Underground cable tracing device and tracing method based on electromagnetic induction technology

Abstract

The invention provides a buried cable tracing device based on an electromagnetic induction technology, which comprises a self-propelled trolley, the self-propelled trolley is provided with a satellite positioning system, and the bottom of the trolley is provided with a reference point positioning mechanism and a rapid track calibration mechanism. The reference point positioning mechanism is used for detecting the reference position point of the buried cable, the track rapid calibration mechanism is used for comparing the induced electromotive force of the cable positioning coil and detecting the position point which is the same as the corresponding induced electromotive force, so that the extension position point on the buried cable is rapidly positioned, and the purpose of rapidly detecting the track of the buried cable is achieved.

Description

Technical Field

[0001] The present application relates to the technical field of power cables, and in particular to an underground cable tracing device and a tracing method based on electromagnetic induction technology. Background Art

[0002] The statements in this section merely provide background technical information related to the present application and do not necessarily constitute prior art.

[0003] With the rapid development of urban construction, urban underground power grids are becoming increasingly complex, and the number of corresponding cables in use is also increasing. Cables are generally laid underground. In order to determine the location of underground cables, cable identification signs are usually set on the ground. However, due to urban and rural transformation and renovation of residential areas, it is inevitable that the cable identification signs set on the ground are destroyed and buried, resulting in the inability to determine the location of some underground cables. When excavating the area where the cables are laid, it is impossible to accurately determine the location of the underground cables and other information, which will not only affect the construction process, but may even damage the cables during the construction process, causing unexpected power outages or other dangerous situations.

[0004] The existing cable tracing device, as shown in patent CN115144910A, needs to be carried by personnel, is inconvenient to move, and can only detect single points on the cable in sequence. For the overall detection of the cable extension track, the efficiency is low and the workload is large. Summary of the invention

[0005] In order to solve the above problems, the present application proposes a buried cable tracing device and a tracing method based on electromagnetic induction technology.

[0006] The present application provides an underground cable tracing device based on electromagnetic induction technology, comprising a self-propelled trolley, the self-propelled trolley is equipped with a satellite positioning system, and a reference point positioning mechanism and a track rapid calibration mechanism are arranged at the bottom of the trolley;

[0007] The reference point positioning mechanism comprises a lifting mechanism embedded in the bottom of the bicycle body, a multi-layer bracket is arranged at the end of the lifting mechanism, and the multi-layer bracket comprises three supporting plates arranged from top to bottom, and a cable positioning coil is arranged on the supporting plate;

[0008] The track quick calibration mechanism comprises a multi-stage telescopic plate arranged on one side of a top support plate, an initial section of the multi-stage telescopic plate is slidably embedded in a sliding circular groove provided on the outer peripheral side wall of the top support plate, a folding telescopic mechanism is arranged on the top of the multi-stage telescopic plate, the head and tail of the folding telescopic mechanism are respectively connected with the initial section and the final section of the multi-stage telescopic plate, equidistant points are selected from each hinge point on the axis thereof to be connected with each intermediate stage of the multi-stage telescopic plate, track calibration coils are respectively arranged at the bottom of each telescopic stage of the multi-stage telescopic plate, an annular driving guide rail is arranged above the multi-stage telescopic plate, the annular driving guide rail is arranged around the outer periphery of the multi-layer bracket and its slider is movably connected with the multi-stage telescopic plate.

[0009] Preferably, a cable tracking controller is provided inside the self-propelled trolley, and the cable tracking controller is electrically connected to the reference point positioning mechanism and the track rapid calibration mechanism.

[0010] Preferably, the cable positioning coil includes: a first coil arranged on the top tray, a second coil arranged on the middle tray, a third coil and a fourth coil arranged on the bottom tray, the first coil, the third coil and the fourth coil are vertically wound coils, the second coil is a horizontally wound coil, the first coil and the fourth coil have the same orientation, and the third coil and the fourth coil are vertically oriented; the trajectory calibration coil is a horizontally wound coil; the first coil, the second coil, the third coil, the fourth coil and the trajectory calibration coil include a coil body and a sampling circuit board.

[0011] Preferably, the first coil, the third coil and the fourth coil have the same coil structure, and the second coil and the track calibration coil have the same coil structure and the same installation height.

[0012] Preferably, the slider of the annular driving guide ring is movably connected to the multi-stage telescopic plate through a first telescopic frame; the multi-stage telescopic plate includes a vertical telescopic rod vertically arranged at the bottom of the slider, a horizontal telescopic rod is arranged at the bottom end of the vertical telescopic rod, a connecting bracket is arranged at the end of the horizontal telescopic rod, and the connecting bracket is fixedly connected to the side of any telescopic stage of the multi-stage telescopic plate.

