CN111379557A

CN111379557A - Detection guide emission probe in non-excavation guide instrument system

Info

Publication number: CN111379557A
Application number: CN201811608364.2A
Authority: CN
Inventors: 杨军
Original assignee: Guangzhou T Probe Equipment Co ltd
Current assignee: Guangzhou T Probe Equipment Co ltd
Priority date: 2018-12-27
Filing date: 2018-12-27
Publication date: 2020-07-07

Abstract

A probe for detecting and guiding the underground drill bit in navigation instrument system is composed of CPU set for measuring the inclination angle (horizontal plane is +/-50 deg), face angle (axial core of drill bit is 0-360 deg), temp and battery energy, and software for A/D conversion and coding, which sends serial coded signals to modulation amplifier circuit to transmit the modulated signals with carrier frequency of 1-50 kHz back to ground. The invention has the advantages of excellent performance, long working time, high precision reliability, low cost and capability of working reliably and stably.

Description

Detection guide emission probe in non-excavation guide instrument system

Technical Field

The invention relates to a detection guide transmitting probe in a trenchless guiding instrument system. In particular to a detection guide transmitting probe in a high-precision non-excavation guiding instrument while drilling in a non-excavation horizontal drilling hole of an underground pipeline engineering, which has the advantages of no environmental damage, no influence on traffic, high pipe laying precision, good construction safety, short period and low cost, can be widely applied to areas which can not carry out excavation operation, such as municipal administration, telecommunication, electric power, petroleum, natural gas, coal gas, tap water, heating power, pollution discharge and the like, and can lay underground pipeline engineering under the condition that no groove is dug on the ground surface.

Technical Field

At present, in most areas of China, underground pipeline laying projects of municipal administration, telecommunication, electric power, petroleum, natural gas, coal gas, tap water, heat, sewage discharge and the like still adopt manual or mechanical equipment to carry out open grooving pipeline laying and pipeline laying method operation, and the problems of serious environmental pollution, poor construction safety, low pipe laying precision, frequent traffic jam, labor and time wasting, greatly improved operation cost and low economy generally exist. Therefore, in a few developed countries in the world, trenchless pipe-laying technology has been developed, that is, underground pipelines are laid by using a guiding system for detecting while drilling in a horizontal drilling hole and tracking and commanding the drilling direction of an underground drill bit on the ground without opening a trench on the ground surface. Besides being used in a few developed countries such as America, English and Japan, the technology is still in development gaps in other countries including China. From the product of some foreign companies, the guiding precision, depth and function can meet the operation requirements of some projects. However, from the technical point of view, these guidance systems are not comprehensive enough in function and are not suitable for the national conditions of our country. It is not perfect in performance and reliability, and it is also extremely expensive. Is not suitable for being widely popularized and used in China.

The trenchless pipe laying technology is a construction technology for laying and replacing various underground pipelines under the condition that grooves are not excavated on the ground surface by utilizing various rock-soil drilling equipment and technical means. Compared with the traditional construction method for digging the groove and laying the pipe, the construction method has the characteristics of no influence on traffic, environmental protection, short construction time, low cost, wide application and the like. The trenchless construction method is widely applied to a horizontal guiding drilling method, and can drive a drill rod provided with a wedge-shaped drill bit to drill from the ground according to a pre-designed pipe laying line, and guide an underground drill bit to perform directional drilling by using a trenchless guiding instrument system to fulfill the aim of trenchless laying of underground pipelines. In the trenchless guided drilling, the key technology is to apply a high-precision trenchless guide instrument system to control the drilling track. And the high-precision trenchless guide instrument system is the core of the whole drilling mechanical equipment. Therefore, the technical problem of solving the trenchless guiding instrument system is of profound significance to the popularization and application of modern trenchless pipe laying technology in China.

