Positioning device for identifying burial depth and path of cable

Abstract

The invention provides a positioning device for identifying the burial depth and path of a cable, the positioning device comprises a crawler-type self-propelled robot, the crawler-type self-propelled robot is rotatably connected with an adjusting mechanical arm, and the tail end of the adjusting mechanical arm is provided with a sensor laying rod; wherein the sensor laying rod is rotationally connected with the adjusting mechanical arm through an extended transmission shaft, and a linear distributed sensor array is arranged on the sensor laying rod; and the linear distributed sensor array comprises a plurality of groups of magnetic measurement sensors for detecting the magnetic field intensity of the buried cable from different directions. The crawler-type self-propelled robot has the beneficial effects that the path of the buried cable is automatically tracked by arranging the linear distributed sensor array on the crawler-type self-propelled robot.

Description

Technical Field

[0001] The invention relates to the technical field of power cable detection, and in particular to a positioning device for identifying the buried depth and path of a cable. Background Art

[0002] With the acceleration of urbanization and the rapid development of industry, cables have become the "lifeline" of cities and the "nerve" of industrial production. Many cables have also changed from the original overhead design to the buried design. However, because buried cables are relatively hidden, they are easily damaged during construction, resulting in failures and failure to supply power normally, thus affecting residents' lives and factory shutdowns. In order to avoid damage to cables during construction, detection equipment is needed to detect and locate the path and burial depth of the cables, so as to avoid cable lines during construction.

[0003] Traditional power cable depth and path positioning equipment mostly relies on handheld probes for detection along the line and manual marking of the path and depth. The operation is cumbersome, and traditional positioning equipment lacks accuracy when locating the path and depth of buried cables.

[0004] Therefore, it is necessary to study a positioning device for identifying the buried depth and path of the cable to solve the above problems or alleviate the impact of the above problems. Summary of the invention

[0005] The present invention provides a positioning device for identifying the buried depth and path of a cable. By setting a linear distributed sensor array on a crawler-type self-propelled robot, the path of the buried cable can be automatically tracked to effectively solve the above-mentioned problem or alleviate the impact of the above-mentioned problem.

[0006] The positioning device for identifying the buried depth and path of a cable of the present invention may include a crawler-type self-propelled robot, to which an adjustment mechanical arm is rotatably connected, and a sensor deployment rod is arranged at the end of the adjustment mechanical arm;

[0007] Among them, the sensor deployment rod is rotatably connected to the adjustment mechanical arm through an extended transmission shaft, and a linear distributed sensor array is arranged on the sensor deployment rod; the linear distributed sensor array includes multiple groups of magnetic sensors for detecting the magnetic field strength of the buried cable from different directions.

[0008] In one embodiment, the adjusting mechanical arm comprises a mechanical arm rotating seat mounted on the crawler-type self-propelled robot, and the mechanical arm rotating seat is provided with a first motor;

[0009] The first arm section is rotatably connected to the mechanical arm rotating seat, and a second motor is arranged at the rotating connection; the second arm section is rotatably connected to the upper end of the first arm section, a driving hydraulic rod is arranged between the mechanical arm rotating seat and the second arm section, the front end of the second arm section is rotatably connected to the movable section, and the movable section is provided with a rotary motor connected to the extended transmission shaft.

[0010] In one embodiment, the extended transmission shaft is fixedly connected to the center of the sensor placement rod, the sensor placement rod is parallel to the ground, and the extended transmission shaft is perpendicular to the ground under the action of gravity.

[0011] In one embodiment, an angle sensor is provided on the sensor-mounted rod, and the angle sensor is used to monitor the relative angle between the sensor-mounted rod and the traveling direction of the crawler-type self-propelled robot.

[0012] In one embodiment, the linear distributed sensor array includes three magnetic sensors, namely a first magnetic sensor, a second magnetic sensor and a third magnetic sensor, and the first magnetic sensor, the second magnetic sensor and the third magnetic sensor all have three detection surfaces of X, Y and Z.

[0013] In one embodiment, the linear distributed sensor array is arranged in parallel in an equidistant manner, and the first magnetic sensor, the second magnetic sensor and the third magnetic sensor are spaced apart from each other by a distance greater than 15 cm and less than 20 cm.

