sine wave signal, and determine the path of the underground cable according to the sending time information, the receiving time, the waveforms of the two measured sine wave signals and the position of the signal receiving terminal.

6. The underground cable path detection device according to claim 5, characterized in that: The receiving module comprises: A broadband antenna, a low-pass filter and a high-pass filter, wherein the input end of the low-pass filter and the input end of the high-pass filter are respectively connected to the broadband antenna signal, and the output end of the low-pass filter and the output end of the high-pass filter are respectively connected to the recording module and the calculation unit signal; The low-pass filter is used to filter out one of the two measured sinusoidal wave signals, and the high-pass filter is used to filter out the other of the two measured sinusoidal wave signals.

7. A method for detecting underground cable paths, characterized in that: Applied to the underground cable path detection device according to any one of claims 1 to 6, the underground cable path detection method comprises: Acquire the two measured sinusoidal wave signals; Demodulating the two measured sinusoidal wave signals to obtain the sending times of the two measured sinusoidal wave signals; Determine a transmission phase according to the transmission time and the current time, wherein the transmission phase is the phase of the two measured sine wave signals at the transmitting end; Determining the buried depth of the cable according to the transmission phase and the position of the signal receiving terminal; Determine the position of the target point according to the position of the signal receiving terminal and the buried depth of the cable, wherein the position of the target point is the position of the closest point between the cable and the signal receiving terminal; The path of the underground cable is determined according to the positions of the plurality of target points.

8. A computing unit, comprising a memory and a processor, wherein the memory stores a computer program that can be run on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to claim 7 are implemented.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to claim 7 are implemented.

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