Transmit-receive integrated submarine cable route detection method and system based on metal detection method

Abstract

The present application relates to the technical field of submarine cable detection, and discloses a kind of transmitting-receiving integrated submarine cable routing detection method and system based on metal detection method, comprising: control axial parallel to the excitation receiving coil of cable extension direction emits alternating current, excitation cable metal sheath layer generates induced current;Signal is collected by first receiving coil axially parallel to horizontal plane and second receiving coil axially perpendicular to horizontal plane;In response to the phase angle determined by the voltage and current ratio of excitation receiving coil reaches maximum value, first induced signal amplitude reaches minimum value and second induced signal amplitude is in stable region, determine that current detection position is routing point.The present application solves the problem that three-phase submarine cable alternating magnetic field is difficult to detect, and realizes the high-precision positioning of routing.

Description

Technical Field

[0001] This invention belongs to the field of submarine cable detection technology, specifically relating to a method and system for detecting the route of a transceiver submarine cable based on metal detection. Background Technology

[0002] To achieve the goal of clean and low-carbon development, clean energy is being vigorously developed. Offshore wind farms, which have advantages such as being environmentally friendly and not occupying land resources, have increased significantly in the past few decades, but the problems they face are also becoming increasingly prominent.

[0003] Submarine cables, also known as submarine cables, are conductors wrapped in insulated materials. As the name suggests, they are typically laid in the ocean and are used to establish power and information transmission between islands, inland areas, and offshore operations, holding significant strategic importance for the ocean. Electricity generated by power generation equipment must be transmitted to power plants via submarine cables for voltage step-up and step-down processing. Damage to submarine cables will affect power transmission, making routine maintenance of submarine cables increasingly crucial.

[0004] Submarine cable inspection technologies encompass a variety of approaches, including optics, electronics, acoustics, magnetism, and information fusion. Each technology has its own principles, characteristics, advantages, and disadvantages, requiring the selection of the appropriate technology based on factors such as the inspection target, accuracy, and cost. The challenges of submarine cable inspection lie in the complexity, uncertainty, and dynamism of the seabed environment, as well as the long distances, high voltages, and low signal-to-noise ratios of submarine cables. These factors present significant difficulties and challenges to the location, identification, and repair of submarine cable faults. Current development trends in submarine cable inspection are towards intelligence, automation, integration, and cost reduction. This involves leveraging technologies such as artificial intelligence, big data, and the Internet of Things to improve the efficiency and accuracy of submarine cable inspection; utilizing platforms such as drones, unmanned surface vessels, and unmanned underwater vehicles to enhance the flexibility and safety of inspection; employing technologies such as multi-source information fusion and multi-modal sensors to improve the reliability and robustness of fault detection; and utilizing new materials, processes, and designs to reduce the cost and risks of submarine cable inspection.

[0005] Magnetic detection methods are undoubtedly the least environmentally and least damaging to submarine cables, while also serving as an early warning system. However, traditional magnetic detection methods cannot effectively detect the alternating magnetic field generated by three-phase submarine cables under normal operating conditions. Summary of the Invention

[0006] The purpose of this invention is to overcome the shortcomings of the prior art and provide a transceiver integrated submarine cable route detection method and system based on metal detection, so as to solve the problem mentioned in the background art that the alternating magnetic field generated by the three-phase submarine cable cannot be effectively detected under the normal operating conditions of the submarine cable.

[0007] To achieve the above objectives, the present invention employs the following technical solution: A transceiver integrated submarine cable route detection system based on metal detection method, including a submarine cable route detector; The submarine cable route detector includes an AC magnetic sensor and an underwater device. The AC magnetic sensor is fixed on the underwater device and the AC magnetic sensor and the underwater device are electrically connected. The underwater device is electrically connected to a host computer through a watertight cable. The AC magnetic sensor includes a non-metallic watertight chamber fixedly mounted on an underwater vehicle. A data acquisition card and a power amplifier are installed inside the non-metallic watertight chamber. A triaxial orthogonally coupled air-core coil is installed outside the non-metallic watertight chamber via a watertight connector. The triaxial orthogonally coupled air-core coil includes a first receiving coil, a second receiving coil, and an excitation receiving coil; the planes of the first receiving coil, the second receiving coil, and the excitation receiving coil are mutually perpendicular, the plane of the first receiving coil is parallel to the horizontal plane, the plane of the second receiving coil is perpendicular to the horizontal plane, and the plane of the excitation receiving coil is perpendicular to the horizontal plane. The excitation receiving coil is electrically connected to the power amplifier, and the first receiving coil, the second receiving coil, and the excitation receiving coil are all electrically connected to the data acquisition card.

