Directly buried cable path detection vehicle and detection method thereof

Abstract

The application relates to the technical field of power cable detection, and discloses a direct-buried cable path detection vehicle and a detection method thereof. The detection vehicle injects a sinusoidal electric signal into a measured cable through a signal generator, and further obtains the sinusoidal electric signal in the measured cable under different angles through an electromagnetic sensor array. The signal amplitude strength of the sinusoidal electric signals under different angles is compared, the angle corresponding to the sinusoidal electric signal with the highest signal amplitude strength is obtained, the optimal position of the electromagnetic sensor array is determined according to the obtained angle, the trend and the burial depth of the measured cable at the current position are calculated according to the optimal position of the electromagnetic sensor array, the wheels are controlled to travel along the trend of the measured cable at the current position, so that the trend and the burial depth of the measured cable at all positions are obtained, and the path diagram of the measured cable is generated according to the trend and the burial depth of the measured cable at all positions, thereby improving the cable path detection accuracy and the detection efficiency.

Description

Technical Field

[0001] This invention relates to the field of power cable inspection technology, and in particular to a direct-buried cable path detection vehicle and its detection method. Background Technology

[0002] With rapid urban development, the distribution of underground pipelines has become increasingly complex. Many aging pipelines lack detailed information such as location and burial depth due to their age, lack of management and maintenance, and the loss of design drawings, posing potential risks to urban construction and development. Therefore, accurately determining the location and burial depth of underground pipelines is crucial for urban construction and development.

[0003] In existing technologies, cable path tracing requires manual judgment of data size and continuous movement for assessment. The determination of burial depth and path depends on human experience, making accurate data judgment impossible. After the detection is completed, the detection data needs to be exported for analysis and processing, which is cumbersome and time-consuming. The detection results cannot be displayed on-site in real time, resulting in low detection efficiency. Summary of the Invention

[0004] This invention provides a buried cable path detection vehicle and its detection method, which solves the technical problems of low accuracy and low efficiency in cable path detection.

[0005] In view of this, the first aspect of the present invention provides a direct-buried cable path detection vehicle, including a vehicle body; the vehicle body is provided with a control module and a signal generator, and the bottom of the vehicle body is provided with wheels and an electromagnetic sensor array;

[0006] The signal generator is used to generate a sinusoidal current signal of a preset frequency and inject the sinusoidal electrical signal into the cable under test.

[0007] The electromagnetic sensor array is used to acquire sinusoidal electrical signals in the cable under test at different angles and send the sinusoidal electrical signals at different angles to the control module.

[0008] The control module is used to receive sinusoidal electrical signals sent by the electromagnetic sensor array at different angles, compare the signal amplitude of the sinusoidal electrical signals at different angles, obtain the angle corresponding to the sinusoidal electrical signal with the highest signal amplitude, determine the optimal position of the electromagnetic sensor array based on the obtained angle, calculate the direction and burial depth of the cable under test at the current position based on the optimal position of the electromagnetic sensor array, wherein the direction of the cable under test at the current position is perpendicular to the length direction of the electromagnetic sensor array at the optimal position, control the wheel to travel along the direction of the cable under test at the current position, thereby obtaining the direction and burial depth of the cable under test at all positions, and generate a path map of the cable under test based on the direction and burial depth of the cable under test at all positions.

[0009] Preferably, the electromagnetic sensing array includes three rod-shaped electromagnetic sensors, the center points of the three rod-shaped electromagnetic sensors are on the same straight line, and each rod-shaped electromagnetic sensor is provided with a horizontal steering motor and a vertical steering motor between it and the vehicle body. The horizontal steering motor is used to drive the corresponding rod-shaped electromagnetic sensor to rotate in the horizontal direction, and the vertical steering motor is used to drive the corresponding rod-shaped electromagnetic sensor to rotate in the vertical direction.