[0013] The present application also provides a buried cable tracing method based on electromagnetic induction technology, comprising the following steps:

[0014] S1: The reference point positioning mechanism locates the buried cable, obtains M cable reference positions Pre_i, and generates a cable reference extension trajectory L0 based on the cable reference positions Pre_i, where i takes a value of 1, 2...M, and M is a preset setting;

[0015] S2: The cable tracking controller determines the detection direction based on the reference extension trajectory L0, generates a rapid detection position P_drc based on the reference position Pre_i at the end of the detection direction, and the trajectory rapid calibration mechanism detects the extension point set C1={P1_1, P1_2, ..., P1_n} of the buried cable toward the detection direction at the rapid detection position P_drc, where n is the number of trajectory calibration coils, and generates a first trajectory L1_1 based on each extension point;

[0016] S3: The reference point positioning mechanism corrects the extension point P1_n and generates a verification detection position P_drc2. The track fast calibration mechanism detects the extension point of the buried cable that deviates from the detection direction at the verification detection position P_drc2, generates an extension point set C2 = {P2_1, P2_2, ..., P2_n}, generates a second track L1_2, combines the first track L1_1 and the second track L1_2 to generate a confirmation track L1, and clears C1, C2, L1_1, and L1_2;

[0017] S4: The track rapid calibration mechanism detects the extension point set {P1_1, P1_2, ..., P1_n} of the buried cable toward the detection direction at the verification detection position P_drc2, and generates a first track L1_1 based on each extension point;

[0018] S5: Repeat steps S3 and S4 to generate each segment of confirmation trajectory;

[0019] In steps S1 to S5, the self-propelled vehicle drives the reference point positioning mechanism and the track rapid calibration mechanism to move, and sends a real-time satellite positioning signal to the cable tracking controller.

[0020] Preferably, in step S1, the reference point positioning mechanism positions the buried cable, and the method for generating the cable reference position Pre_i is as follows:

[0021] S101: Detect the induced current I1 in the first coil and the induced current I2 in the second coil, the direction of I1 remains unchanged, and the direction of I2 changes based on its location on the left and right sides of the buried cable, and judge whether the reference point positioning mechanism is located on the left or right side of the cable by the positive and negative values ​​of I1×I2;

[0022] S102: Detecting the induced electromotive force E3 and E4 in the third coil and the fourth coil, wherein the calculation formula of the induced electromotive force is:

[0023]

[0024] Where N is the number of turns of the coil, S is the cross-sectional area of ​​the coil, x and y are the horizontal and vertical distances from the coil to the buried cable, α is the horizontal angle between the coil and the buried cable, and I is the current in the buried cable. Assuming that α3 and α4 are the horizontal angles between the third coil and the fourth coil and the buried cable, respectively, since the coil structures of the third coil and the fourth coil are the same and α3+α4=90°, then

[0025]

[0026] The horizontal angle between the third coil and the buried cable is calculated;

[0027] S103: Based on step S101 and step S102, determine the moving direction of the reference point positioning mechanism. When it moves to the top of the buried cable, I 2 is 0. Find M points separated by a preset horizontal distance W and located above the buried cable at a preset height H from the ground, and set them as the cable reference position Pre_i.

[0028] Preferably, in step S2, the selection condition of the rapid detection position P_drc is:

[0029] Located on the left side of the horizontal extension direction of the buried cable; the line connecting the end reference position is perpendicular to the horizontal extension direction of the buried cable; the distance from the end reference position is the preset distance Length;

[0030] The method for the track rapid calibration mechanism to detect the extension point set C1 of the buried cable toward the detection direction at the rapid detection position P_drc is:

[0031] S201: Detecting the induced electromotive force E_basic at the rapid detection position P_drc through the second coil of the reference point positioning mechanism;

[0032] S202: The annular driving guide rail drives the multi-stage telescopic plate to rotate, driving each track calibration coil to rotate. Each track calibration coil detects a position point where the induced electromotive force is the same as E_basic during the rotation stroke, and marks its position as the extension point set C1.

[0033] Preferably, in step S3, the reference point positioning mechanism calibrates the extension point P1_n and generates the verification detection position P_drc2 in the following method:

[0034] The second coil of the reference point positioning mechanism detects whether the induced electromotive force at the extension point P1_n is equal to E_basic.