[0008] A further improvement of the present invention is that: Preferably, the excitation receiving coil, the first receiving coil, and the second receiving coil are arranged concentrically, with the first receiving coil located inside the second receiving coil and the second receiving coil located inside the excitation receiving coil.

[0009] Preferably, the diameters of the first receiving coil, the second receiving coil, and the excitation receiving coil increase sequentially, and each coil has 30 turns.

[0010] Preferably, the first receiving coil, the second receiving coil, and the excitation receiving coil all adopt an air-core structure.

[0011] Preferably, the non-metallic watertight compartment is connected to the underwater vehicle via the watertight connector.

[0012] Preferably, the underwater vehicle (5) is a remotely controlled underwater robot, an autonomous underwater vehicle, or a towed body.

[0013] A detection method based on the above-mentioned integrated transceiver submarine cable route detection system includes the following steps: S1, fix the AC magnetic sensor on the underwater device to form a submarine cable route detector. The AC magnetic sensor is electrically connected to the underwater device, and the underwater device is electrically connected to the host computer through a watertight cable. S2, control the excitation and receiving coil to transmit an alternating current of a preset frequency to the submarine cable, wherein the axis of the excitation and receiving coil is parallel to the extension direction of the submarine cable; S3, the induction signal is synchronously acquired through the first receiving coil, the second receiving coil and the excitation receiving coil, the axis of the first receiving coil is parallel to the horizontal plane and the axis of the second receiving coil is perpendicular to the horizontal plane; S4, in response to the phase angle determined by the voltage-to-current ratio of the excitation receiving coil reaching a maximum value, the amplitude of the induced signal of the first receiving coil reaching a minimum value, and the amplitude of the induced signal of the second receiving coil being in a stable region, the current detection position is determined as a routing point.

[0014] Preferably, in step S2, the amplitude of the alternating current is 1A and the frequency is 2kHz.

[0015] Preferably, in step S2, the frequency of the alternating current is in the range of 500Hz to 5kHz.

[0016] Preferably, in step S4, after determining the routing point, the underwater vehicle is controlled to travel a preset distance away from the routing point and then turn 100 to 170 degrees, and steps S2 to S4 are executed again to detect the next routing point.

[0017] Compared with the prior art, the present invention has the following beneficial effects: This invention proposes an integrated transceiver system for detecting submarine cable routes based on metal detection. The system integrates signal transmission and reception via a triaxial air-core coil. Mathematical modeling and simulation verification demonstrate that the device exhibits excellent performance in simulated environments, particularly in horizontal route detection, showing significant improvement over existing products. Under normal operating conditions, the device can efficiently and accurately detect submarine cable routes. The use of an integrated triaxial air-core coil reduces equipment complexity and improves detection efficiency. The selection of low-frequency electromagnetic waves effectively reduces signal attenuation by seawater, improving detection sensitivity. Compared to existing products, this method offers a significant improvement in accuracy for horizontal submarine cable route detection. Attached Figure Description

[0018] Figure 1 This is a simulation model diagram of a submarine cable route detection system; Figure 2 This is a schematic diagram of a triaxial coil model; Figure 3 This is a schematic diagram showing the connection between the submarine cable route detector and the underwater equipment; Figure 4 This is the equivalent circuit diagram of a submarine cable route detection system; Figure 5This is a flowchart of a method for detecting submarine cable routes; Figure 6 It is a route map for detecting submarine cable routes.

