CN113568054A - Buried cable searching device and method - Google Patents
Buried cable searching device and method Download PDFInfo
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- CN113568054A CN113568054A CN202110956182.XA CN202110956182A CN113568054A CN 113568054 A CN113568054 A CN 113568054A CN 202110956182 A CN202110956182 A CN 202110956182A CN 113568054 A CN113568054 A CN 113568054A
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- G—PHYSICS
- 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
- G01V3/15—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation specially adapted for use during transport, e.g. by a person, vehicle or boat
- G01V3/17—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation specially adapted for use during transport, e.g. by a person, vehicle or boat operating with electromagnetic waves
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
- B05B12/122—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus responsive to presence or shape of target
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/08—Locating faults in cables, transmission lines, or networks
- G01R31/081—Locating faults in cables, transmission lines, or networks according to type of conductors
- G01R31/083—Locating faults in cables, transmission lines, or networks according to type of conductors in cables, e.g. underground
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- Life Sciences & Earth Sciences (AREA)
- General Physics & Mathematics (AREA)
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- Engineering & Computer Science (AREA)
- Environmental & Geological Engineering (AREA)
- Geology (AREA)
- Remote Sensing (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geophysics (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention provides an underground cable searching device, which comprises an inverted U-shaped moving frame, a shielding cylinder, a rotating motor, a searching mechanism and a paint spraying marking mechanism, wherein the searching mechanism comprises a rotating plate, a main control unit, a first transceiver for transceiving high-frequency electromagnetic waves, a second transceiver and a third transceiver for transceiving low-frequency electromagnetic waves, the inverted U-shaped moving frame is moved to an area to be searched, the initial position of a cable is obtained through the first transceiver, then the rotating plate is driven to rotate through the rotating motor, the second transceiver and the third transceiver are simultaneously positioned above an underground cable, the main control unit controls the inverted U-shaped moving frame to move along the connecting line direction of the second transceiver and the third transceiver and takes the second transceiver as the front end to move, paint spraying marking is carried out on the ground through the paint spraying marking mechanism while moving, and automatic searching of the position and the path of the underground cable is realized, the labor intensity of workers can be reduced.
Description
Technical Field
The invention relates to the technical field of power cable maintenance, in particular to a buried cable searching device and method.
Background
The power cable is the most basic component used in the power system, plays a role in transmitting and distributing electric energy, and can cause problems such as damage and the like in long-term use, so the power cable needs to be repaired, maintained or replaced regularly, while for the power cable, the power cable comprises an overhead line part and an underground part, the overhead line part is a visible cable because of being arranged on an iron tower, the repair and maintenance of the overhead line part can be judged by a common repair instrument, while for the cable of the underground part, the cable is an invisible cable, and the position and the trend of the underground cable are irregular because of different environments in different areas, which provides a great obstacle for the search of the underground cable, at present, the search of the underground cable is mostly carried out by a maintainer in a hand-held instrument on the ground in a large range, and the whole cable searching process needs to consume a great amount of time, particularly, in an area with a complex underground topography, after the position of the cable is found, the cable trend is generally found along a straight line where the cable is located, however, the buried cable has a bent part, and a worker can lose the position of the cable when finding the cable along the straight line and reaching the bent part, and at the moment, the cable position needs to be searched again, so that the labor intensity of the worker is high, and the current finding instrument does not have a marking function, and easily forgets the position and the route trend of the initially found cable after the cable is searched in a large range.
Disclosure of Invention
Therefore, the invention provides a buried cable searching device and method, which are suitable for searching multi-bending cables in a complex underground environment and can mark cable paths in the searching process.
The technical scheme of the invention is realized as follows:
a buried cable searching device comprises an inverted U-shaped moving frame, a shielding cylinder, a rotating motor, a searching mechanism and a paint spraying marking mechanism, wherein the inverted U-shaped moving frame consists of a transverse plate and vertical plates connected with two sides of the bottom surface of the transverse plate, electric universal wheels are arranged at the bottoms of the vertical plates, and driven universal wheels are arranged at the bottom of the shielding cylinder; the searching mechanism comprises a rotating plate, a main control unit, a first transceiver used for receiving and sending high-frequency electromagnetic waves, a second transceiver and a third transceiver used for receiving and sending low-frequency electromagnetic waves, wherein the rotating motor is arranged on the bottom surface of the transverse plate, an output shaft of the rotating motor is connected with the center of the top surface of the rotating plate, the rotating plate is arranged above the shielding cylinder and is rotatably connected with the shielding cylinder, the first transceiver is arranged in the middle of the bottom surface of the rotating plate and is positioned inside the shielding cylinder, the second transceiver and the third transceiver are respectively arranged on two sides of the bottom surface of the rotating plate, the paint spraying marking mechanism is arranged on two sides of the rotating plate, and the main control unit is arranged on the top surface of the transverse plate and is respectively electrically connected with the rotating motor, the paint spraying marking mechanism, the electric universal wheel, the first transceiver, the second transceiver and the third transceiver.