[0035] If yes, the verification detection position P_drc2 is set as the extension point P1_n;

[0036] If not, based on the method of steps S101 to S103, a reference position located directly above the buried cable and closest to the extension point P1_n is selected, and a verification detection position P_drc2 is selected according to the selection condition of the rapid detection position P_drc.

[0037] Preferably, in the steps S2 and S3, the track rapid calibration mechanism needs to adjust the intervals of each track calibration coil according to a preset detection accuracy when detecting the extension point, and the specific method is as follows:

[0038] The cable tracking controller drives the folding and telescopic mechanism to extend and retract, driving each telescopic stage of the multi-stage telescopic plate to extend and retract equidistantly, so that each track calibration coil meets the preset detection accuracy.

[0039] Compared with the prior art, the beneficial effects of this application are:

[0040] (1) The present application detects the trajectory of the buried cable by carrying a reference point positioning mechanism and a trajectory rapid calibration mechanism on a self-propelled trolley, thereby enhancing the mobility of the present application, reducing the burden on operators, and improving the detection efficiency of the buried cable.

[0041] (2) The present application determines the relative left and right position of the present application and the buried cable through the first coil and the second coil of the reference point positioning mechanism, and determines the horizontal angle between the present application and the buried cable through the third coil and the fourth coil. The depth of the buried cable can be determined through the first coil and the fourth coil, and then the accurate coordinates of the position point on the buried cable can be accurately detected. The coil setting is reasonable and the function is complete, which is convenient for quickly locating the buried cable.

[0042] (3) The present application drives each track calibration coil to rotate through a circular driving guide rail, and uses the induced electromotive force of the second coil to quickly detect the extension track of the buried cable. The detection efficiency is high and it is more suitable for the overall detection of the extension track of the buried cable.

[0043] (4) The present application uses a folding telescopic mechanism to equidistantly adjust the multi-stage telescopic plates, and then equidistantly adjust the spacing of each track calibration coil, which is beneficial to adjust the detection accuracy of each position point on the extension track of the buried cable, and improves the flexibility of the present application when used. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The drawings in the specification, which constitute a part of the present application, are used to provide further understanding of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute improper limitations on the present application.

[0045] Figure 1 This is a front view of the overall structure of the detection mechanism of this application.

[0046] Figure 2This is a top view of the overall structure of the detection mechanism of this application.

[0047] Figure 3 This is a bottom view of the overall structure of this application.

[0048] Figure 4 This is a top view of the overall structure of this application.

[0049] Figure 5 This is a schematic diagram of the reference position positioning of this application.

[0050] Figure 6 This is a schematic diagram of the extended point positioning of this application.

[0051] In the figure:

[0052] 100. Lifting mechanism, 2. Multi-layer bracket, 3. First coil, 4. Second coil, 5. Third coil, 6. Fourth coil, 7. Annular drive guide rail, 8. First telescopic frame, 9. Folding telescopic mechanism, 10. Multi-stage telescopic plate, 11. Track calibration coil, 21. Sliding circular groove, 81. Vertical telescopic rod, 82. Horizontal telescopic rod, 83. Connecting bracket, 100. Self-propelled trolley, 101. Image recognition camera, 102. Sound and light alarm mechanism, 103. Wireless transmission module. DETAILED DESCRIPTION

[0053] The present application is further described below in conjunction with the accompanying drawings and embodiments.

[0054] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present disclosure. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0055] In the present disclosure, terms such as "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "side", "bottom" and the like indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. They are relational words determined only for the convenience of describing the structural relationships of the various parts or elements of the present disclosure, and do not specifically refer to any part or element in the present disclosure and should not be understood as limitations on the present disclosure.

[0056] Example 1

[0057] like Figures 1 to 6As shown, the present application provides an underground cable tracing device based on electromagnetic induction technology, including a self-propelled trolley 100, the self-propelled trolley 100 is equipped with a satellite positioning system, and a reference point positioning mechanism and a track rapid calibration mechanism are arranged at the bottom of the trolley;

[0058] The reference point positioning mechanism comprises a lifting mechanism 1 embedded in the bottom of the bicycle body, a multi-layer bracket 2 is arranged at the end of the lifting mechanism 1, and the multi-layer bracket 2 comprises three supporting plates arranged from top to bottom, and a cable positioning coil is arranged on the supporting plate;