[0014] In one embodiment, a lime powder storage barrel is fixedly arranged behind the adjusting robot arm, a reduction motor is arranged above the lime powder storage barrel, a spiral agitator is fixedly connected to the output shaft of the reduction motor, and a duckbill powder distributor is rotatably connected to the bottom of the lime powder storage barrel.

[0015] In one embodiment, a rotating sleeve is fixedly connected to the duckbill powder distributor, a spiral fixing sleeve is fixedly connected to the upper end of the rotating sleeve, a lifting and lowering pressure rod runs through the spiral fixing sleeve, and the lifting and lowering pressure rod is spirally connected to the spiral fixing sleeve, and a composite sliding sleeve is rotatably connected to the upper end of the lifting and lowering pressure rod;

[0016] A pressing lever is fixedly connected to the rear of the adjusting mechanical arm, the pressing lever passes through the composite sliding sleeve, and the composite sliding sleeve is slidably connected to the pressing lever.

[0017] In one embodiment, the output shaft of the reduction motor and the interior of the spiral agitator are both hollow, the lifting and lowering pressure rod passes through the output shaft of the reduction motor and the spiral agitator, and the lifting and lowering pressure rod rotates independently of the output shaft of the reduction motor and the spiral agitator.

[0018] In one embodiment, a plurality of spiral grooves are processed on the lower end of the lifting and lowering pressure rod, and the spiral grooves and the spiral fixing sleeve are interlocked with each other, and the spiral angle of the spiral grooves on the lower end of the lifting and lowering pressure rod is 90°.

[0019] The positioning device for identifying the buried depth and path of a cable provided by the present invention has at least the following beneficial effects compared with the prior art:

[0020] The positioning device for identifying the buried depth and path of the cable of the present invention is provided with a linear distributed sensor array on the crawler-type self-propelled robot, which can detect the magnetic field strength of the buried cable from different directions through multiple groups of magnetic sensors, and then judge the direction of the buried cable according to the signal strength of the magnetic field strength, and can adjust the automatic tracking of the buried cable path by adjusting the mechanical arm. In this way, there is no need for manual blind detection to find the buried cable, which is more efficient, convenient and accurate, and does not require the experience of the detection personnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Hereinafter, the present invention will be described in more detail based on embodiments and with reference to the accompanying drawings.

[0022] Figure 1 is a structural schematic diagram of a positioning device according to an embodiment of the present invention;

[0023] Figure 2 yes Figure 1 The enlarged structural diagram of part A in the middle;

[0024] Figure 3 It is a structural schematic diagram of a lime powder storage barrel in cross section according to an embodiment of the present invention;

[0025] Figure 4 1 is a structural schematic diagram of a spiral agitator according to an embodiment of the present invention;

[0026] Figure 5 yes Figure 4 The enlarged structural diagram of part B in the middle;

[0027] Figure 6 A schematic diagram of the structure of a linear distributed sensor array according to an embodiment of the present invention;

[0028] Figure 7 It is a schematic diagram of the magnetic field distribution of the buried cable according to an embodiment of the present invention.

[0029] In the drawings, the same reference numerals are used for the same components. The drawings are not drawn to scale.

[0030] Reference numerals:

[0031] 1. Tracked self-propelled robot; 2. Adjusting mechanical arm; 201. Mechanical arm rotating seat; 202. First motor; 203. First arm section; 204. Second motor; 205. Second arm section; 206. Driving hydraulic rod; 207. Active joint; 208. Rotating motor; 3. Sensor layout rod; 301. Extended transmission shaft; 4. Linear distributed sensor array; 401. First magnetic sensor; 402. Second magnetic sensor; 403. Third magnetic sensor; 5. Lime powder storage barrel; 6. Gear motor; 7. Spiral agitator; 8. Duckbill powder distributor; 9. Rotating sleeve; 10. Spiral fixing sleeve; 11. Lifting and lowering rod; 1101. Spiral groove; 12. Pressing lever; 13. Composite sliding sleeve. DETAILED DESCRIPTION

[0032] The present invention will be further described below in conjunction with the accompanying drawings.