[0010] Preferably, the control module is further configured to acquire the sinusoidal electrical signals of the three rod-shaped electromagnetic sensors at different horizontal angles, compare the horizontal signal amplitude of the sinusoidal electrical signals of the three rod-shaped electromagnetic sensors at different horizontal angles, obtain the horizontal angle with the highest horizontal signal amplitude in the sinusoidal electrical signals corresponding to each rod-shaped electromagnetic sensor, and determine the optimal horizontal position of the three rod-shaped electromagnetic sensors based on the obtained horizontal angles, and determine the direction of the rod-shaped electromagnetic sensor in the optimal horizontal position relative to the vertical direction as the direction of the cable under test at the current position;

[0011] It is also used to acquire the sinusoidal electrical signals of the three rod-shaped electromagnetic sensors at different vertical angles, compare the vertical signal amplitude of the sinusoidal electrical signals of the three rod-shaped electromagnetic sensors at different vertical angles, obtain the vertical angle with the highest vertical signal amplitude in the sinusoidal electrical signals corresponding to each rod-shaped electromagnetic sensor, determine the optimal vertical position of the three rod-shaped electromagnetic sensors based on the obtained vertical angle, determine the corresponding optimal position based on the optimal horizontal position and optimal vertical position of the three rod-shaped electromagnetic sensors, perform perpendicular line processing on each rod-shaped electromagnetic sensor in the optimal position to obtain three perpendicular line intersection points, calculate the depth of the three perpendicular line intersection points according to the geometric relationship between the three perpendicular line intersection points and the three rod-shaped electromagnetic sensors, and use it as the burial depth of the cable under test at the current position.

[0012] Preferably, the vehicle body is equipped with an infrared ranging and obstacle avoidance module, which is used to obtain the distance of obstacles in front of the vehicle body. When the distance of the obstacle is less than a preset obstacle avoidance distance threshold, the wheels are driven to avoid the obstacle based on the obstacle avoidance algorithm.

[0013] Preferably, the detection vehicle further includes a GPS positioning module and a visualization module. The GPS positioning module is used to perform satellite positioning on the vehicle body to obtain the geographical location of the vehicle body. The visualization module is used to load the path map of the cable under test onto the corresponding geographical location in the tile map according to the geographical location of the vehicle body, and to render the path of the cable under test to obtain a visualized map of the cable under test.

[0014] Secondly, the present invention also provides a detection method for a direct-buried cable path detection vehicle, which includes the following steps:

[0015] By injecting a sinusoidal current signal of a preset frequency into the cable under test;

[0016] The sinusoidal electrical signals in the cable under test at different angles are obtained by an electromagnetic sensor array.

[0017] By comparing the signal amplitude intensity of the sinusoidal electrical signal at different angles, the angle corresponding to the sinusoidal electrical signal with the highest signal amplitude intensity is obtained, and the optimal position of the electromagnetic sensing array is determined based on the obtained angle.

[0018] The direction and burial depth of the cable under test at the current location are calculated based on the optimal position of the electromagnetic sensor array, wherein the direction of the cable under test at the current location is perpendicular to the length direction of the electromagnetic sensor array at the optimal position. The wheels of the detection vehicle are controlled to travel along the direction of the cable under test at the current location, thereby obtaining the direction and burial depth of the cable under test at all locations. A path map of the cable under test is generated based on the direction and burial depth of the cable under test at all locations.

[0019] As can be seen from the above technical solutions, the present invention has the following advantages:

[0020] This invention generates a sinusoidal current signal of a preset frequency using a signal generator, injects the sinusoidal signal into the cable under test, and acquires the sinusoidal signal in the cable under test at different angles using an electromagnetic sensor array. A control module compares the signal amplitude of the sinusoidal signal at different angles to obtain the angle corresponding to the sinusoidal signal with the highest amplitude. Based on the obtained angle, the optimal position of the electromagnetic sensor array is determined. The direction and burial depth of the cable under test at the current position are calculated based on the optimal position of the electromagnetic sensor array. A wheel is controlled to travel along the direction of the cable under test at the current position, thereby obtaining the direction and burial depth of the cable under test at all positions. A path map of the cable under test is generated based on the direction and burial depth of the cable under test at all positions, thus improving the accuracy and efficiency of cable path detection. Attached Figure Description

[0021] Figure 1 This is a first structural schematic diagram of a direct-buried cable path detection vehicle provided in an embodiment of the present invention;

[0022] Figure 2 This is a schematic diagram of the second structure of a direct-buried cable path detection vehicle provided in an embodiment of the present invention;

[0023] Figure 3 A third structural schematic diagram of a direct-buried cable path detection vehicle provided in an embodiment of the present invention;

[0024] Figure 4 A flowchart illustrating a detection method for a direct-buried cable path detection vehicle provided in an embodiment of the present invention. Detailed Implementation

[0025] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0026] For easier understanding, please refer to Figure 1 The present invention provides a direct-buried cable path detection vehicle, including a vehicle body 10; the vehicle body 10 is provided with a control module 11 and a signal generator 12, and the bottom of the vehicle body 10 is provided with wheels 13 and an electromagnetic sensor array 14.