The trenchless guiding instrument system mainly comprises an underground detection guiding transmitting probe, a ground tracking receiving guider and a drilling machine synchronous display, wherein the detection guiding transmitting probe arranged in a drill bit transmits the position and working condition posture parameters of the drill bit to the ground tracking receiving guider through a low-frequency radio signal during working, and an operator instructs a drilling machine driver to correct and change the current operation in time according to the received signal parameters so as to ensure that the drill bit completes construction according to a designed route track. Meanwhile, the ground tracking receiving guider also sends various received signal parameters to the synchronous display through radio to be displayed for a driver to operate and indicate, and various data are stored at the same time.

One of the core components of the high-precision guide system is a detection guide transmitting probe which is the key of guide trenchless drilling and is arranged in the guide drill bit for monitoring the posture of the drill bit, detecting important signal parameters of the guide drill bit such as the face angle, the pitch angle, the temperature, the battery residual energy and the like, and accurately transmitting the information to a ground tracking receiver, so that ground operators can master the drilling track in real time and control the track in real time, thereby achieving the purpose of accurate orientation.

Because the detection guide emission probe must obtain accurate first-hand information data, and the detection guide emission probe is arranged in the underground guide drill bit, the emitted electromagnetic wave must have strong penetrating power to various rock-soil stratums and must face various complex electromagnetic interferences. The inventive design of the entire probe is therefore very demanding. On the premise that the circuit is required to have high precision, temperature drift resistance, interference resistance, vibration resistance, large transmitting power and low energy consumption, and a certain baud rate is met, a transmitting coil with strong stratum penetrating power, small attenuation transmitting frequency and good quality factors is selected, and the circuit is required to be miniaturized and highly sealed on the aspect of volume and appearance.

Disclosure of Invention

In summary, the present invention is directed to solving a series of technical problems in the design process of a probe guide transmitting probe. The invention provides a detection guide transmitting probe which has the advantages of high detection guide precision, small temperature drift, interference resistance, strong anti-vibration capability, large transmitting power, low energy consumption, small volume, high sealing performance, and low signal transmission attenuation and strong stratum penetrating power on the premise of meeting a certain baud rate. The probe has all the performances of foreign similar products, has excellent performance, high reliability, good stability and low cost, is completely suitable for the national conditions of China, and is extremely low in market price, thereby being beneficial to being widely popularized and used in China. The method can be widely applied to high-precision guiding systems of pipeline laying projects in areas where excavation operation cannot be carried out, such as municipal administration, telecommunication, electric power, petroleum, natural gas, coal gas, tap water, heating power, sewage discharge and the like.

The technical scheme adopted by the invention for solving the technical problems is as follows: it includes inclination sensor capable of measuring drill inclination (using horizontal plane as reference-50 deg.), facing angle sensor capable of measuring underground drill facing angle (using underground drill axial core as reference 0 deg. -360 deg.), temperature sensor capable of measuring working temperature and battery electric quantity sampling end capable of measuring battery working energy, and they are respectively interconnected with every input end of CPU group capable of making A/D conversion-coding-environment temperature compensation work, the CPU group can utilize software to convert the information collected by every sensor into digital coded serial signal and make environmental temperature compensation, then feed it into phase inverter interconnected with it, the phase inverter can feed the digital coded serial signal into signal modulation circuit and convert it into modulation signal whose carrier frequency is 1kHz-50kHz, the signal modulation circuit can feed the modulation signal into power amplifier interconnected with it, The power amplifier amplifies the modulated signal and transmits the modulated signal back to the ground through the electromagnetic wave transmitting coil which is interconnected with the power amplifier, and the modulated signal is received by the ground tracking receiving guider except the detecting guiding transmitting probe to form the trenchless guiding instrument system which can lay and replace various underground pipelines under the condition that the trench is not excavated on the ground surface. The CPU group is burned and solidified with corresponding software functional programs, and the programs comprise an initialization program, a data acquisition filtering program, a data coding program, a data serial transmission program, a dormancy setting program, a temperature compensation program, an electricity-saving mode program and a software watchdog program (the programs do not fly away), so that the detection guide transmitting probe not only has all the performances of foreign like products, but also has the advantages of excellent performance, long working time, high reliability, good stability, low cost and accurate and stable working.