[0059] The track quick calibration mechanism includes a multi-stage telescopic plate 10 arranged on one side of the top support plate, the initial section of the multi-stage telescopic plate 10 is slidably embedded in a sliding circular groove 21 opened on the outer peripheral side wall of the top support plate, and a folding telescopic mechanism 9 is arranged on the top of the multi-stage telescopic plate 10. The head and tail of the folding telescopic mechanism 9 are respectively connected to the initial section and the final section of the multi-stage telescopic plate 10, and equidistant points are selected from each hinge point on the axis to be connected to each intermediate stage of the multi-stage telescopic plate 10. Track calibration coils 11 are respectively arranged at the bottom of each telescopic stage of the multi-stage telescopic plate 10, and an annular drive guide rail 7 is arranged above the multi-stage telescopic plate 10. The annular drive guide rail 7 is arranged around the periphery of the multi-layer bracket 2 and its slider is movably connected to the multi-stage telescopic plate 10.

[0060] The present application utilizes a reference point positioning mechanism to detect a reference position point of an underground cable, utilizes a trajectory rapid calibration mechanism to compare the induced electromotive force of a cable positioning coil, and detects a position point having the same induced electromotive force as the corresponding, so as to rapidly locate an extended position point on the underground cable, thereby achieving the purpose of rapidly detecting the trajectory of the buried cable.

[0061] Specifically, a cable tracking controller is disposed inside the self-propelled vehicle 100 , and the cable tracking controller is electrically connected to the reference point positioning mechanism and the track rapid calibration mechanism.

[0062] Specifically, the slider of the annular driving guide rail 7 is movably connected to the multi-stage telescopic plate 10 through the first telescopic frame 8. The multi-stage telescopic plate 10 includes a vertical telescopic rod 81 vertically arranged at the bottom of the slider. A horizontal telescopic rod 82 is arranged at the bottom end of the vertical telescopic rod 81. A connecting bracket 83 is arranged at the end of the horizontal telescopic rod 82. The connecting bracket 83 is fixedly connected to the side of any telescopic stage of the multi-stage telescopic plate 10.

[0063] The lifting mechanism 1 is used to drive the multi-layer bracket 2 to rise and fall, and the first telescopic frame 8 is used to adapt to the rising and falling of the multi-layer bracket 2 and the horizontal telescopic movement of the multi-stage telescopic plate 10 .

[0064] The folding and telescopic mechanism 9 is a scissor-type foldable electric telescopic mechanism, which is used to drive the telescopic stages of the multi-stage telescopic plate 10 to equidistantly extend and retract, and then equidistantly adjust the spacing of each track calibration coil 11, and then adjust the detection accuracy of the buried cable track. The driving part of the folding and telescopic mechanism 9 is located at the top of the last stage of the multi-stage telescopic plate 10. The specific structure of the scissor-type foldable electric telescopic mechanism is the prior art and will not be repeated here.

[0065] The lifting mechanism 1 is an electric cylinder, the annular driving guide rail 7 is an electric guide rail, and the cable tracking controller is an industrial control computer. Figure 4 As shown, an image recognition camera 101, an audible and visual alarm mechanism 102, and a wireless transmission module 103 are also provided on the top of the self-propelled vehicle 100. The image recognition camera 101 is used for roadblock recognition. The audible and visual alarm mechanism 102 is used for sounding an alarm when the position of the buried cable is detected to alert people around. The wireless transmission module 103 is used for transmitting the generated buried cable trajectory coordinates to the cloud background. The satellite positioning system is a GPS plus Beidou positioning module.

[0066] Specifically, the cable positioning coil includes: a first coil 3 arranged on the top tray, a second coil 4 arranged on the middle tray, a third coil 5 and a fourth coil 6 arranged on the bottom tray, the first coil 3, the third coil 5 and the fourth coil 6 are vertically wound coils, the second coil 4 is a horizontally wound coil, the first coil 3 and the fourth coil 6 have the same orientation, the third coil 5 and the fourth coil 6 are vertically oriented, the trajectory calibration coil 11 is a horizontally wound coil, the first coil 3, the second coil 4, the third coil 5, the fourth coil 6, and the trajectory calibration coil 11 include a coil body and a sampling circuit board.

[0067] Furthermore, the first coil 3, the third coil 5 and the fourth coil 6 have the same coil structure, the second coil 4 and the track calibration coil 11 have the same coil structure and the same installation height, and the same structure means that the number of coil turns and the cross-sectional area are the same.