[0027] The signal generator 12 is used to generate a sinusoidal current signal of a preset frequency and inject the sinusoidal electrical signal into the cable under test.

[0028] The signal generator 12 can inject current by clamping it between the cable and ground, with the opposite side of the cable grounded. Current then flows through the cable, typically at a specific frequency, such as 3kHz, which is adjustable to avoid interference. Alternatively, both ends of the cable can be grounded, with a CT clamp used in the middle to induce current in the cable.

[0029] The electromagnetic sensor array 14 is used to acquire sinusoidal electrical signals in the cable under test at different angles and send the sinusoidal electrical signals at different angles to the control module 11.

[0030] The control module 11 is used to receive sinusoidal electrical signals at different angles sent by the electromagnetic sensor array 14, and to compare the signal amplitude intensity of the sinusoidal electrical signals at different angles to obtain the angle corresponding to the sinusoidal electrical signal with the highest signal amplitude intensity. It is also used to determine the optimal position of the electromagnetic sensor array 14 based on the obtained angle, and to calculate the direction and burial depth of the cable under test at the current position based on the optimal position of the electromagnetic sensor array 14. The direction of the cable under test at the current position is perpendicular to the length direction of the electromagnetic sensor array 14 at the optimal position. It is also used to control the wheel 13 to travel along the direction of the cable under test at the current position, thereby obtaining the direction and burial depth of the cable under test at all positions, and to generate a path map of the cable under test based on the direction and burial depth of the cable under test at all positions.

[0031] It should be noted that the sinusoidal electrical signal can be filtered according to the selected frequency, and the final calculated value is the level value. Since the electromagnetic sensor array 14 is directional, rotating the electromagnetic sensor array 14 will result in different amplitudes. The direction can be determined according to the angle corresponding to the maximum amplitude.

[0032] The signal strength of the electromagnetic sensor array 14 on the ground is related to its position. The electromagnetic sensor array 14 will generate the maximum amplitude when it is perpendicular to the cable path in the horizontal direction. Therefore, in one example, the electromagnetic sensor array 14 is placed in a horizontal position and rotated to obtain the signal strength at various angles. By locating the angle with the strongest signal strength, according to the principle of electromagnetic induction, the direction of the cable under test forms a 90-degree angle with the electromagnetic sensor array 14.

[0033] When the electromagnetic sensor array 14 is rotated to its strongest position, the center point of the cable is perpendicular to the electromagnetic sensor array 14. The current position of the electromagnetic sensor array 14 can be used to find the depth of the cable being measured.

[0034] Assuming the cable under test consists of multiple points, the direction and burial depth of the cable at the current location are calculated based on the optimal position of the electromagnetic sensor array 14. The wheels 13 are then controlled to move along the direction of the cable at the current location, updating the position point to obtain the direction and burial depth of the cable at all locations. A path map of the cable is generated based on this information. The vehicle body 10 is also equipped with a motor to drive the wheels 13. All wheels 13 can turn 360 degrees horizontally. Therefore, by simply turning the vehicle to a rotating state and then rotating it by the corresponding angle according to the known cable direction, the vehicle's direction can be adjusted to the cable direction. Combining the current and previous positioning positions, the vehicle moves in the direction of the cable. To continuously track the cable direction, a positioning check is typically performed every 1-5 meters. The entire cable tracking and positioning process can be completed without human intervention.

[0035] This invention provides a buried cable path detection vehicle. A signal generator 12 generates a sinusoidal current signal of a preset frequency, which is injected into the cable under test. An electromagnetic sensor array 14 acquires the sinusoidal signals from the cable under test at different angles. A control module 11 compares the signal amplitude of the sinusoidal signals at different angles to obtain the angle corresponding to the sinusoidal signal with the highest amplitude. Based on the obtained angle, the optimal position of the electromagnetic sensor array 14 is determined. The direction and burial depth of the cable under test at the current position are calculated based on the optimal position of the electromagnetic sensor array 14. The vehicle controls the wheels 13 to travel along the direction of the cable under test at the current position, thereby obtaining the direction and burial depth of the cable under test at all positions. A path map of the cable under test is generated based on the direction and burial depth of the cable under test at all positions, thus improving the accuracy and efficiency of cable path detection.