The angle sensor, the inclination angle sensor, the temperature sensor, the battery electric quantity sampling end, the CPU group, the phase inverter, the signal modulation circuit, the power amplifier and the electromagnetic wave transmitting coil comprise:

the CPU group (5) is formed by combining the following circuits: pins 1, 7, 8, 17, 18 and 19 of a U3(CPU) are respectively connected with

pins

1, 2, 3, 4, 5 and 6 of an online programming port U4(ISP) of a program, a pin 4 and one end of a resistor R4 are connected with an intersection point of one end of a key S1, the other end of the resistor R4 is connected with +5V, the other end of the key S1 is grounded, one ends of a pin 9 and a crystal oscillator Y1 are connected with an intersection point of one end of a C6, the other ends of a pin 10 and a crystal oscillator Y1 are connected with an intersection point of one end of a capacitor C5, the other ends of a capacitor C5 and a capacitor C6 are connected with ground, and pins 8 and 21 are respectively connected with two ends of a capacitor C9 and pins 8 and 22 are connected;

the pins 28, 26, 23 and 24 of a U3(CPU) in a CPU group (5) are respectively connected with the 12 pin of a dual-axis accelerometer U1 in an inclination angle sensor (2) consisting of a dual-axis accelerometer U1, capacitors C1 and C2 and capacitors C1 and C4611 pin of the capacitor C2 and an intersection point of the 12 pin of a dual-axis accelerometer U2 in an angle-facing sensor (1) consisting of an accelerometer U2, capacitors C3 and C4 and a resistor R3 and capacitors C3 and C4, the other ends of the capacitors C1, C2, C3 and C4 are grounded, the pins 4 and 7 of the dual-axis accelerometers U1 and U3 are connected with the ground, the pins 13 and 14 are connected with a power supply +5V, the pins 5 are respectively connected with one ends of resistors R1 and R3, and the other ends of the resistors R1 and R3 are connected with the ground;

a pin U3(CPU)25 in the CPU group (5) is connected with a pin 2 of a U4 in the temperature sensor (3), a pin 1 of a U4 in the temperature sensor (3) is connected with a power supply +5V, a pin 3 is connected with the ground, pins U3(CPU)3 and U3515 in the CPU group (5) are respectively connected with an intersection point of a pin 1 of an integrated circuit U6 in an inverter (6) consisting of an integrated circuit U6 and a resistor R3 and a resistor R3, and the other end of the resistor R3 is connected with the power supply + 5V;

a pin U3(CPU)27 in the CPU group (5) is connected with a battery electric quantity sampling end (4), a pin 2 of an integrated circuit U6 in the phase inverter (6) is connected with an intersection point of a pin 5 and a pin 7 of an integrated circuit U7 in a signal modulation circuit (7) consisting of the integrated circuit U7 and a resistor R5; the 4 pins are connected with the intersection point of the 1 pin and the 4 pins of the integrated circuit U7 in the signal modulation circuit (7);

pins

5, 7, 9, 11 and 13 of the integrated circuit U6 in the inverter (6) are all grounded; and the 14 pins are connected with a power supply of + 5V. The intersection point of the pin 2 and the pin 3 of the integrated circuit U7 in the signal modulation circuit (7) is connected with one end of a resistor R5, and the other end of the resistor R5 is connected with the base electrode of a transistor U8 in a power amplifier (8) consisting of a transistor U8, a capacitor C7 and a capacitor C8; the 7 pin of the U7 in the signal modulation circuit (7) is grounded, and the 14 pin is connected with +5V of a power supply; the emitter of a transistor U8 in the power amplifier (8) is grounded, the collector is connected with the intersection points of the capacitors C7 and C8 and the electromagnetic wave transmitting coil (4), and the intersection points of the capacitors C7 and C8 and the other end of the electromagnetic wave transmitting coil (4) are connected with a power supply of + 5V.