[0019] In the diagram: 1. Submarine cable route detector; 2. Watertight cable; 3. Host computer of the ship at sea; 4. AC magnetic sensor; 5. Underwater device; 6. Triaxial orthogonal coupled air core coil; 7. First receiving coil; 8. Second receiving coil; 9. Excitation receiving coil; 10. Submarine cable; 11. Non-metallic watertight compartment; 12. Watertight connector. Detailed Implementation

[0020] Hereinafter, the terms "first," "second," "third," and "fourth" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first," "second," "third," or "fourth" may explicitly or implicitly include one or more of that feature.

[0021] The method provided in this application can be applied to mobile phones, tablets, wearable devices, in-vehicle devices, augmented reality (AR) / virtual reality (VR) devices, laptops, and ultra-mobile personal computers. In this application, the specific type of terminal device is not limited to terminal devices such as mobile personal computers (UMPCs), netbooks, and personal digital assistants (PDAs).

[0022] It should be noted that the terms "first," "second," etc., used in the specification and drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0023] Example 1 Combined with appendix Figure 1As shown, the submarine cable route detection system based on metal detection designed in this invention includes a submarine cable route detector 1, a watertight cable 2, and a host computer 3 on a ship. The submarine cable route detector 1 and the host computer 3 transmit and interact signals through the watertight cable 2.

[0024] The submarine cable route detector 1 includes an AC magnetic sensor 4 and an underwater device 5. The AC magnetic sensor 4 is fixedly mounted on the underwater device 5. The underwater device 5 is controlled by a host computer 3 on the ship via a watertight cable 2, and is also responsible for transmitting the data collected by the AC magnetic sensor 4 to the host computer 3 on the ship via the watertight cable 2. The omnidirectional AC magnetic sensor 4 includes a non-metallic watertight compartment 11, a watertight connector 12, a triaxial orthogonally coupled air-core coil 6, a data acquisition card, and a power amplifier.

[0025] Specifically, underwater vehicle 5 serves as an underwater mobile platform, responsible for carrying an AC magnetic sensor and navigating along a preset path in or near the seabed. The underwater vehicle can be a remotely operated underwater vehicle (ROV), an autonomous underwater vehicle (AUV), or a towed hull towed by a surface vessel.

[0026] See Figure 3 The non-metallic watertight compartment 11 has two watertight connectors 12 on its outer wall. One watertight connector 12 is used to fix the triaxial orthogonal coupled air core coil 6, and the other is used to connect the underwater vehicle 5. The data acquisition card and power amplifier are fixed inside the non-metallic watertight compartment by a rigid connection. After being watertight, the triaxial orthogonal coupled air core coil 6 is fixed to one of the watertight connectors 12 on the outer wall of the non-metallic watertight compartment. Watertight wires pass through the wall of the non-metallic watertight compartment 11 and are connected to the data acquisition card and power amplifier respectively. The data acquisition card and power amplifier are connected to the underwater vehicle 5 by wires set in the watertight connector 12, and then connected to the host computer 3 of the ship on the sea through a watertight cable 2. In this process, the underwater vehicle 5 acts as a relay station, returning the data collected by the data acquisition card to the host computer 3 at sea, and inputting the excitation current sent by the host computer 3 to the power amplifier.

[0027] Combined with appendix Figure 2 and Figure 3As can be seen, the triaxial orthogonal coupled air-core coil 6 is composed of three fixed air-core coils of different radii, with their relative positions remaining unchanged. These include a first receiving coil 7, a second receiving coil 8, and an excitation receiving coil 9, with diameters of 25cm, 27.5cm, and 30cm respectively. Each coil has 30 turns. The different dimensions of the three coils prevent physical and mechanical interference within a limited space, ensuring the stability of the orthogonal structure. Furthermore, coils of different radii have different sensitivities and sensing areas. By rationally configuring the geometric dimensions of each coil, the signal strength of each channel can be balanced, preventing the system's dynamic range from being limited due to excessively strong or weak signals in one channel. Specifically, the first coil is parallel to the sea surface and serves as the first receiving coil 7; the second coil is perpendicular to the sea surface and the submarine cable and serves as the second receiving coil 8; the third coil is perpendicular to the sea surface and parallel to the submarine cable and serves as the excitation receiving coil 9. The planes of the three coils are mutually perpendicular, and the plane of each coil lies on the axis of the other two coils. Furthermore, as can be seen from the diagram, the three coils are concentric, with the first receiving coil 7 inside the second receiving coil 8, and the second receiving coil 8 inside the excitation receiving coil 9. The triaxial orthogonally coupled air-core coil group adopts an air-core structure, meaning that no iron core or magnetic core is placed inside the coil. The excitation receiving coil 9 is placed on the outermost side. This is because the magnetic field inside the excitation receiving coil is more uniform, which can minimize the influence of the primary magnetic field generated by the excitation receiving coil on the signal measured by the receiving coil. Also, a larger excitation receiving coil 9 can increase the strength of the primary magnetic field, thereby increasing the strength of the induced magnetic field.