[0033] like Figures 1 to 7 As shown, the positioning device for identifying the buried depth and path of a cable of the present invention may include a crawler-type self-propelled robot 1, to which an adjustment mechanical arm 2 is rotatably connected, and a sensor deployment rod 3 is disposed at the end of the adjustment mechanical arm 2;

[0034] Among them, the sensor deployment rod 3 is rotatably connected to the adjustment robot arm 2 through an extended transmission shaft 301, and a linear distributed sensor array 4 is arranged on the sensor deployment rod 3; the linear distributed sensor array 4 includes multiple groups of magnetic sensors for detecting the magnetic field strength of the buried cable from different directions.

[0035] Specifically, the crawler-type self-propelled robot 1 can be rotatably connected to an adjusting mechanical arm 2 through a slewing bearing, a sensor arrangement rod 3 is arranged at the end of the adjusting mechanical arm 2, the sensor arrangement rod 3 is rotatably connected to the adjusting mechanical arm 2 through an extended transmission shaft 301, and a linear distributed sensor array 4 is arranged on the sensor arrangement rod 3. In this way, the positioning device sets a linear distributed sensor array 4 on the crawler-type self-propelled robot 1, which can detect the magnetic field strength of the buried cable from different directions through multiple groups of magnetic sensors, and then determine the direction of the buried cable according to the signal strength of the magnetic field strength, and can adjust the automatic tracking path of the buried cable by adjusting the mechanical arm 2. In this way, there is no need for manual blind testing to find the buried cable, which is more efficient, convenient and accurate, and does not require experience for the detection personnel.

[0036] In an example, Figure 1 As shown, the adjusting mechanical arm 2 includes a mechanical arm rotating seat 201 installed on the crawler-type self-propelled robot 1, and a first motor 202 is arranged on the mechanical arm rotating seat 201;

[0037] A first arm section 203 is rotatably connected to the robot arm rotating seat 201, and a second motor 204 is arranged at the rotating connection; a second arm section 205 is rotatably connected to the upper end of the first arm section 203, a driving hydraulic rod 206 is arranged between the robot arm rotating seat 201 and the second arm section 205, and a movable section 207 is rotatably connected to the front end of the second arm section 205, and a rotary motor 208 connected to the extended transmission shaft 301 is arranged on the movable section 207.

[0038] Specifically, the robot arm rotating seat 201 is installed on the crawler self-propelled robot 1 through a bearing, and a first motor 202 for driving and adjusting the rotation of the robot arm 2 is arranged on the robot arm rotating seat 201; a first arm section 203 is movably connected to the robot arm rotating seat 201 through a rotating shaft, and a second motor 204 for driving the first arm section 203 to rotate and adjust the pitch angle is arranged at the rotating shaft; the upper end of the first arm section 203 is movably connected to the second arm section 205 through a rotating shaft, and a driving hydraulic rod 206 is arranged between the robot arm rotating seat 201 and the second arm section 205, and the driving hydraulic rod 206 is used to drive the second arm section 205 to rotate and adjust the angle; the front end of the second arm section 205 is movably connected to an active section 207 through a rotating shaft, and a rotary motor 208 is installed on the active section 207, and the output shaft of the rotary motor 208 is fixedly connected to the extended transmission shaft 301.

[0039] Furthermore, the extended transmission shaft 301 is fixedly connected to the center of the sensor placement rod 3, the sensor placement rod 3 is parallel to the ground, and the extended transmission shaft 301 is perpendicular to the ground under the action of gravity.

[0040] In one example, an angle sensor (not shown in the drawings) is provided on the sensor deployment rod 3, and the angle sensor is used to monitor the relative angle between the sensor deployment rod 3 and the travel direction of the crawler self-propelled robot 1. When the linear distributed sensor array 4 is positioned in the direction of the buried cable, and the sensor deployment rod 3 is rotated to be perpendicular to the buried cable, the angle sensor detects the relative angle between the sensor deployment rod 3 and the travel direction of the crawler self-propelled robot 1 and guides the crawler self-propelled robot 1 to turn to a direction perpendicular to the sensor deployment rod 3, so that the crawler self-propelled robot 1 can move along the path of the buried cable.