[0068] The first coil 3 and the second coil 4 are used to detect the relative left and right positions of the reference point positioning mechanism and the ground cable. Figure 5As shown in the left view, Hp1 and Hp2 represent the magnetic field strength at the left and right positions of the cable. The first coil 3 is a vertically wound coil. Regardless of whether it is on the left or right side of the cable, the magnetic flux passing through the coil is directed to the right. The second coil 4 is a horizontally wound coil. When it is located on the left side of the cable, its magnetic field direction is upward, and when it is located on the right side of the cable, its magnetic field direction is downward. Reflected in the induced current detected by the coil, the direction of the induced current in the first coil 3 (clockwise or counterclockwise) will not change, and the direction of the induced current in the second coil 4 will change due to the relative left and right positions of the reference point positioning mechanism and the ground cable. Then, the positive and negative values ​​of I1×I2 can be used to determine whether the reference point positioning mechanism is located on the left or right side of the cable. I1 is the induced current in the first coil 3, and I2 is the induced current in the second coil 4.

[0069] like Figure 5 As shown in the right side view, the third coil 5 and the fourth coil 6 can be used to detect the horizontal angle between the reference point positioning mechanism and the buried cable. The specific method is as follows:

[0070] (1) Calculate the magnetic induction intensity at the third coil 5 and the fourth coil 6:

[0071]

[0072] Where, μ0 is the vacuum magnetic permeability, x is the horizontal distance from the coil to the buried cable, y is the vertical distance from the coil to the buried cable, and I is the current value in the buried cable.

[0073] (2) Calculate the induced electromotive force in the third coil 5 and the fourth coil 6:

[0074]

[0075] Wherein, N is the number of coil turns, S is the cross-sectional area of ​​the coil, α is the horizontal angle between the coil and the buried cable, assuming that α3 and α4 are the horizontal angles between the third coil 5 and the fourth coil 6 and the buried cable, respectively. Since the coil structures of the third coil 5 and the fourth coil 6 are consistent and α3+α4=90°, then

[0076]

[0077] By detecting the induced electromotive forces E3 and E4 in the third coil 5 and the fourth coil 6, the horizontal angle between the third coil 5 and the buried cable is calculated.

[0078] The first coil 3 and the fourth coil 6 are used to detect the buried depth D of the buried cable:

[0079] The reference point positioning mechanism is moved to the top of the buried cable, and the bottom support plate of the multi-layer bracket 2 is pressed against the ground. The induced electromotive forces generated by the first coil 3 and the fourth coil 6 are respectively:

[0080]

[0081] Wherein, d is the height between the first coil 3 and the fourth coil 6 .

[0082] The second coil 4 cooperates with the track calibration coil 11 to quickly detect the extension position point of the buried cable. For specific steps, refer to the tracing method of the buried cable tracing device based on electromagnetic induction technology provided below.

[0083] The present application also provides a tracing method for an underground cable tracing device based on electromagnetic induction technology, comprising the following steps:

[0084] S1: The reference point positioning mechanism locates the buried cable, obtains M cable reference positions Pre_i, and generates a cable reference extension trajectory L0 based on the cable reference positions Pre_i, where i takes a value of 1, 2...M, and M is a preset setting;

[0085] S2: The cable tracking controller determines the detection direction based on the reference extension trajectory L0, generates a rapid detection position P_drc based on the reference position Pre_i at the end of the detection direction, and the trajectory rapid calibration mechanism detects the extension point set C1={P1_1, P1_2, ..., P1_n} of the buried cable toward the detection direction at the rapid detection position P_drc, where n is the number of trajectory calibration coils 11, and generates a first trajectory L1_1 based on each extension point;

[0086] S3: The reference point positioning mechanism corrects the extension point P1_n and generates a verification detection position P_drc2. The track fast calibration mechanism detects the extension point of the buried cable that deviates from the detection direction at the verification detection position P_drc2, generates an extension point set C2 = {P2_1, P2_2, ..., P2_n}, generates a second track L1_2, combines the first track L1_1 and the second track L1_2 to generate a confirmation track L1, and clears C1, C2, L1_1, and L1_2;

[0087] S4: The track rapid calibration mechanism detects the extension point set {P1_1, P1_2, ..., P1_n} of the buried cable toward the detection direction at the verification detection position P_drc2, and generates a first track L1_1 based on each extension point;

[0088] S5: Repeat steps S3 and S4 to generate each segment of confirmation trajectory;

[0089] In steps S1 to S5, the self-propelled vehicle 100 drives the reference point positioning mechanism and the track rapid calibration mechanism to move, and sends a real-time satellite positioning signal to the cable tracking controller.