[0036] In one specific embodiment, such as Figures 2-3 As shown, the electromagnetic sensor array 14 includes three rod-shaped electromagnetic sensors 141, 142, and 143. The center points of the three rod-shaped electromagnetic sensors 141, 142, and 143 are on the same straight line. Each rod-shaped electromagnetic sensor is provided with a horizontal steering motor 15 and a vertical steering motor 16 between itself and the vehicle body 10. The horizontal steering motor 15 is used to drive the corresponding rod-shaped electromagnetic sensor to rotate in the horizontal direction, and the vertical steering motor 16 is used to drive the corresponding rod-shaped electromagnetic sensor to rotate in the vertical direction.

[0037] The rod-shaped electromagnetic sensor can be made of a magnetic rod with a coil wound on it. The resonant frequency of the coil will match the frequency of the signal generator 12. For example, if the signal generator 12 generates 1kHz to 10kHz, the rod-shaped electromagnetic sensor can work at this frequency.

[0038] In one specific embodiment, the control module 11 is further configured to acquire the sinusoidal electrical signals of the three rod-shaped electromagnetic sensors 141, 142, and 143 at different horizontal angles, compare the horizontal signal amplitude of the sinusoidal electrical signals of the three rod-shaped electromagnetic sensors 141, 142, and 143 at different horizontal angles, obtain the horizontal angle with the highest horizontal signal amplitude of the sinusoidal electrical signals corresponding to each rod-shaped electromagnetic sensor, and determine the optimal horizontal position of the three rod-shaped electromagnetic sensors 141, 142, and 143 based on the obtained horizontal angles, and determine that the direction of the rod-shaped electromagnetic sensor in the optimal horizontal position relative to the vertical direction is the direction of the cable under test at the current position.

[0039] It is also used to acquire sinusoidal electrical signals from three rod-shaped electromagnetic sensors 141, 142, and 143 at different vertical angles, compare the vertical signal amplitude of the sinusoidal electrical signals from the three rod-shaped electromagnetic sensors 141, 142, and 143 at different vertical angles, obtain the vertical angle with the highest vertical signal amplitude in the sinusoidal electrical signal corresponding to each rod-shaped electromagnetic sensor, determine the optimal vertical position of the three rod-shaped electromagnetic sensors 141, 142, and 143 based on the obtained vertical angle, determine the corresponding optimal position based on the optimal horizontal and optimal vertical positions of the three rod-shaped electromagnetic sensors 141, 142, and 143, perform perpendicular line processing on each rod-shaped electromagnetic sensor in the optimal position to obtain the intersection point of the three perpendicular lines, calculate the depth of the intersection point of the three perpendicular lines based on the geometric relationship between the intersection point and the three rod-shaped electromagnetic sensors 141, 142, and 143, and use it as the burial depth of the cable under test at the current position.

[0040] It should be noted that the direction perpendicular to the point where the sinusoidal signal amplitude of the three rod-shaped electromagnetic sensors 141, 142, and 143 is the direction of the cable. Usually, the three rod-shaped electromagnetic sensors 141, 142, and 143 are compared. If the three directions are basically consistent, the direction of the cable has been found. If they are inconsistent, the cable may not be above the cable or there may be strong interference. In this case, the detection point needs to be changed.

[0041] In one example, there can be two rod-shaped electromagnetic sensors, but to avoid interference from other signals, using three rod-shaped electromagnetic sensors 141, 142, and 143 can improve the accuracy of detection.

[0042] In one example, when the trolley deviates from the cable, the direction of the cable can be determined by the angles of the three rod-shaped electromagnetic sensors 141, 142, and 143, and the position with the strongest signal amplitude can be found. This allows the trolley to be guided to move towards the cable until the trolley is directly above the cable.