[0041] In an example, Figure 6 As shown, the linear distributed sensor array 4 is fixedly installed on the sensor deployment rod 3, and the linear distributed sensor array 4 includes three magnetic sensors, namely a first magnetic sensor 401, a second magnetic sensor 402 and a third magnetic sensor 403, and the first magnetic sensor 401, the second magnetic sensor 402 and the third magnetic sensor 403 all have three detection surfaces of X, Y and Z, that is, each magnetic sensor can simultaneously detect magnetic fields in three different directions of the cable surface.

[0042] Furthermore, the linear distributed sensor array 4 is arranged in parallel with equal intervals, and the first magnetic sensor 401, the second magnetic sensor 402 and the third magnetic sensor 403 are spaced apart from each other by a distance greater than 15 cm and less than 20 cm.

[0043] Specifically, the linear distributed sensor array 4 is placed in parallel at equal intervals, and the detection instrument can determine the specific position of the buried cable by comparing the strength of the Y-direction output signals of different sensors.

[0044] When the buried cable is located at the lower left of the linear distributed sensor array 4, the Y-direction detection signal of the first magnetic sensor 401 is the strongest, and the Y-direction detection signals of the second magnetic sensor 402 and the third magnetic sensor 403 are weakened in sequence. When the buried cable is located directly below the linear distributed sensor array 4, the Y-direction detection signal strength of the second magnetic sensor 402 is greater than the Y-direction detection signals of the first magnetic sensor 401 and the third magnetic sensor 403. When the buried cable is located at the lower right of the linear distributed sensor array 4, the Y-direction detection signal of the third magnetic sensor 403 is the strongest, and the Y-direction detection signals of the second magnetic sensor 402 and the first magnetic sensor 401 are weakened in sequence.

[0045] Each sensor has detection surfaces in the X and Y directions in the horizontal direction. After finding the relative position of the buried cable, the sensor arrangement rod 3 is driven to rotate by the rotary motor 208 to change the angle between the sensor and the direction of the cable, and observe the changes in the intensity of the X-direction detection signal and the Y-direction detection signal of the second magnetic sensor 402. Since the magnitude of the X-direction and Y-direction magnetic field signals of the sensor is related to the angle between its detection direction and the direction of the cable, when the sensor arrangement rod 3 rotates to the point where the Y-direction signal of the second magnetic sensor 402 is the largest and the X-direction signal is the smallest, the X-direction of the sensor is the direction of the buried cable.

[0046] like Figure 6 and Figure 7 As shown, when the X direction of the sensor points to the direction of the buried cable, point a in the figure is the position of the first magnetic sensor 401, point b is the position of the second magnetic sensor 402, point c is the position of the third magnetic sensor 403, point d is the position of the buried cable, By is the magnetic flux detected in the Y direction of the first magnetic sensor 401, Bz is the magnetic flux detected in the Z direction of the first magnetic sensor 401, and the distance L between the first magnetic sensor 401 and the second magnetic sensor 402 ab As is known, since the height of the sensor deployment rod 3 from the ground is known and the height is relatively small relative to the buried depth of the buried cable, the distance L between the location of the buried cable and the second magnetic sensor 402 can be calculated as bdis regarded as the depth of the buried cable, then the buried cable depth L bd The calculation formula is:

[0047] L bd =Bz×L ab ÷By;

[0048] Therefore, the buried depth of the buried cable can be calculated by the above formula.

[0049] More specifically, the first magnetic sensor 401, the second magnetic sensor 402 and the third magnetic sensor 403 are spaced apart by more than 15 cm to avoid the situation where the intervals between the probes are too small, and the signal strengths of different sensors are affected by factors such as instrument jitter or tilt during detection, causing errors in the instrument's judgment of the cable position. At the same time, the intervals are not greater than 20 cm to prevent the sensor deployment rod 3 from being too long and causing its rotation to be obstructed.