[0090] Specifically, in step S1, the reference point positioning mechanism positions the buried cable, and the method for generating the cable reference position Pre_i is as follows:

[0091] S101: Detect the induced current I1 in the first coil 3 and the induced current I2 in the second coil 4. The direction of I1 remains unchanged, and the direction of I2 changes based on its location on the left and right sides of the buried cable. The reference point positioning mechanism is judged to be located on the left or right side of the cable by the positive and negative values ​​of I1×I2.

[0092] S102: Detect the induced electromotive force E3 and E4 in the third coil 5 and the fourth coil 6, wherein the calculation formula of the induced electromotive force is:

[0093]

[0094] Wherein, N is the number of turns of the coil, S is the cross-sectional area of ​​the coil, x and y are the horizontal and vertical distances from the coil to the buried cable, α is the horizontal angle between the coil and the buried cable, and I is the current in the buried cable. Assuming that α3 and α4 are the horizontal angles between the third coil 5 and the fourth coil 6 and the buried cable, respectively, since the coil structures of the third coil 5 and the fourth coil 6 are consistent and α3+α4=90°, then

[0095]

[0096] The horizontal angle between the third coil 5 and the buried cable is calculated;

[0097] S103: Based on step S101 and step S102, determine the moving direction of the reference point positioning mechanism. When it moves to the top of the buried cable, I 2 is 0. Find M points separated by a preset horizontal distance W and located above the buried cable at a preset height H above the ground, and set them as the cable reference position Pre_i. Figure 6 As shown, the three circles on the L0 line segment in the figure represent the cable reference position Pre_i.

[0098] Specifically, in step S2, the selection condition of the rapid detection position P_drc is:

[0099] Located on the left side of the horizontal extension direction of the buried cable, the line connecting the end reference position is perpendicular to the horizontal extension direction of the buried cable, and the distance from the end reference position is the preset distance Length.

[0100] The method for the track rapid calibration mechanism to detect the extension point set C1 of the buried cable toward the detection direction at the rapid detection position P_drc is:

[0101] S201: Detecting the induced electromotive force E_basic at the rapid detection position P_drc through the second coil 4 of the reference point positioning mechanism;

[0102] S202: The annular driving guide rail 7 drives the multi-stage telescopic plate 10 to rotate, thereby driving each track calibration coil 11 to rotate. Each track calibration coil 11 detects a position point where the induced electromotive force is the same as E_basic during the rotation stroke, and marks its position as the extension point set C1.

[0103] It is worth noting that, since the induced electromotive force of the second coil 4 directly above the buried cable is 0, the rapid detection position P_drc, the check detection position P_drc2 and the extension points in the extension point sets C1 and C2 are not the points where the buried cable track passes, that is, they are not directly above the buried cable. Figure 6 Based on the selection conditions of P1_1 to P1_5 and P_drc, the buried cable trajectory points corresponding to P1_1 to P1_5 can be generated, such as Figure 6 The shaded small circle on the middle trajectory L1_1.

[0104] Specifically, in step S3, the reference point positioning mechanism corrects the extension point P1_n and generates the verification detection position P_drc2 in the following method:

[0105] The second coil 4 of the reference point positioning mechanism detects whether the induced electromotive force at the extension point P1_n is equal to E_basic.

[0106] If yes, the verification detection position P_drc2 is set as the extension point P1_n;

[0107] If not, based on the method of steps S101 to S103, a reference position located directly above the buried cable and closest to the extension point P1_n is selected, and a verification detection position P_drc2 is selected according to the selection condition of the rapid detection position P_drc.

[0108] like Figure 6 As shown, according to step S3, the underground cable trajectory points corresponding to the extended point set C2 = {P2_1, P2_2, ..., P2_n} are generated, that is, the black circles in the figure, and the underground cable trajectory points are connected to generate the second trajectory L1_2. The shaded part enclosed by the first trajectory L1_1 and the second trajectory L1_2 is the composite confirmed trajectory L1.

[0109] In the steps S2 and S3, the track rapid calibration mechanism needs to adjust the intervals of the track calibration coils 11 according to the preset detection accuracy when detecting the extension point. The specific method is as follows:

[0110] The cable tracking controller drives the folding and telescopic mechanism 9 to extend and retract, driving each telescopic stage of the multi-stage telescopic plate 10 to extend and retract equidistantly, so that each track calibration coil 11 meets the preset detection accuracy.