In operation, 11 feet of a dual-axis accelerometer U1 (two axes are X axis and Y axis which are vertical to each other) in the tilt sensor (2), namely X axis, 12 feet of Y axis, capacitors C1, C2 and 28 feet and 26 feet of a U3(CPU) in a CPU group (5) are used for measuring the tilt angle of the underground drill bit, the voltage value output by the 11 feet of the dual-axis accelerometer U1 in the tilt sensor (2) and the voltage value output by the 12 feet are changed along with the change of X, Y axis relative to the horizontal position, the output of the digital coding serial signal is filtered by capacitors C1 and C2 and then enters 28 and 26 feet of a U3(CPU) in a CPU group (5) for analog-to-digital conversion to obtain an output digital quantity of a X, Y shaft, and then a digital coding serial signal corresponding to the inclination angle can be obtained by referring to the digital output quantity of a X, Y shaft of a double-shaft accelerometer U1 in the inclination angle sensor (2) at the moment, wherein the measuring range is-50 degrees to +50 degrees by taking a horizontal plane as a reference;

an angle sensor (1) facing a double-shaft accelerometer U2 (the double shafts are an X shaft and a Y shaft which are vertical to each other), and 24 feet and 23 feet of a U3(CPU) in the CPU group (5) form a measurement for the facing angle of the underground drill bit, the facing angle is represented by 12 points in 360 degrees of an omnibearing range taking an underground drill bit shaft core as a reference, each point ranges from 30 degrees, the double-shaft accelerometer U2 in the facing angle sensor (1) and the double-shaft accelerometer U1 in the inclination angle sensor (2) are relatively vertical, the X shafts of the double-shaft accelerometer U2 and the Y shafts of the double-shaft accelerometer U1 are vertical to each other, the Y shafts of the double-shaft accelerometer U2 in the facing angle sensor (1) (which is vertically and horizontally placed) are changed along with the change of the direction of the gravity acceleration, the output voltage of the double-shaft accelerometer U2 in the facing angle sensor (1) is filtered by a capacitor C3 and enters the 24 feet of the U3(CPU) in the CPU group (5) facing the angle sensor U2 in the 12 feet, the output voltage of the digital coding serial signal enters 23 feet of U3(CPU) in a CPU group (5) after being filtered by a capacitor C4, the voltage values of the voltage values are respectively subjected to analog-to-digital conversion by 23 feet and 24 feet of U3(CPU) in the corresponding CPU group (5) to obtain output digital quantity of a X, Y axis, and then the digital output quantity of a X, Y axis of a double-axis accelerometer U2 in the facing angle sensor (1) at the moment is referred to, so that a digital coding serial signal corresponding to the facing angle can be obtained;

the temperature sensor (3), namely the 2 feet of the U4 and the 25 feet of the U3(CPU) in the CPU group (5) are used for measuring the temperature of the underground drill bit, the sensitivity is 10 millivolts per degree, namely, when the ambient temperature around the temperature sensor changes by 1 degree, the voltage output of the 2 feet changes by 10 millivolts, the analog-to-digital conversion of the 25 feet of the U3(CPU) in the CPU group (5) is carried out on the output of the 2 feet, and a digital coding serial signal corresponding to the temperature value is obtained;

the positive end of a power supply in the battery electric quantity sampling end (4) is connected with a pin 27 of a U3(CPU) in a CPU group (5) for analog-to-digital conversion, an internal reference voltage source of the U3(CPU) in the CPU group (5) is taken as a reference, when the voltage of the battery is higher than the reference voltage by a plurality of volts, the numerical value after the analog-to-digital conversion is a plurality of values, and when the voltage is lower than the reference voltage, the numerical value is reduced by 1 every time the voltage output relative to the reference voltage is reduced by 10 millivolts; the digital code serial signal corresponding to the instantaneous voltage value can be obtained by the digital value after the 27-pin analog-digital conversion of the U3(CPU) in the CPU group (5);

the 3 feet of U3(CPU) in the CPU group (5) are serial output ports, the inclination angle, the facing angle, the temperature value and the battery capacity are serially output from the serial ports after being AD-converted and coded by U3(CPU), and are input to the on/off