[0050] In addition, the magnitude of the magnetic field detected by the linear distributed sensor array 4 will be affected by factors such as the buried depth of the cable and the working current. Therefore, in order to ensure the measurement accuracy, the selection of the magnetic sensor needs to take into account the magnetic field strength transmitted from the actual buried cable to the ground. Calculations show that the horizontal component of the magnetic field radiated by the three-core cable to the ground directly above it is about 7500nT, so a sensor with a measurement range of 5000nT-10000nT can be selected. The effective output signal frequency of the sensor is 30Hz-300Hz. The sensor can be filtered through the acquisition circuit to eliminate the interference of the magnetic field of the geomagnetic field and other links. At the same time, the sampling frequency of the sensor is less than 10000Hz to ensure that the signal of the power frequency magnetic field is not distorted.

[0051] Considering that the buried depth of the cable may vary with the terrain and will be appropriately deepened under the motor vehicle lane, the buried depth of the cable has a large variation range, so the horizontal component of the magnetic field radiated by the cable to the ground directly above it may be lower than or exceed the effective measurement range of the sensor, that is, between 5000nT-10000nT. Once it exceeds the measurement range of the sensor, the depth measurement result will be inaccurate. At this time, the height of the sensor deployment rod 3 can be adjusted up and down by adjusting the mechanical arm 2, so that the horizontal component of the magnetic field radiated by the cable to the ground directly above it can be stably maintained within the effective measurement range of the sensor, and the height of the sensor deployment rod 3 driven by the mechanical arm 2 to rise or fall can be precisely controlled by adjusting the mechanical arm 2. Therefore, the accuracy of the cable burial depth measurement can be guaranteed while the sensor deployment rod 3 moves up and down.

[0052] In an example, Figure 1 and Figure 3As shown, a lime powder storage barrel 5 is fixedly arranged behind the adjusting mechanical arm 2, a reduction motor 6 is arranged above the lime powder storage barrel 5, a spiral stirrer 7 is fixedly connected to the output shaft of the reduction motor 6, and a duckbill powder distributor 8 is rotatably connected to the bottom of the lime powder storage barrel 5 through a bearing. Therefore, when the crawler-type self-propelled robot 1 moves along the path of the buried cable, the lime powder in the lime powder storage barrel 5 can be sprinkled on the ground through the duckbill powder distributor 8 to mark the path, so that the path of the buried cable can be intuitively seen during on-site construction, so that the cable can be avoided for safe construction.

[0053] In an example, Figures 1 to 5 As shown, a rotating sleeve 9 is fixedly connected to the duckbill powder distributor 8, a spiral fixing sleeve 10 is fixedly connected to the upper end of the rotating sleeve 9, a lifting and lowering pressure rod 11 runs through the spiral fixing sleeve 10, and the lifting and lowering pressure rod 11 is spirally connected to the spiral fixing sleeve 10, and a composite sliding sleeve 13 is rotatably connected to the upper end of the lifting and lowering pressure rod 11;

[0054] A pressing lever 12 is fixedly connected to the rear of the adjusting mechanical arm 2 . The pressing lever 12 passes through a composite sliding sleeve 13 , and the composite sliding sleeve 13 is slidably connected to the pressing lever 12 .

[0055] When the driving hydraulic rod 206 drives the second arm section 205 to rotate, and then drives the sensor layout rod 3 to move upward, the second arm section 205 will also drive the downward pressure lever 12 to move downward, and then push the lifting and lowering pressure rod 11 downward. Since the lifting and lowering pressure rod 11 is slidingly connected to the downward pressure lever 12 through the composite sliding sleeve 13, when the downward pressure lever 12 moves, it will only apply downward force to the lifting and lowering pressure rod 11, so that the lifting and lowering pressure rod 11 will not be bent by radial force.

[0056] Furthermore, the output shaft of the reduction motor 6 and the spiral stirrer 7 are both hollow, the lifting and lowering pressure rod 11 penetrates the output shaft of the reduction motor 6 and the spiral stirrer 7, and the lifting and lowering pressure rod 11 and the output shaft of the reduction motor 6 and the spiral stirrer 7 rotate independently of each other. The regulating mechanical arm 2 can be fixedly connected to the pressing lever 12 by bolts at the rear end of the second arm section 205, and the upper end of the lifting and lowering pressure rod 11 can be movably connected to the composite sliding sleeve 13 through a rotating shaft.