[0043] In one specific embodiment, such as Figure 2 As shown, the vehicle body 10 is equipped with an infrared ranging and obstacle avoidance module 18, which is used to obtain the distance of obstacles in front of the vehicle body 10. When the distance of the obstacle is less than the preset obstacle avoidance distance threshold, the wheels 13 are driven to avoid the obstacle based on the obstacle avoidance algorithm.

[0044] In one specific embodiment, such as Figure 2 As shown, the probe vehicle also includes a GPS positioning module 17 and a visualization module. The GPS positioning module 17 is used to perform satellite positioning on the vehicle body 10 to obtain its geographical location. The visualization module is used to load the path map of the cable under test onto the corresponding geographical location in the tile map based on the geographical location of the vehicle body 10, and to render the path of the cable under test, thereby obtaining a visualized map of the cable under test. Specifically, the corresponding tile position can be determined in the tile map based on the geographical location of the vehicle body 10, the path map of the cable under test can be loaded onto the corresponding geographical location in the tile map, and the path of the cable under test can be rendered with color to obtain a visualized map of the cable under test, which includes the terrain.

[0045] The above is a detailed description of an embodiment of a direct-buried cable path detection vehicle provided by the present invention. The following is a detailed description of an embodiment of a detection method of a direct-buried cable path detection vehicle provided by the present invention.

[0046] For easier understanding, please refer to Figure 4 As shown, the present invention provides a detection method for a direct-buried cable path detection vehicle, which includes the following steps:

[0047] S1. Inject a sinusoidal current signal of a preset frequency into the cable under test;

[0048] S2. Obtain sinusoidal electrical signals from the cable under test at different angles using an electromagnetic sensor array;

[0049] S3. Compare the signal amplitude intensity of the sinusoidal electrical signal at different angles, obtain the angle corresponding to the sinusoidal electrical signal with the highest signal amplitude intensity, and determine the optimal position of the electromagnetic sensing array based on the obtained angle.

[0050] S4. Calculate the direction and burial depth of the cable under test at the current position based on the optimal position of the electromagnetic sensor array. The direction of the cable under test at the current position is perpendicular to the length direction of the electromagnetic sensor array at the optimal position. Control the wheels of the detection vehicle to travel along the direction of the cable under test at the current position, thereby obtaining the direction and burial depth of the cable under test at all positions. Generate a path map of the cable under test based on the direction and burial depth of the cable under test at all positions.

[0051] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific process of the method described above can be referred to the corresponding working process in the aforementioned probe vehicle embodiment, and will not be repeated here.

[0052] This invention provides a detection method for a buried cable path detection vehicle. It involves injecting a sinusoidal electrical signal into the cable under test and acquiring the sinusoidal electrical signal from the cable at different angles using an electromagnetic sensor array. By comparing the signal amplitude of the sinusoidal electrical signals at different angles, the angle corresponding to the sinusoidal electrical signal with the highest signal amplitude is obtained. Based on the obtained angle, the optimal position of the electromagnetic sensor array is determined. The direction and burial depth of the cable under test at the current position are calculated based on the optimal position of the electromagnetic sensor array. The vehicle is then controlled to travel along the direction of the cable under test at the current position, thereby obtaining the direction and burial depth of the cable under test at all positions. A path map of the cable under test is generated based on the direction and burial depth of the cable at all positions, thus improving the accuracy and efficiency of cable path detection.

[0053] In the several embodiments provided by this invention, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0054] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0055] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0056] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A vehicle for detecting the path of a directly buried cable, characterized in that, Includes a vehicle body; the vehicle body is equipped with a control module and a signal generator, and the bottom of the vehicle body is equipped with wheels and an electromagnetic sensor array; The signal generator is used to generate a sinusoidal electrical signal of a preset frequency and inject the sinusoidal electrical signal into the cable under test. The electromagnetic sensor array is used to acquire sinusoidal electrical signals in the cable under test at different angles and send the sinusoidal electrical signals at different angles to the control module. The electromagnetic sensing array includes three rod-shaped electromagnetic sensors, the center points of the three rod-shaped electromagnetic sensors are on the same straight line, and each rod-shaped electromagnetic sensor is provided with a horizontal steering motor and a vertical steering motor between it and the vehicle body. The horizontal steering motor is used to drive the corresponding rod-shaped electromagnetic sensor to rotate in the horizontal direction, and the vertical steering motor is used to drive the corresponding rod-shaped electromagnetic sensor to rotate in the vertical direction. The control module is used to receive sinusoidal electrical signals sent by the electromagnetic sensor array at different angles, compare the signal amplitude of the sinusoidal electrical signals at different angles, obtain the angle corresponding to the sinusoidal electrical signal with the highest signal amplitude, determine the optimal position of the electromagnetic sensor array based on the obtained angle, calculate the direction and burial depth of the cable under test at the current position based on the optimal position of the electromagnetic sensor array, wherein the direction of the cable under test at the current position is perpendicular to the length direction of the electromagnetic sensor array at the optimal position, control the wheel to travel along the direction of the cable under test at the current position, thereby obtaining the direction and burial depth of the cable under test at all positions, and generate a path map of the cable under test based on the direction and burial depth of the cable under test at all positions.