[0111] The above are only preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

[0112] Although the above describes the specific implementation methods of the present application in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present application. Technical personnel in the relevant field should understand that on the basis of the technical solution of the present application, various modifications or variations that can be made by technical personnel in this field without creative work are still within the scope of protection of the present application.

Claims

1. A buried cable tracing device based on electromagnetic induction technology, comprising a self-propelled vehicle (100), wherein the self-propelled vehicle (100) is equipped with a satellite positioning system, and is characterized in that: The bottom of the trolley is provided with a reference point positioning mechanism and a track rapid calibration mechanism; The reference point positioning mechanism comprises a lifting mechanism (1) embedded in the bottom of a bicycle body, a multi-layer bracket (2) is arranged at the end of the lifting mechanism (1), and the multi-layer bracket (2) comprises three supporting plates arranged from top to bottom, and a cable positioning coil is arranged on the supporting plate; A track rapid calibration mechanism comprises a multi-stage telescopic plate (10) arranged on one side of a top support plate, wherein the initial section of the multi-stage telescopic plate (10) is slidably embedded in a sliding circular groove (21) provided on the outer peripheral side wall of the top support plate, a folding telescopic mechanism (9) is arranged on the top of the multi-stage telescopic plate (10), the head and tail of the folding telescopic mechanism (9) are respectively connected to the initial section and the final section of the multi-stage telescopic plate (10), and equidistant points are selected from each hinge point on the axis thereof to be connected to each intermediate stage of the multi-stage telescopic plate (10), a track calibration coil (11) is respectively arranged at the bottom of each telescopic stage of the multi-stage telescopic plate (10), and an annular driving guide rail (7) is arranged above the multi-stage telescopic plate (10), the annular driving guide rail (7) is arranged around the outer periphery of a multi-layer bracket (2) and its slider is movably connected to the multi-stage telescopic plate (10).

2. The buried cable tracing device based on electromagnetic induction technology according to claim 1 is characterized in that: A cable tracking controller is arranged inside the self-propelled trolley (100), and the cable tracking controller is electrically connected to a reference point positioning mechanism and a track rapid calibration mechanism.

3. The buried cable tracing device based on electromagnetic induction technology according to claim 2 is characterized in that: The cable positioning coil comprises: a first coil (3) arranged on the top support plate, a second coil (4) arranged on the middle support plate, and a third coil (5) and a fourth coil (6) arranged on the bottom support plate, wherein the first coil (3), the third coil (5) and the fourth coil (6) are vertically wound coils, and the second coil (4) is a horizontally wound coil. The first coil (3) and the fourth coil (6) have the same orientation, and the third coil (5) and the fourth coil (6) have vertical orientations. The track calibration coil (11) is a horizontally wound coil; The first coil (3), the second coil (4), the third coil (5), the fourth coil (6), and the track calibration coil (11) comprise a coil body and a sampling circuit board.

4. The buried cable tracing device based on electromagnetic induction technology according to claim 3 is characterized in that: The first coil (3), the third coil (5) and the fourth coil (6) have the same coil structure, and the second coil (4) and the track calibration coil (11) have the same coil structure and the same installation height.

5. The buried cable tracing device based on electromagnetic induction technology according to claim 1 is characterized in that: The slider of the annular driving guide rail (7) is movably connected to the multi-stage telescopic plate (10) via a first telescopic frame (8); The multi-stage telescopic plate (10) comprises a vertical telescopic rod (81) vertically arranged at the bottom of a sliding block, a horizontal telescopic rod (82) is arranged at the bottom end of the vertical telescopic rod (81), a connecting bracket (83) is arranged at the end of the horizontal telescopic rod (82), and the connecting bracket (83) is fixedly connected to the side of any telescopic stage of the multi-stage telescopic plate (10).