[0057] In an example, Figure 4 and Figure 5 As shown, the lower end of the lifting and lowering pressure rod 11 is processed with multiple spiral grooves 1101, and the spiral grooves 1101 and the spiral fixing sleeve 10 are interlocked with each other. The spiral angle of the spiral grooves 1101 at the lower end of the lifting and lowering pressure rod 11 is 90°.

[0058] When the lifting and lowering pressure rod 11 moves downward, the spiral groove 1101 at the lower end of the lifting and lowering pressure rod 11 cooperates with the spiral fixing sleeve 10 at the upper end of the rotating sleeve 9, so that when the lifting and lowering pressure rod 11 moves downward, the spiral fixing sleeve 10 and the rotating sleeve 9 can be driven to rotate through the spiral groove 1101, thereby driving the duckbill powder distributor 8 to rotate. Since the spiral angle of the spiral groove 1101 at the lower end of the lifting and lowering pressure rod 11 is 90°, that is, the spiral fixing sleeve 10 can rotate ninety degrees when the lifting and lowering pressure rod 11 moves from the uppermost end to the lowermost end, so that as the sensor placement rod 3 rises and falls, the duckbill powder distributor 8 will rotate between 0° and 90°.

[0059] When the depth of the buried cable decreases, the sensor placement rod 3 will move upward under the control of the adjustment mechanical arm 2 to ensure that the horizontal component of the magnetic field radiated by the cable to the ground directly above it is stably maintained within the effective measurement range of the sensor. At this time, the angle between the duckbill powder distributor 8 and the traveling direction of the crawler-type self-propelled robot 1 gradually decreases, so that the width of the line drawn by the lime powder sprinkled by the duckbill powder distributor 8 gradually decreases. When the depth of the buried cable increases, the sensor placement rod 3 will move downward under the control of the adjustment mechanical arm 2 to ensure that the horizontal component of the magnetic field radiated by the cable to the ground directly above it is stably maintained within the effective measurement range of the sensor. At this time, the angle between the duckbill powder distributor 8 and the traveling direction of the crawler-type self-propelled robot 1 gradually increases, so that the width of the line drawn by the lime powder sprinkled by the duckbill powder distributor 8 gradually increases. In this way, the trend of the change in the depth of the buried cable can be intuitively seen according to the change in the width of the lime line, which is convenient for bypassing the cable for safe construction.

[0060] In summary, the beneficial effects of the positioning device for identifying cable buried depth and path of the present invention include:

[0061] (1) The positioning device of the present invention can use three groups of magnetic sensors to detect the magnetic field strength of the buried cable from different directions by setting up a linear distributed sensor array parallel to the ground, and then determine the direction of the buried cable by the signal strength of the three groups of magnetic sensors. The buried cable path can be automatically tracked by adjusting the robotic arm, without the need for manual blind detection to find the buried cable. It is more efficient, convenient, and accurate, and no experience is required for the detection personnel.

[0062] (2) The positioning device of the present invention is provided with a lime powder storage barrel. When the crawler-type self-propelled robot moves along the path of the buried cable, the lime powder can be sprinkled along the line to draw a lime line on the ground, thereby visually marking the path of the buried cable and facilitating construction.

[0063] (3) The positioning device of the present invention can use a magnetic sensor with a narrower measuring range by adjusting the setting of the mechanical arm, which has higher accuracy than a magnetic sensor with a larger measuring range. At the same time, the height of the linear distributed sensor array can be adjusted by adjusting the mechanical arm, thereby increasing the measuring range of the magnetic sensor in disguised form without affecting the accuracy of the magnetic sensor. When the mechanical arm is adjusted to adjust the height of the linear distributed sensor array, the duckbill powder spreader can also be driven to rotate through the lever and thread transmission to adjust the width of the lime line. The change in the width of the lime line can then intuitively indicate the depth change trend of the buried cable, making it easier to bypass the cable during on-site construction.