control end

5 and 13 feet (high level on and low level off) of the electronic switch integrated circuit U7 in the signal modulation circuit (7) through the 1 foot-in and 2 foot-in inverted output of the integrated circuit U6 in the inverter (6) as modulation signals; the 15 feet of U3(CPU) in the CPU group (5) output 1kHz-50kHz frequency as carrier wave, which is input to 1 and 4 feet of the integrated circuit U7 in the signal modulation circuit (7) through the 3 feet of the integrated circuit U6 in the inverter (6) and the 4 feet of the inverted output, and then the carrier wave is modulated by the digital coding serial signal composed of the inclination angle, the facing angle, the temperature value and the battery capacity as modulation signal; modulated waves output by pins 2 and 3 of an integrated circuit U7 in a signal modulation circuit (7) are added to the base electrode of a transistor U8 in a power amplifier (8) through a resistor R5, and a frequency-selecting loop with the center frequency of 1kHz-50kHz is formed by an electromagnetic wave transmitting coil (4) and capacitors C7 and C8 through collector amplification to transmit digital coding serial modulation signals;

9 and 10 pins of U3(CPU) in the CPU group (5), capacitors C5 and C6 and a crystal oscillator Y1 form an oscillation source of the CPU, and 21 pins, namely an internal reference voltage source pin, are connected through the intersection point of the capacitors C9 and 22 pins to reduce the noise during analog-to-digital conversion;

the resistor R4, the key switch S1 and the 4 feet (external interrupt feet) of the U3(CPU) in the CPU group (5) form a trigger frequency conversion for the detection guide emission probe, the resistor R4 is a pull-up resistor to pull the 4 feet of the U3(CPU) in the CPU group (5) to be high level, a default frequency is used in normal use, and when the frequency conversion is needed, the S1 is pressed (one end of the S1 is grounded) to enable the 4 feet of the U2 to be low level to generate interrupt, so that the frequency conversion purpose is achieved.

By adopting the technical scheme, the detection guide transmitting probe has the advantages of excellent performance, long working time, high reliability, good stability, low cost, accurate and stable work, is completely suitable for the national conditions of China, is extremely low in market price, is beneficial to being widely popularized and used in high-precision guide instrument systems for laying pipeline projects in areas where municipal administration, telecommunication, electric power, petroleum, natural gas, coal gas, tap water, heating power, pollution discharge and the like can not implement excavation work, and achieves the aim of being widely applied to the high-precision guide instrument systems for laying pipeline projects in the areas where the excavation work can not be implemented.

The invention has the beneficial effects that:

1. because the accelerometer is used as a sensor facing the angle and the inclination angle postures and the single CPU with small volume and strong function is used for signal AD conversion and coding modulation, the whole probe has small volume, high precision, good stability, strong anti-interference and anti-vibration capabilities, convenient debugging, long service life, low noise and obviously improved comprehensive performance.

2. The wireless electromagnetic wave is transmitted by selecting a proper low-frequency mode (1kHz-50kHz) and adopting a non-magnetic material as a structural member, so that the signal transmission attenuation is reduced, the stratum penetration is strong, the transmission efficiency is high, the stability is good, and the anti-interference capability is strong.

3. Because the dormant mode is set, when the underground drill bit stops working to the set time, the detection guide transmitting probe immediately shifts to the power-saving mode, once the underground drill bit resumes working, the detection guide transmitting probe immediately reactivates to resume working, the battery energy is saved, and the long-time normal and stable working of the detection guide transmitting probe is ensured.

4. Because the temperature compensation is carried out by using software, the temperature drift resistance of the probe is greatly improved.

5. Due to the adoption of a software redundancy design, a software trap (watchdog) is arranged, and a dog is fed regularly, so that the normal work (the program does not fly away) of the detection guide transmitting probe circuit is ensured.

Drawings

Fig. 1 is an electrical schematic block diagram of the present invention.