Preferably, the bottom surface of the rotating plate is symmetrically provided with L-shaped sliding blocks, the outer wall of the shielding cylinder is provided with an annular groove, and the L-shaped sliding blocks are located in the annular groove.
Preferably, the inner wall of the annular groove is provided with a plurality of piezoelectric ceramic pieces, a protrusion is arranged on the bottom surface of the L-shaped sliding block close to the second transceiver, the piezoelectric ceramic pieces are located on a protruding rotating path, and the main control unit is electrically connected with the piezoelectric ceramic pieces.
Preferably, the paint spraying marking mechanism comprises a paint box, a pipeline and an electric control spray head, the paint box is arranged on two sides of the top surface of the rotating plate, the electric control spray head is arranged on two sides of the rotating plate and is respectively positioned on one side of the second transceiver and one side of the third transceiver, the electric control spray head is connected with the paint box through the pipeline, and the main control unit is electrically connected with the electric control spray head.
Preferably, the inside first cavity and the second cavity of divideing into through the baffle of paint tank, the storage has the paint of different colours in first cavity and the second cavity, the pipeline includes first sub-defeated lacquer pipe, the sub-defeated lacquer pipe of second, main defeated lacquer pipe and three way solenoid valve, the one end and the first cavity of first sub-defeated lacquer pipe are connected, and the other end and three way solenoid valve's first entry linkage, the one end and the second cavity of the sub-defeated lacquer pipe of second are connected, and the other end and three way solenoid valve's second entry linkage, three way solenoid valve's export and main defeated lacquer union coupling, main defeated lacquer pipe is connected with automatically controlled shower nozzle, the main control unit is connected with three way solenoid valve electricity.
Preferably, a fault judgment unit is arranged in the main control unit, a trained neural network is arranged in the fault judgment unit, the fault judgment unit is used for identifying electromagnetic wave waveform data received by the first transceiver and reflected by the ground, and when a fault exists in an identification result, the main control unit controls the rotating motor to drive the rotating plate to rotate for a circle and controls the paint spraying marking mechanism to spray paint.
Preferably, a metal mesh is arranged inside the side wall of the shielding cylinder.
A buried cable searching method is realized based on a buried cable searching device and comprises the following steps:
step S1, the main control unit drives the electric universal wheel to drive the inverted U-shaped moving frame to move in the area to be searched, controls the first transceiver to transmit and receive electromagnetic waves, and stops driving the electric universal wheel when the main control unit judges the position of the buried cable according to the electromagnetic waves received by the first transceiver;
step S2, after the position of the buried cable is obtained, the main control unit controls the rotating motor to drive the rotating plate to rotate, controls the second transceiver and the third transceiver to transmit and receive electromagnetic waves, and stops driving of the rotating motor when the second transceiver and the third transceiver are positioned right above the buried cable;
step S3, the main control unit drives the electric universal wheel to move along the direction of the connection line of the second transceiver and the third transceiver by taking the second transceiver as the front end, and simultaneously controls the paint spraying marking mechanism to perform paint spraying marking on the ground;
step S4, when the mobile terminal moves to the bending part of the buried cable, the second transceiver leaves the position above the buried cable, the main control unit controls the inverted U-shaped mobile frame to continue driving, so that the first transceiver moves to the position above the position, at the moment, of the second transceiver, the position of the second transceiver leaves the buried cable, the main control unit stops driving of the electric universal wheel and controls the rotating motor to drive the rotating plate to rotate, so that the second transceiver rotates to the position above the buried cable, and the main control unit drives the electric universal wheel to drive the inverted U-shaped mobile frame to move along the direction of the connection line of the first transceiver and the second transceiver and takes the second transceiver as the front end;
and S5, repeatedly executing the step S4 until the second transceiver and the third transceiver are both positioned right above the buried cable, and repeatedly executing the steps S3-S5.
Preferably, in step S4, after the second transceiver leaves the place above the buried cable, the main control unit controls the paint marking mechanism to stop spraying paint, and when the second transceiver rotates above the buried cable again and the main control unit drives the electric universal wheel to drive the inverted U-shaped moving frame to move, the main control unit controls the paint marking mechanism to spray paint with a color different from that of the paint sprayed in step S3.