[0064] Although the present invention has been described with reference to preferred embodiments, various modifications may be made thereto and parts thereof may be replaced by equivalents without departing from the scope of the present invention. In particular, the various technical features mentioned in the various embodiments may be combined in any manner as long as there are no structural conflicts. The present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A positioning device for identifying cable burial depth and path, characterized in that: The positioning device comprises a crawler-type self-propelled robot, the crawler-type self-propelled robot is rotatably connected to an adjustment mechanical arm, and a sensor deployment rod is arranged at the end of the adjustment mechanical arm; Among them, the sensor deployment rod is rotatably connected to the adjustment mechanical arm through an extended transmission shaft, and a linear distributed sensor array is arranged on the sensor deployment rod; the linear distributed sensor array includes multiple groups of magnetic sensors for detecting the magnetic field strength of the buried cable from different directions.

2. The positioning device for identifying cable buried depth and path according to claim 1, characterized in that: The adjusting mechanical arm comprises a mechanical arm rotating seat mounted on the crawler-type self-propelled robot, and a first motor is arranged on the mechanical arm rotating seat; The first arm section is rotatably connected to the mechanical arm rotating seat, and a second motor is arranged at the rotating connection; the second arm section is rotatably connected to the upper end of the first arm section, a driving hydraulic rod is arranged between the mechanical arm rotating seat and the second arm section, the front end of the second arm section is rotatably connected to the movable section, and the movable section is provided with a rotary motor connected to the extended transmission shaft.

3. The positioning device for identifying cable buried depth and path according to claim 1, characterized in that: The extended transmission shaft is fixedly connected to the center of the sensor placement rod, the sensor placement rod is parallel to the ground, and the extended transmission shaft is perpendicular to the ground under the action of gravity.

4. The positioning device for identifying cable buried depth and path according to claim 1, characterized in that: The sensor arrangement rod is provided with an angle sensor, and the angle sensor is used to monitor the relative angle between the sensor arrangement rod and the traveling direction of the crawler-type self-propelled robot.

5. The positioning device for identifying cable buried depth and path according to claim 1, characterized in that: The linear distributed sensor array includes three magnetic sensors, namely a first magnetic sensor, a second magnetic sensor and a third magnetic sensor, and the first magnetic sensor, the second magnetic sensor and the third magnetic sensor all have three detection surfaces of X, Y and Z.

6. The positioning device for identifying cable buried depth and path according to claim 5, characterized in that: The linear distributed sensor array is arranged in parallel in an equidistant manner, and the first magnetic sensor, the second magnetic sensor and the third magnetic sensor are spaced apart from each other by a distance greater than 15 cm and less than 20 cm.

7. The positioning device for identifying the buried depth and path of a cable according to any one of claims 1 to 6, characterized in that: A lime powder storage barrel is fixedly arranged behind the adjusting mechanical arm, a reduction motor is arranged above the lime powder storage barrel, a spiral agitator is fixedly connected to the output shaft of the reduction motor, and a duckbill powder distributor is rotatably connected to the bottom of the lime powder storage barrel.

8. The positioning device for identifying cable buried depth and path according to claim 7, characterized in that: The duckbill powder distributor is fixedly connected with a rotating sleeve, the upper end of the rotating sleeve is fixedly connected with a spiral fixing sleeve, a lifting and lowering pressure rod is passed through the spiral fixing sleeve, and the lifting and lowering pressure rod is spirally connected with the spiral fixing sleeve, and the upper end of the lifting and lowering pressure rod is rotatably connected with a composite sliding sleeve; A pressing lever is fixedly connected to the rear of the adjusting mechanical arm, the pressing lever passes through the composite sliding sleeve, and the composite sliding sleeve is slidably connected to the pressing lever.

9. The positioning device for identifying cable buried depth and path according to claim 8, characterized in that: The output shaft of the reduction motor and the interior of the spiral stirrer are both hollow, the lifting and lowering pressure rod passes through the output shaft of the reduction motor and the spiral stirrer, and the lifting and lowering pressure rod, the output shaft of the reduction motor and the spiral stirrer rotate independently of each other.

10. The positioning device for identifying cable buried depth and path according to claim 8, characterized in that: The lower end of the lifting and lowering pressure rod is processed with a plurality of spiral grooves, and the spiral grooves and the spiral fixing sleeve are interlocked with each other, and the spiral angle of the spiral grooves at the lower end of the lifting and lowering pressure rod is 90°.

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