[0028] The air-core coil used in this invention does not suffer from magnetic saturation, maintaining excellent linearity and ensuring the reliability of signals acquired in the complex electromagnetic environment surrounding submarine cables. Simultaneously, the air-core structure effectively reduces the coil's weight and volume, facilitating integration and installation on underwater vehicles. The three coils are arranged in pairs with mutually perpendicular planes; this orthogonal spatial layout ensures that each coil senses only a specific direction of the magnetic field component, minimizing electromagnetic coupling interference between coils and thus achieving precise decoupled measurement of the spatial magnetic field vector.

[0029] The non-metallic watertight chamber is made of carbon fiber material; the triaxial orthogonal coupled air core coil 6 is made of enameled wire and is supported by a rigid bracket; the data acquisition card acquires the voltage data of the first receiving coil 7, the second receiving coil 8 and the excitation receiving coil 9 of the triaxial orthogonal coupled air core coil 6 through the watertight connector 12; the power amplifier provides 1A of AC current to the excitation receiving coil 9 of the triaxial orthogonal coupled air core coil 6 through the watertight connector 12; the watertight cable 2 serves to connect the surface vessel 3 and the submarine cable route detector 1, and is responsible for transmitting information and providing power.

[0030] Example 1 The above system is used to implement a method for detecting the route of an integrated submarine cable based on metal detection. The flowchart of this method is attached. Figure 5 As shown, this measurement method is based on, Figure 4 The principle shown: Combined with appendix Figure 4 Analysis was conducted, and by solving the simultaneous equations using an equivalent circuit of the detector system, the following results were obtained:

[0031] in, It is the excitation voltage that excites the receiving coil. It is the current that excites the receiving coil. It is the equivalent resistance of the excitation receiving coil. It is the equivalent self-inductance that excites the receiving coil; It is the equivalent voltage of the first receiving coil. It is the equivalent resistance of the first receiving coil. It is the equivalent self-inductance of the first receiving coil; It is the equivalent voltage of the second receiving coil. It is the equivalent resistance of the second receiving coil. It is the equivalent self-inductance of the second receiving coil; It is the equivalent voltage of the submarine cable sheath. It is the equivalent current of the submarine cable sheath. It is the equivalent resistance of the submarine cable sheath. It is the equivalent self-inductance of the submarine cable sheath layer; This is to excite the equivalent mutual inductance between the receiving coil and the first receiving coil. It is to excite the equivalent mutual inductance between the second receiving coil and the first receiving coil. It is to excite the equivalent mutual inductance between the receiving coil and the submarine cable sheath. It is the equivalent mutual inductance between the first receiving coil and the submarine cable sheath. It is the equivalent mutual inductance between the second receiving coil and the submarine cable sheath. It is the equivalent mutual inductance between the first receiving coil and the second receiving coil.

[0032] Solving the simultaneous equations yields the ratios of the three coil voltages to the excitation currents, as shown below:

[0033] Using the equivalent resistance of the submarine cable sheath as a variable, a decrease in equivalent resistance indicates that the cable sheath is approaching the detection coil, while an increase in equivalent resistance indicates that the cable sheath is moving away from the detection coil. Therefore, it can be concluded that... The phase angle is largest when it is directly above the sheath of the submarine cable. The amplitude is smallest when it is directly above the cable sheath. Due to its placement The value is almost zero, but due to the influence of seawater, there will be a period of time during the probe's approach to the protective layer. The value fluctuates within a certain range, but tends to stabilize near the top of the cable sheath.