6. A buried cable tracing method based on electromagnetic induction technology, based on the buried cable tracing device based on electromagnetic induction technology as claimed in claim 4, characterized in that: The steps include: S1: The reference point positioning mechanism locates the buried cable, obtains M cable reference positions Pre_i, and generates a cable reference extension trajectory L0 based on the cable reference positions Pre_i, where i takes a value of 1, 2...M, and M is a preset setting; S2: The cable tracking controller determines the detection direction based on the reference extension trajectory L0, generates a rapid detection position P_drc based on the reference position Pre_i at the end of the detection direction, and the trajectory rapid calibration mechanism detects the extension point set C1 = {P1_1, P1_2, ..., P1_n} of the buried cable toward the detection direction at the rapid detection position P_drc, where n is the number of trajectory calibration coils (11), and generates a first trajectory L1_1 based on each extension point; S3: The reference point positioning mechanism corrects the extension point P1_n and generates a verification detection position P_drc2. The track fast calibration mechanism detects the extension point of the buried cable that deviates from the detection direction at the verification detection position P_drc2, generates an extension point set C2 = {P2_1, P2_2, ..., P2_n}, generates a second track L1_2, combines the first track L1_1 and the second track L1_2 to generate a confirmation track L1, and clears C1, C2, L1_1, and L1_2; S4: The track rapid calibration mechanism detects the extension point set {P1_1, P1_2, ..., P1_n} of the buried cable toward the detection direction at the verification detection position P_drc2, and generates a first track L1_1 based on each extension point; S5: Repeat steps S3 and S4 to generate each segment of confirmation trajectory; In steps S1 to S5, the self-propelled trolley (100) drives the reference point positioning mechanism and the track rapid calibration mechanism to move, and sends a real-time satellite positioning signal to the cable tracking controller.

7. The buried cable tracing method based on electromagnetic induction technology according to claim 6 is characterized in that: In step S1, the reference point positioning mechanism positions the buried cable, and the method for generating the cable reference position Pre_i is as follows: S101: Detecting the induced current I1 in the first coil (3) and the induced current I2 in the second coil (4), wherein the direction of I1 remains unchanged and the direction of I2 changes based on its location on the left and right sides of the buried cable, and judging whether the reference point positioning mechanism is located on the left or right side of the cable by the positive and negative values ​​of I1×I2; S102: Detect the induced electromotive force E3 and E4 in the third coil (5) and the fourth coil (6), wherein the calculation formula of the induced electromotive force is: Wherein, N is the number of turns of the coil, S is the cross-sectional area of ​​the coil, x and y are the horizontal and vertical distances from the coil to the buried cable, α is the horizontal angle between the coil and the buried cable, and I is the current in the buried cable. Assuming that α3 and α4 are the horizontal angles between the third coil (5) and the fourth coil (6) and the buried cable, respectively, since the coil structures of the third coil (5) and the fourth coil (6) are the same and α3+α4=90°, then Calculate and obtain the horizontal angle between the third coil (5) and the buried cable; S103: Based on step S101 and step S102, determine the moving direction of the reference point positioning mechanism. When it moves to the top of the buried cable, I 2 is 0. Find M points separated by a preset horizontal distance W and located above the buried cable at a preset height H from the ground, and set them as the cable reference position Pre_i.

8. The buried cable tracing method based on electromagnetic induction technology according to claim 7 is characterized in that: In step S2, the selection condition of the rapid detection position P_drc is: Located on the left side of the horizontal extension direction of the buried cable; The line connecting the most terminal reference position is perpendicular to the horizontal extension direction of the buried cable; The distance of the most final reference position is the preset distance Length; The method for the track rapid calibration mechanism to detect the extension point set C1 of the buried cable toward the detection direction at the rapid detection position P_drc is: S201: Detecting the induced electromotive force E_basic at the rapid detection position P_drc through the second coil (4) of the reference point positioning mechanism; S202: The annular driving guide rail (7) drives the multi-stage telescopic plate (10) to rotate, thereby driving each track calibration coil (11) to rotate. Each track calibration coil (11) detects a position point where the induced electromotive force is the same as E_basic during the rotation stroke, and marks its position as the extension point set C1.

9. The buried cable tracing method based on electromagnetic induction technology according to claim 8, characterized in that: In step S3, the reference point positioning mechanism calibrates the extension point P1_n and generates the verification detection position P_drc2 in the following method: The second coil (4) of the reference point positioning mechanism detects whether the induced electromotive force at the extension point P1_n is equal to E_basic. If yes, the verification detection position P_drc2 is set as the extension point P1_n; If not, based on the method of steps S101 to S103, a reference position located directly above the buried cable and closest to the extension point P1_n is selected, and a verification detection position P_drc2 is selected according to the selection condition of the rapid detection position P_drc.

10. The buried cable tracing method based on electromagnetic induction technology according to claim 8, characterized in that: In the steps S2 and S3, when the track rapid calibration mechanism detects the extension point, it is necessary to adjust the intervals between the track calibration coils (11) according to the preset detection accuracy. The specific method is as follows: The cable tracking controller drives the folding and telescopic mechanism (9) to extend and retract, driving each telescopic stage of the multi-stage telescopic plate (10) to extend and retract equidistantly, so that each track calibration coil (11) meets the preset detection accuracy.

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