2. The buried cable path detection vehicle according to claim 1, characterized in that, The control module is also used to acquire the sinusoidal electrical signals of the three rod-shaped electromagnetic sensors at different horizontal angles, compare the horizontal signal amplitude of the sinusoidal electrical signals of the three rod-shaped electromagnetic sensors at different horizontal angles, obtain the horizontal angle with the highest horizontal signal amplitude of the sinusoidal electrical signals corresponding to each rod-shaped electromagnetic sensor, and determine the optimal horizontal position of the three rod-shaped electromagnetic sensors based on the obtained horizontal angles, and determine the direction of the rod-shaped electromagnetic sensor in the optimal horizontal position relative to the vertical direction as the direction of the cable under test at the current position; It is also used to acquire the sinusoidal electrical signals of the three rod-shaped electromagnetic sensors at different vertical angles, compare the vertical signal amplitude of the sinusoidal electrical signals of the three rod-shaped electromagnetic sensors at different vertical angles, obtain the vertical angle with the highest vertical signal amplitude in the sinusoidal electrical signals corresponding to each rod-shaped electromagnetic sensor, determine the optimal vertical position of the three rod-shaped electromagnetic sensors based on the obtained vertical angle, determine the corresponding optimal position based on the optimal horizontal position and optimal vertical position of the three rod-shaped electromagnetic sensors, perform perpendicular line processing on each rod-shaped electromagnetic sensor in the optimal position to obtain three perpendicular line intersection points, calculate the depth of the three perpendicular line intersection points according to the geometric relationship between the three perpendicular line intersection points and the three rod-shaped electromagnetic sensors, and use it as the burial depth of the cable under test at the current position.

3. The buried cable path detection vehicle according to claim 1, characterized in that, The vehicle body is equipped with an infrared ranging and obstacle avoidance module, which is used to obtain the distance of obstacles in front of the vehicle body. When the distance of the obstacle is less than a preset obstacle avoidance distance threshold, the wheels are driven to avoid the obstacle based on the obstacle avoidance algorithm.

4. The buried cable path detection vehicle according to claim 1, characterized in that, It also includes a GPS positioning module and a visualization module. The GPS positioning module is used to perform satellite positioning on the vehicle body to obtain the geographical location of the vehicle body. The visualization module is used to load the path map of the cable under test onto the corresponding geographical location in the tile map according to the geographical location of the vehicle body, and to render the path of the cable under test to obtain a visualized map of the cable under test.

5. A detection method for a direct-buried cable path detection vehicle, using the direct-buried cable path detection vehicle as described in claim 1, characterized in that, Includes the following steps: By injecting a sinusoidal electrical signal of a preset frequency into the cable under test; The sinusoidal electrical signals in the cable under test at different angles are obtained by an electromagnetic sensor array. By comparing the signal amplitude intensity of the sinusoidal electrical signal at different angles, the angle corresponding to the sinusoidal electrical signal with the highest signal amplitude intensity is obtained, and the optimal position of the electromagnetic sensing array is determined based on the obtained angle. The direction and burial depth of the cable under test at the current location are calculated based on the optimal position of the electromagnetic sensor array, wherein the direction of the cable under test at the current location is perpendicular to the length direction of the electromagnetic sensor array at the optimal position. The wheels of the detection vehicle are controlled to travel along the direction of the cable under test at the current location, thereby obtaining the direction and burial depth of the cable under test at all locations. A path map of the cable under test is generated based on the direction and burial depth of the cable under test at all locations.

Images