[0034] The specific analysis above is based on... The impedance parameter Z is a complex number containing both amplitude modulus and phase angle. The phase information of the impedance parameter Z is extracted using digital signal processing algorithms (such as Fast Fourier Transform (FFT) or correlation methods), which yields the desired phase angle. When the detector is directly above the cable, the coupling between the excitation / receiving coil and the cable sheath is strongest, resulting in the highest mutual inductance. , and When the impedance Zin reaches its maximum value, the ratio of the imaginary part to the real part changes significantly, resulting in a distinct maximum value characteristic in the phase angle.

[0035] Based on the above principles, this method utilizes the active source electromagnetic induction principle and employs a transceiver integrated coil array to achieve precise positioning of submarine cable routes. (See [link to relevant documentation]). Figure 5 The method includes the following steps: S1, the AC magnetic sensor 4 is installed on the underwater device 5 through a watertight connector on the outer wall of the non-metallic watertight compartment, forming the submarine cable route detector 1. This detector is then placed in the water and connected to the host computer 3 of the vessel on the surface using a watertight cable 2, enabling power supply and information transmission. Measurements are then taken.

[0036] S2, the host computer 3, through the watertight cable 2 and the power amplifier, supplies an AC current with an amplitude of 1A and a frequency of 2kHz to the excitation and receiving coil; the ship drives the submarine cable route detector 1, and according to the submarine cable construction drawings, begins to pass through the submarine cable. During the movement, the submarine cable route detector 1 passes through the submarine cable in a meandering curve with the length of the submarine cable as its axis. The specific movement path can be found in [reference needed]. Figure 6 .

[0037] S3, as the detector passes through the submarine cable, it controls the excitation receiving coil 9 to emit an AC current of a preset frequency to the cable under test, thereby inducing a current in the metal sheath of the cable. The three coils will generate corresponding voltage signals. The host computer 3 receives the voltage data from the three coils through a watertight cable and processes the received coil voltage signals. When the effective voltage value of the first receiving coil 7 reaches its minimum, the effective voltage value of the second receiving coil 8 stabilizes after a period of fluctuation, and the voltage phase angle of the excitation receiving coil 9 reaches its maximum, this location can be considered a routing point of the submarine cable, and recorded in the host computer.

[0038] It should be understood that since the observation of the maximum value, the stable fluctuation area, and the minimum value are all judged within a certain range, there is usually a time lag after the route point is calculated. That is, the route point can only be confirmed after the submarine cable route detector 1 has passed the submarine cable route point for a certain distance or time.

[0039] This embodiment employs an active excitation method to address the weak signal problem of traditional passive detection under three-phase cable operating conditions. After an alternating current is applied to the excitation receiving coil, an alternating magnetic field is generated in the surrounding space. This magnetic field acts on the metallic sheath layer (such as a lead sheath or steel wire armor layer) of the submarine cable, inducing eddy currents within the metallic sheath layer according to the law of electromagnetic induction. This induced current becomes a new secondary field source, radiating a magnetic field signal containing cable location information outwards. In this embodiment, the axis of the excitation receiving coil 9 is specifically configured parallel to the cable's extension direction. The physical significance of this is to maximize the coupling area between the magnetic flux generated by the excitation receiving coil and the cable loop. When the axis of the excitation receiving coil 9 is parallel to the cable's direction, the emitted magnetic field can penetrate the equivalent loop formed by the cable's metallic sheath layer to the maximum extent, thereby generating the strongest induced current and significantly improving the detection signal-to-noise ratio. If the axis of the excitation receiving coil 9 is perpendicular to the cable's direction or at a large angle, the magnetic flux coupling efficiency will decrease significantly, resulting in a weak induced signal that is difficult to identify in complex marine background noise.