FIG. 2 is a specific circuit diagram of an embodiment of the present invention

In the figure: the device comprises an angle sensor 1, an inclination angle sensor 2, a temperature sensor 3, a battery capacity sampling terminal 4, a CPU 5, an inverter 6, a signal modulation circuit 7, a power amplifier 8 and an electromagnetic wave transmitting coil 9.

Detailed Description

In the first figure, an inclination angle sensor (2) capable of measuring the inclination angle of a drill bit (the horizontal plane is used as a reference to be-50 degrees to +50 degrees), a facing angle sensor (1) capable of measuring the facing angle of the drill bit (the axial core of the drill bit is used as a reference to be 0 degrees to 360 degrees), a temperature sensor (3) capable of measuring the working temperature, and a battery electric quantity sampling end (4) capable of measuring the working energy of a battery are respectively interconnected with each input end of a CPU group (5) capable of carrying out A/D conversion-coding-ambient temperature compensation work, the CPU group (5) converts the information collected by each sensor into a digital coding serial signal by software, carries out ambient temperature compensation and then sends the digital coding serial signal into an inverter (6) interconnected with the digital coding serial signal, the inverter (6) sends the digital coding serial signal into a signal modulation circuit (7) to be converted into, The signal modulation circuit (7) sends the modulation signal to a power amplifier (8) which is interconnected with the signal modulation circuit, the power amplifier (8) amplifies the modulation signal and transmits the modulation signal back to the ground through an electromagnetic wave transmitting coil (9) which is interconnected with the power amplifier, and the modulation signal is received by a ground tracking receiving guider except the detecting guiding transmitting probe, so that a non-excavation guiding instrument system which can lay and replace various underground pipelines under the condition that a groove is not excavated on the ground surface is formed.

Referring to fig. one, the CPU group (5) records and solidifies a corresponding software function program, which includes an initialization program, a data acquisition filtering program, a data encoding program, a data serial transmission program, a sleep setting program, a temperature compensation program, a power saving mode program, and a software watchdog program (program does not fly away), thereby ensuring that the probe guidance transmitting probe operates accurately and stably.

In the embodiment shown in fig. two, the CPU group (5) is formed by combining the following circuits: pins 1, 7, 8, 17, 18 and 19 of a U3(CPU) are respectively connected with

pins

a pin U3(CPU)27 in the CPU group (5) is connected with a battery electric quantity sampling end (4), a pin 2 of an integrated circuit U6 in the phase inverter (6) is connected with an intersection point of a pin 5 and a pin 7 of an integrated circuit U7 in a signal modulation circuit (7) consisting of the integrated circuit U7 and a resistor R5; the 4 pins are connected with the intersection point of the 1 pin and the 4 pins of the integrated circuit U7 in the signal modulation circuit (7); pins 5, 7, 9, 11 and 13 of the integrated circuit U6 in the inverter (6) are all grounded; and the 14 pins are connected with a power supply of + 5V. The intersection point of the pin 2 and the pin 3 of the integrated circuit U7 in the signal modulation circuit (7) is connected with one end of a resistor R5, and the other end of the resistor R5 is connected with the base electrode of a transistor U8 in a power amplifier (8) consisting of a transistor U8, a capacitor C7 and a capacitor C8; the 7 pin of the U7 in the signal modulation circuit (7) is grounded, and the 14 pin is connected with +5V of a power supply; the emitter of a transistor U8 in the power amplifier (8) is grounded, the collector is connected with the intersection points of the capacitors C7 and C8 and the electromagnetic wave transmitting coil (4), and the intersection points of the capacitors C7 and C8 and the other end of the electromagnetic wave transmitting coil (4) are connected with a power supply of + 5V.

