CN110737029A - underwater cable electromagnetic detection device and positioning method - Google Patents
underwater cable electromagnetic detection device and positioning method Download PDFInfo
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- CN110737029A CN110737029A CN201911013829.4A CN201911013829A CN110737029A CN 110737029 A CN110737029 A CN 110737029A CN 201911013829 A CN201911013829 A CN 201911013829A CN 110737029 A CN110737029 A CN 110737029A
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- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
- G01V3/08—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices
Abstract
The invention discloses underwater cable electromagnetic detection devices and a positioning method, the method comprises equipment for realizing the underwater cable electromagnetic detection and positioning method, the equipment mainly comprises a signal source (1), a power amplifier (2), a current sensor (3), a magnetic sensor (4), a data processor (5) and an altimeter (6), alternating current signals are loaded at two ends of a cable to be detected (7) to generate alternating magnetic fields, the magnetic sensor (4) is used for measuring radiation fields generated by the cable to be detected, and the relative position of the cable to be detected (7) relative to the magnetic sensor (4) is obtained according to relevant electromagnetic theory knowledge, so that the detection and positioning with the underwater cable are realized.
Description
Technical Field
The invention relates to underwater cable electromagnetic detection and positioning, in particular to underwater cable electromagnetic detection devices and positioning methods for underwater buried and non-buried cables.
Background
The diameter of the submarine cable is , which is small, and is mostly below 10cm, so far, the problem of accurately detecting the position of the submarine cable, particularly the submarine cable in a submerged state, and monitoring the running condition of the submarine cable is still a difficult problem of underwater engineering.
The submarine cable can be roughly divided into a non-buried bare cable and a buried cable, the buried cable can be detected by using high-resolution image sonar like , when the diameter of the submarine cable is too small, the submarine cable is difficult to be effectively detected and positioned by using the image sonar, for the submarine cable which is in a buried state and is not deep, the current commonly used detection and positioning method is manual detection of a diver, but the method has high requirements on detection personnel, low efficiency, high cost, complex construction and large risk, and for the buried cable with deep buried depth, no effective detection and positioning means exist, so universal methods are needed to accurately detect the underwater buried cable and the non-buried cable.
Disclosure of Invention
In order to solve the problems and the defects in the prior art, the invention provides underwater cable electromagnetic detection devices and positioning methods.
The following design structure and design scheme are specifically adopted:
underwater cable electromagnetic detection device and positioning method, characterized by comprising the following steps:
step S1: an alternating current signal generated by a signal source (1) is loaded on a cable (7) to be tested, and a current sensor (3) is used for reading the current in a loop.
Step S2: the magnetic sensor (4) is placed near the cable (7) to be measured, and the magnetic field intensity of the point where the magnetic sensor (4) is located is measured.
And S3, measuring the distance from the cable (7) to be measured to the magnetic sensor (4) according to the ampere loop theorem, and obtaining the position coordinate of a certain point on the cable (7) to be measured relative to the magnetic sensor (4) through the data processor (5).
Step S4: and changing the position of the magnetic sensor (4), repeating the steps S2-S3 to obtain the position coordinates of the cable to be tested (7) relative to a plurality of points of the magnetic sensor (4), thereby obtaining the route of the cable to be tested (7).
electromagnetic detection of underwater cable, which is characterized by comprising a device for realizing the electromagnetic detection and positioning method of underwater cable, the device mainly comprises a signal source (1), a power amplifier (2), a current sensor (3), a magnetic sensor (4), a data processor (5) and an altimeter (6), wherein,
the signal source (1) is loaded to two ends of a cable (7) to be tested after passing through the power amplifier (2), and a current sensor (3) is connected in series in the whole loop,
the magnetic sensor (4) is also arranged around the cable (7) to be measured, the position coordinates of a plurality of points on the cable (7) to be measured are measured by changing the position coordinates of the magnetic sensor (4),
the data processor (5) is connected with the magnetic sensor (4) and the altimeter (6) and processes the magnetic field measured by the magnetic sensor (4) and the depth measured by the altimeter (6).
According to the invention, , the frequency of the alternating current signal generated by the signal source (1) is 0-1000 Hz.
According to the invention, , the magnetic sensor (4) adopts a three-axis magnetic sensor, and the magnetic field measured by the magnetic sensor (5) is divided into three components which are perpendicular to each other, and are Bx、By、BzThe magnetic field intensity at the point of the magnetic sensor (5) can be obtained according to the vector decomposition principle
The invention further step Bx、By、BzFor the amplitude of the alternating current signal generated by the signal source (1), B is calculatedx、By、BzAnd adding symbols, contrasting with a coordinate system, synthesizing the I, II, III and IV divinators of a vector total field B in the coordinate system, and corresponding the position of a p point on the cable (7) to be tested to the V, VI, VII and VIII divinators of the coordinate system.