[0040] This embodiment uses a multi-parameter fusion logic to determine the routing point, rather than relying on a single signal feature. First, the phase angle of the voltage-to-current ratio of the excitation receiving coil reflects the degree of mutual inductance coupling between the transmitting circuit and the cable. When the detector approaches the cable, the mutual inductance increases, causing a change in the phase angle of the input impedance; the phase angle reaches a maximum directly above the cable. Second, as mentioned earlier, the amplitude of the first induced signal reaches a minimum directly above the cable. Third, the amplitude of the second induced signal is in a stable region directly above the cable. This feature effectively eliminates interference from vertical component signal jitter caused by slight changes in detector attitude or wave fluctuations. This embodiment emphasizes that the above three conditions must be met simultaneously, i.e., a logical "AND" relationship. In actual detection, the seabed environment is complex and may contain other metal pipes or geological anomalies. Relying solely on a single feature (such as only detecting the minimum amplitude) can easily lead to misjudgments. By fusing the three features of phase angle, horizontal amplitude, and vertical amplitude stability zone, a robust defense depth is constructed. Only when the detector is truly located directly above the cable and its attitude is stable can the three conditions be met simultaneously, thereby greatly improving the robustness and accuracy of route point identification.

[0041] When electromagnetic waves propagate in a conductive medium (such as seawater), their energy is lost due to induced eddy currents, causing the signal amplitude to decrease exponentially with increasing distance. This phenomenon is called the skin effect. The degree of attenuation is proportional to the square root of the frequency; the higher the frequency, the smaller the skin depth, and the more severe the signal attenuation. While using high-frequency signals (e.g., 10kHz) could theoretically provide higher data transmission rates or resolution, their attenuation in seawater is extremely rapid, significantly limiting the detection depth and making it difficult to effectively excite cable sheaths buried deep in the seabed or receive feedback signals. Therefore, this embodiment selects low-frequency alternating current as the excitation source, utilizing the characteristic of low-frequency electromagnetic waves having less attenuation in seawater to significantly improve the penetration ability and transmission distance of the detection signal in seawater, ensuring the effective operating range of the detection system.

[0042] S4. When a route point is detected, the ship first sails a certain distance to extend the detection range, ensuring that the effective voltage value of the second receiving coil 8 appears smoothly after a period of fluctuation, thus avoiding missed detections. Then, it turns about 100-170 degrees and sails to the side and rear. When the detector passes through the submarine cable again, the next route point is detected. This operation is repeated until the ship is almost at the shore.

[0043] S5. Since submarine cables themselves are not prone to large turns, the measured route points can be connected by a smooth curve, which can be regarded as the approximate route of the submarine cable. During routine maintenance, the routing information of the submarine cable can be updated through this curve so as to better detect the submarine cable when a fault occurs.

[0044] In this invention, a routing point refers to a specific location on the path of a submarine cable. It is determined by analyzing the voltage signal characteristics of three coils when the detector is directly above (or closest to) the cable. Connecting multiple such points sequentially yields the approximate route of the submarine cable. The routing point is essentially the sampling location detected on the submarine cable. It can be used, for example, for pipeline inspection or geological exploration.

[0045] In step S3 above, the excitation and receiving coil 9 of the triaxial orthogonally coupled air-core coil 6 excites the metal sheath of the submarine cable with low-frequency electromagnetic waves, generating an induced current. Changes in this induced current are detected by the receiving coil. By utilizing the effective amplitude and phase changes of the current signal, the route of the submarine cable can be accurately located.

[0046] In a specific example, preferred operating parameters are given: the amplitude of the low-frequency AC current is 1A and the frequency is 2kHz. Of course, in other embodiments, the specific frequency value can be adaptively adjusted within the low-frequency range (e.g., 500Hz to 5kHz) according to the actual seawater salinity, cable burial depth, and target detection distance, as long as the requirement of reducing seawater attenuation and achieving effective detection is met.