the 3 feet of U3(CPU) in the CPU group (5) are serial output ports, the inclination angle, the facing angle, the temperature value and the battery capacity are serially output from the serial ports after being AD-converted and coded by U3(CPU), and are input to the on/off control end 5 and 13 feet (high level on and low level off) of the electronic switch integrated circuit U7 in the signal modulation circuit (7) through the 1 foot-in and 2 foot-in inverted output of the integrated circuit U6 in the inverter (6) as modulation signals; the 15 feet of U3(CPU) in the CPU group (5) output 1kHz-50kHz frequency as carrier wave, which is input to 1 and 4 feet of the integrated circuit U7 in the signal modulation circuit (7) through the 3 feet of the integrated circuit U6 in the inverter (6) and the 4 feet of the inverted output, and then the carrier wave is modulated by the digital coding serial signal composed of the inclination angle, the facing angle, the temperature value and the battery capacity as modulation signal; modulated waves output by pins 2 and 3 of an integrated circuit U7 in a signal modulation circuit (7) are added to the base electrode of a transistor U8 in a power amplifier (8) through a resistor R5, and a frequency-selecting loop with the center frequency of 1kHz-50kHz is formed by an electromagnetic wave transmitting coil (4) and capacitors C7 and C8 through collector amplification to transmit digital coding serial modulation signals;

Claims

1. A detection navigation emission probe in a non-excavation navigator system is characterized in that: an inclination angle sensor capable of measuring the inclination angle of a drill bit (between-50 degrees and +50 degrees based on the horizontal plane), an orientation angle sensor capable of measuring the orientation angle of an underground drill bit (between 0 degrees and 360 degrees based on the axial core of the underground drill bit), a temperature sensor capable of measuring the working temperature, and a battery electric quantity sampling end capable of measuring the working energy of a battery, wherein the inclination angle sensor, the orientation angle sensor capable of measuring the orientation angle of the underground drill bit, the temperature sensor capable of measuring the working temperature and the battery electric quantity sampling end are respectively interconnected with each input end of a CPU (central processing unit) group capable of carrying out A/D (analog/digital) conversion-coding-environmental temperature compensation work, the CPU group converts the information acquired by each sensor into a digital coding serial signal by software and sends the digital coding serial signal into an inverter interconnected with the CPU group, the inverter sends the, The power amplifier amplifies the modulated signal and transmits the modulated signal back to the ground through the electromagnetic wave transmitting coil which is interconnected with the power amplifier, and the modulated signal is received by the ground tracking receiving navigator except the detecting, navigating and transmitting probe to form the trenchless navigator system which can lay and replace various underground pipelines under the condition that the trench is not excavated on the ground surface.

2. The probe of claim 1, wherein the probe comprises: the CPU sets are burned and solidified with corresponding software functional programs, and the programs comprise an initialization program, a data acquisition filtering program, a data coding program, a data serial transmission program, a dormancy setting program, a temperature compensation program, an electricity-saving mode program and a software watchdog program (the programs do not fly away).

3. The probe of claim 1, wherein the probe comprises: the orientation angle sensor, the inclination angle sensor, the temperature sensor, the battery electric quantity sampling end, the CPU group, the phase inverter, the signal modulation circuit, the power amplifier and the electromagnetic wave transmitting coil comprise:

the CPU group is formed by combining the following circuits: pins 1, 7, 8, 17, 18 and 19 of a U3(CPU) are respectively connected with pins 1, 2, 3, 4, 5 and 6 of an online programming port U4(ISP) of a program, a pin 4 and one end of a resistor R4 are connected with an intersection point of one end of a key S1, the other end of the resistor R4 is connected with +5V, the other end of the key S1 is grounded, one ends of a pin 9 and a crystal oscillator Y1 are connected with an intersection point of one end of a C6, the other ends of a pin 10 and a crystal oscillator Y1 are connected with an intersection point of one end of a capacitor C5, the other ends of a capacitor C5 and a capacitor C6 are connected with ground, and pins 8 and 21 are respectively connected with two ends of a capacitor C9 and pins 8 and 22 are connected;