According to the invention, , the magnetic sensor (4) and the altimeter (6) can be installed on a carrying platform (13) such as an ROV, an AUV, an underwater towed body and the like, and the geodetic coordinates of the carrying platform (13) or the magnetic sensor (4) are measured by combining a GPS/Beidou/GNSS and an underwater positioning system.
Compared with the prior art, the underwater cable detection device has the beneficial effects that the underwater cable detection device can detect and position both the buried cable and the non-buried cable, and meanwhile, because the adopted signal frequency is low, the electromagnetic field is slightly influenced by media (water quality, silt and the like), the underwater cable detection application range is realized by utilizing the electromagnetism, the engineering is easy to realize, and the problems that the image sonar can only detect the non-buried bare cable and a diver can only detect the submarine cable with low manual detection efficiency, high cost, complex construction and large risk and with low buried depth are effectively solved.
Drawings
Fig. 1 is a working principle diagram of the present invention.
Fig. 2 is a flow chart of the operation of the present invention.
Fig. 3 is a schematic coordinate diagram of a magnetic sensor.
Reference numerals: 1-a signal source; 2-a power amplifier; 3-a current sensor; 4-a magnetic sensor; 5-a data processor; 6-altimeter; 7, a cable to be tested; and 8, carrying the platform.
Detailed Description
The following describes embodiments of the present invention in more detail with reference to the accompanying drawings and specific examples.
Example 1:
as shown in the attached figure 1 of the specification, underwater cable electromagnetic detection devices and positioning methods comprise equipment for realizing the underwater cable electromagnetic detection and positioning methods, wherein the equipment mainly comprises a signal source 1, a power amplifier 2, a current sensor 3, a magnetic sensor 4, a data processor 5 and an altimeter 6,
the signal source 1 is loaded to two ends of a cable 7 to be tested after passing through the power amplifier 2, and a current sensor 3 is connected in series in the whole loop,
the magnetic sensor 4 is also arranged around the cable 7 to be tested, the position coordinates of a plurality of points on the cable 7 to be tested are measured by changing the position coordinates of the magnetic sensor 4,
the data processor 5 is connected to the magnetic sensor 4 and the altimeter 6, and processes the magnetic field measured by the magnetic sensor 4 and the depth measured by the altimeter 6.
Example 2:
2-3, underwater cable electromagnetic detecting device and positioning method includes the following steps:
s1, a signal source 1 can generate an alternating current signal with a specific frequency, is 0-1000 Hz generally, the alternating current signal is loaded on a cable 7 to be tested after being amplified by a power amplifier 2, and a current sensor 3 in a loop is used for reading the current I in the loop.
S2: the magnetic sensor 4 is installed on a carrying platform 13, the carrying platform 13 is controlled to place the magnetic sensor 4 around the cable 7 to be measured, the magnetic sensor 4 adopts a three-axis magnetic sensor, a magnetic field measured by the magnetic sensor 4 is divided into three components which are perpendicular to each other and are B respectivelyx、By、BzThe magnetic field intensity at the point where the magnetic sensor 4 is located can be obtained according to the vector decomposition principle
Wherein B isx、By、BzFor the amplitude of the alternating current signal generated by the signal source 1, B is calculatedx、By、BzAdding a sign to set the Z-axis signal BzFor reference, i.e. setting BzIs positive and has a phase of 0 DEG to obtain X-axis and Y-axis signals Bx、ByThe relative phase of the detection signal of the magnetic sensor 4 can only be 0 ° or 180 °, i.e., in-phase and out-of-phase, depending on the electromagnetic vector field characteristics. Then with BzThe sign is positive for the same phase and negative for the opposite phase. And synthesizing the vector total field B in the I, II, III and IV divinators of the coordinate system according to the coordinate system, wherein the position of the p point on the cable 4 to be tested corresponds to the V, VI, VII and VIII divinators of the coordinate system.
S3: the distance from the cable 7 to be tested to the magnetic sensor 4 can be obtained according to the ampere-loop theorem, that is, the distance from the cable 7 to be tested to the magnetic sensor 4 isFrom this, the data processor 5 can determine the position coordinates of a certain point on the cable 4 to be measured relative to the magnetic sensor 4 as
S4: the geodetic coordinates of the magnetic sensor 4 are measured by combining a GPS/Beidou/GNSS and an underwater positioning system such as an ultra-short baseline positioning system USBL, and along with the position change of the magnetic sensor 4, the coordinates P of a plurality of positions on the cable 7 to be measured relative to the magnetic sensor 4 can be obtained1(x1,y1,z1)，P2(x2,y2,z2)，……，Pn(xn,yn,zn) And , obtaining the route of the cable 7 to be tested by combining the geodetic coordinates of the carrying platform 13 or the magnetic sensor 4.