[0047] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0048] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0049] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0050] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

[0051] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A transceiver integrated submarine cable route detection system based on metal detection, characterized in that, Including submarine cable route detectors (1); The submarine cable route detector (1) includes an AC magnetic sensor (4) and an underwater device (5). The AC magnetic sensor (4) is fixed on the underwater device (5). The AC magnetic sensor (4) and the underwater device (5) are electrically connected. The underwater device (5) is electrically connected to a host computer (3) through a watertight cable (2). The AC magnetic sensor (4) includes a non-metallic watertight chamber (11) fixedly mounted on an underwater vehicle (5). The non-metallic watertight chamber (11) is equipped with a data acquisition card and a power amplifier. A triaxial orthogonally coupled air core coil (6) is installed on the outside of the non-metallic watertight chamber (11) through a watertight connector (12). The triaxial orthogonally coupled air core coil (6) includes a first receiving coil (7), a second receiving coil (8), and an excitation receiving coil (9); the planes of the first receiving coil (7), the second receiving coil (8), and the excitation receiving coil (9) are mutually perpendicular, the plane of the first receiving coil (7) is parallel to the horizontal plane, the plane of the second receiving coil (8) is perpendicular to the horizontal plane, and the plane of the excitation receiving coil (9) is perpendicular to the horizontal plane; The excitation receiving coil (9) is electrically connected to the power amplifier, and the first receiving coil (7), the second receiving coil (8) and the excitation receiving coil (9) are all electrically connected to the data acquisition card.

2. The submarine cable route detection system based on metal detection method according to claim 1, characterized in that, The excitation receiving coil (9), the first receiving coil (7) and the second receiving coil (8) are arranged in a circle with the same center, and the first receiving coil (7) is located inside the second receiving coil (8), and the second receiving coil (8) is located inside the excitation receiving coil (9).

3. The submarine cable route detection system based on metal detection method according to claim 1, characterized in that, The diameters of the first receiving coil (7), the second receiving coil (8), and the excitation receiving coil (9) increase sequentially, and each coil has 30 turns.

4. The submarine cable route detection system based on metal detection method according to claim 1, characterized in that, The first receiving coil (7), the second receiving coil (8) and the excitation receiving coil (9) all adopt an air core structure.

5. A transceiver integrated submarine cable route detection system based on metal detection method according to claim 1, characterized in that, The non-metallic watertight compartment (11) is connected to the watertight connector (12) and the water-tight fitting (5).

6. A transceiver integrated submarine cable route detection system based on metal detection method according to claim 1, characterized in that, The underwater vehicle (5) is a remotely controlled underwater robot, an autonomous underwater vehicle, or a towed body.

7. A detection method based on the integrated transceiver submarine cable route detection system of claim 1, characterized in that, Includes the following steps: S1, fix the AC magnetic sensor (4) on the underwater device (5) to form a submarine cable route detector (1). The AC magnetic sensor (4) is electrically connected to the underwater device (5). The underwater device (5) is electrically connected to the host computer (3) through a watertight cable (2). S2, control the excitation receiving coil (9) to transmit an alternating current of a preset frequency to the submarine cable (10), wherein the axis of the excitation receiving coil (9) is parallel to the extension direction of the submarine cable (10); S3, the induction signal is synchronously acquired by the first receiving coil (7), the second receiving coil (8) and the excitation receiving coil (9). The axis of the first receiving coil (7) is parallel to the horizontal plane, and the axis of the second receiving coil (8) is perpendicular to the horizontal plane. S4, in response to the phase angle determined by the voltage-to-current ratio of the excitation receiving coil (9) reaching a maximum value, the amplitude of the induced signal of the first receiving coil (7) reaching a minimum value, and the amplitude of the induced signal of the second receiving coil (8) being in a stable region, the current detection position is determined as a routing point.

8. The detection method according to claim 7, characterized in that, In step S2, the amplitude of the alternating current is 1A and the frequency is 2kHz.

9. The detection method according to claim 7, characterized in that, In step S2, the frequency of the alternating current is in the range of 500Hz to 5kHz.

10. The detection method according to claim 7, characterized in that, In step S4, after determining the route point, the underwater vehicle (5) is controlled to travel a preset distance away from the route point and then turn 100 to 170 degrees. Steps S2 to S4 are executed again to detect the next route point.

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