the pins 28, 26, 23 and 24 of a U3(CPU) in the CPU group are respectively connected with the 12 pin of a dual-axis accelerometer U1 in an inclination angle sensor consisting of a dual-axis accelerometer U1, a capacitor C1, a capacitor C2 and a resistor R1, the pins C1 and 11 and a capacitor C2, and the intersection points of the 12 pin of a dual-axis accelerometer U2 in an inclination angle sensor consisting of an accelerometer U2, a capacitor C3, a capacitor C4 and a resistor R3 and the capacitor C3 and 11 and the capacitor C4, the other ends of the capacitors C1, C2, C3 and C4 are grounded, the pins 4 and 7 of the dual-axis accelerometer U1 and U3 are grounded, the pins 13 and 14 are connected with a power supply +5V, the pins 5 are respectively connected with resistors R1 and R3, and the other ends of the resistors R1 and R3 are grounded;

a pin U3(CPU)25 in the CPU group is connected with a pin 2 of a U4 in the temperature sensor, a pin 1 of a U4 in the temperature sensor is connected with +5V of a power supply, a pin 3 is connected with the ground, pins U3(CPU)3 and U3515 in the CPU group are respectively connected with an intersection point of a pin 1 of an integrated circuit U6 in an inverter consisting of an integrated circuit U6 and a resistor R3 and a resistor R3, and the other end of the resistor R3 is connected with +5V of the power supply; a pin U3(CPU)27 in the CPU group is connected with a battery electric quantity sampling end, a pin 2 of an integrated circuit U6 in the phase inverter is connected with an intersection point of a pin 5 and a pin 7 of an integrated circuit U7 in the signal modulation circuit which consists of the integrated circuit U7 and a resistor R5; the 4 pins are connected with the intersection point of the 1 pin and the 4 pins of the integrated circuit U7 in the signal modulation circuit; pins 5, 7, 9, 11 and 13 of the integrated circuit U6 in the inverter are all grounded; the 14 pin is connected with a power supply + 5V;

the intersection point of the pin 2 and the pin 3 of the integrated circuit U7 in the signal modulation circuit is connected with one end of a resistor R5, and the other end of the resistor R5 is connected with the base electrode of a transistor U8 in the power amplifier consisting of a transistor U8, a capacitor C7 and a capacitor C8; the 7 pin of the U7 in the signal modulation circuit is grounded, and the 14 pin is connected with +5V of a power supply; the emitter of the transistor U8 in the power amplifier is grounded, the collector is connected with the intersection points of the capacitors C7 and C8 and the electromagnetic wave transmitting coil, and the intersection points of the capacitors C7 and C8 and the other end of the electromagnetic wave transmitting coil are connected with the +5V power supply.

4. The probe of claim 1, wherein the probe comprises: the 360 degrees of all directions with the underground drill bit shaft core as the reference of the facing angle are represented by 12 points, the range of each point is 30 degrees, a double-shaft accelerometer U2 (two shafts are an X shaft and a Y shaft which are mutually perpendicular) in the facing angle sensor and a double-shaft accelerometer U1 (two shafts are an X shaft and a Y shaft which are mutually perpendicular) in the inclination angle sensor are relatively perpendicular, the X shafts are mutually perpendicular, and the Y shafts are mutually coincident.

5. The probe of claim 1, wherein the probe comprises: the battery electric quantity sampling end takes an internal reference voltage source of a U3(CPU) in a CPU group as a reference, when the voltage of the battery is higher than the reference voltage by a plurality of volts, the numerical value after analog-to-digital conversion is a plurality of values, and when the voltage is lower than the reference voltage, the numerical value is reduced by 1 every time the voltage output relative to the reference voltage is reduced by 10 millivolts.

6. The probe of claim 1, wherein the probe comprises: the resistor R4, the key switch S1 and the 4 pins (external interrupt pins) of the U3 in the CPU group form trigger frequency conversion for the detection navigation transmitting probe, a default frequency is used in normal use, and when the frequency conversion is needed, the key switch presses the S1 (one end of the S1 is grounded) to enable the 4 pins of the U3 in the CPU group to be changed into low level to generate interrupt, so that the purpose of frequency conversion is achieved.