In addition, the height meter 6 can also be installed on the carrying platform 13 to measure the height h, under the condition that the default sensor xoy plane is horizontal, the burial depth of the cable 4 to be measured is measured to be z-h, when the z-h is smaller than 0, the cable is in an exposed or suspended state, and if the magnetic sensor 5xoy plane is not horizontal or the posture is uncertain, the coordinate compensation is carried out by using a posture compensation algorithm according to the current posture.
The scope of the present invention is not limited to the above-described embodiments, which are intended to help explain and illustrate the present invention, but not to limit the scope of the present invention, as long as they are designed to be identical to or equivalent to the design of the present invention, and they fall within the scope of the present invention as claimed.
Claims (6)
1, underwater cable electromagnetic detection device and positioning method, characterized by comprising the following steps:
step S1: loading an alternating current signal generated by a signal source (1) onto a cable (7) to be tested, and reading the current in a loop by using a current sensor (3);
step S2: placing the magnetic sensor (4) near the cable (7) to be measured, and measuring the magnetic field intensity of the point where the magnetic sensor (4) is located;
step S3, measuring the distance from the cable (7) to be measured to the magnetic sensor (4) according to the ampere loop theorem, and obtaining the position coordinate of a certain point on the cable (7) to be measured relative to the magnetic sensor (4) through the data processor (5);
step S4: and changing the position of the magnetic sensor (4), repeating the steps S2-S3 to obtain the position coordinates of the cable to be tested (7) relative to a plurality of points of the magnetic sensor (4), thereby obtaining the route of the cable to be tested (7).
underwater cable electromagnetic detection devices are characterized by comprising equipment for realizing the underwater cable electromagnetic detection and positioning method, wherein the equipment mainly comprises a signal source (1), a power amplifier (2), a current sensor (3), a magnetic sensor (4), a data processor (5) and an altimeter (6), wherein the signal source (1) is loaded to two ends of a cable to be detected (7) after passing through the power amplifier (2), and the current sensor (3) is connected in series in the whole loop,
the magnetic sensor (4) is also arranged around the cable (7) to be measured, the position coordinates of a plurality of points on the cable (7) to be measured are measured by changing the position coordinates of the magnetic sensor (4),
the data processor (5) is connected with the magnetic sensor (4) and the altimeter (6) and processes the magnetic field measured by the magnetic sensor (4) and the depth measured by the altimeter (6).
3. The underwater cable electromagnetic detection device and the positioning method thereof according to claim 1, wherein the frequency of the alternating current signal generated by the signal source (1) is 0-1000 Hz.
4. The underwater cable electromagnetic detection device and the positioning method according to claim 1, wherein the magnetic sensor (4) is a three-axis magnetic sensor, and the magnetic field measured by the magnetic sensor (5) is divided into three components perpendicular to each other, B being Bx、By、BzThe magnetic field intensity at the point of the magnetic sensor (5) can be obtained according to the vector decomposition principle
5. The underwater cable electromagnetic detection device and positioning method according to claim 4, wherein B isx、By、BzFor the amplitude of the alternating current signal generated by the signal source (1), B is calculatedx、By、BzAnd adding symbols, contrasting the coordinate system, synthesizing the divinatory limits I, II, III and IV of the vector total field B in the coordinate system, and corresponding the position of a p point on the cable (7) to be tested to the divinatory limits V, VI, VII and VIII in the coordinate system.
6. The underwater cable electromagnetic detection device and the positioning method according to claim 1 or 2, characterized in that the magnetic sensor (4) and the altimeter (6) can be installed on a carrying platform (13) such as an ROV, an AUV, an underwater towed body and the like, and the geodetic coordinates of the carrying platform (13) or the magnetic sensor (4) are measured by a GPS/Beidou/GNSS combined underwater positioning system.
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| CN112987110A (en) * | 2021-02-07 | 2021-06-18 | 国网福建省电力有限公司莆田供电公司 | Submarine cable searching and positioning method based on magnetic induction coil claw-shaped combined mode |
| CN113433594A (en) * | 2021-05-18 | 2021-09-24 | 杭州电子科技大学 | Underwater AUV cable searching system based on magnetometer |
| CN113804180A (en) * | 2021-08-18 | 2021-12-17 | 湖南大学 | Underwater robot positioning method based on cable segment motion state |
| CN114353852A (en) * | 2021-12-24 | 2022-04-15 | 中国船舶重工集团公司七五0试验场 | Self-checking method and device for electromagnetic sensor |
| CN115019412A (en) * | 2022-06-01 | 2022-09-06 | 杭州电子科技大学 | Underwater AUV (autonomous underwater vehicle) submarine cable inspection system and method based on multiple sensors |
| WO2023124169A1 (en) * | 2021-12-30 | 2023-07-06 | 上海中车艾森迪海洋装备有限公司 | Method and system for positioning seabed metal device, and device and storage medium |
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