Preferably, in steps S2 to S5, the main control unit determines whether the buried cable has a fault according to the electromagnetic wave data received by the first transceiver, and when it is determined that the buried cable has a fault, the main control unit stops driving of the electric universal wheel, and simultaneously starts the rotating motor and the paint spraying marking mechanism, so that the rotating motor drives the rotating plate to rotate for one circle, and the circular paint mark is sprayed on the ground.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides an underground cable searching device, which searches the underground cable position of a region to be searched through a first transceiver, drives a rotating plate to enable a second transceiver and a third transceiver to rotate simultaneously through a rotating motor after the cable position is searched, when the second transceiver and the third transceiver rotate to the upper part of an underground cable simultaneously, the connecting line of the second transceiver and the third transceiver is the current path of the underground cable, controls an inverted U-shaped moving frame to move along the connecting line of the second transceiver and the third transceiver, carries out paint spraying marking through a paint spraying marking mechanism, and when the inverted U-shaped moving frame moves to the bent part of the underground cable, judges that the inverted U-shaped moving frame leaves the upper part of the underground cable through electromagnetic wave data received by the second transceiver, drives the rotating motor to drive the rotating plate to rotate through a main control unit, enables the second transceiver to return to the upper part of the underground cable, and drives an electric universal wheel to adjust the direction to continuously move along the connecting line direction of the first transceiver and the second transceiver The direction of the inverted U-shaped moving frame is continuously adjusted, the inverted U-shaped moving frame returns to the position above the vertical buried cable, and in the whole process, the paint spraying marking is carried out through the arranged paint spraying marking mechanism, so that the path of the buried cable can be obtained, the position and the path of the buried cable can be automatically searched, and the labor intensity of workers is reduced.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only preferred embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive exercise.
Fig. 1 is a schematic structural diagram of an underground cable searching device according to the present invention;
fig. 2 is a schematic view of a connection structure of a shielding cylinder and a rotating plate of the buried cable searching device according to the present invention;
FIG. 3 is a schematic structural diagram of a paint spraying marking mechanism of the buried cable searching device according to the present invention;
FIG. 4 is a schematic diagram of an underground cable locating apparatus of the present invention;
in the figure, 1 is an inverted U-shaped moving frame, 2 is a shielding cylinder, 3 is a rotating motor, 4 is a transverse plate, 5 is a vertical plate, 6 is an electric universal wheel, 7 is a driven universal wheel, 8 is a rotating plate, 9 is a main control unit, 10 is a first transceiver, 11 is a second transceiver, 12 is a third transceiver, 13 is a metal mesh, 14 is an L-shaped slider, 15 is an annular groove, 16 is a piezoelectric ceramic plate, 17 is a protrusion, 18 is a paint box, 19 is an electric control nozzle, 20 is a partition plate, 21 is a first cavity, 22 is a second cavity, 23 is a first sub-paint conveying pipe, 24 is a second sub-paint conveying pipe, 25 is a main paint conveying pipe, 26 is a three-way electromagnetic valve, and 27 is a fault judgment unit.
Detailed Description
For a better understanding of the technical content of the present invention, a specific embodiment is provided below, and the present invention is further described with reference to the accompanying drawings.
Referring to fig. 1 to 4, the buried cable searching device provided by the invention comprises an inverted U-shaped moving frame 1, a shielding cylinder 2, a rotating motor 3, a searching mechanism and a paint spraying marking mechanism, wherein the inverted U-shaped moving frame 1 consists of a transverse plate 4 and vertical plates 5 connected with two sides of the bottom surface of the transverse plate 4, electric universal wheels 6 are arranged at the bottoms of the vertical plates 5, and driven universal wheels 7 are arranged at the bottoms of the shielding cylinder 2; the searching mechanism comprises a rotating plate 8, a main control unit 9, a first transceiver 10 for transceiving high-frequency electromagnetic waves, a second transceiver 11 and a third transceiver 12 for transceiving low-frequency electromagnetic waves, the rotating motor 3 is arranged on the bottom surface of the transverse plate 4, the output shaft of the shielding cylinder is connected with the center of the top surface of a rotating plate 8, the rotating plate 8 is positioned above the shielding cylinder 2, and is rotatably connected with the shielding cylinder 2, the first transceiver 10 is arranged in the middle of the bottom surface of the rotating plate 8, and is positioned inside the shielding cylinder 2, the second transceiver 11 and the third transceiver 12 are respectively arranged at two sides of the bottom surface of the rotating plate 8, the paint spraying marking mechanisms are arranged at two sides of the rotating plate 8, the main control unit 9 is arranged at the top surface of the transverse plate 4, which are electrically connected with the rotating electrical machine 3, the painting marking mechanism, the electric universal wheel 6, the first transceiver 10, the second transceiver 11 and the third transceiver 12, respectively.
The buried cable searching device can search the position and the path of a buried cable, so that the process of repairing, maintaining or replacing the cable is convenient, when the searching is carried out, the inverted U-shaped moving frame 1 is transferred to a region to be searched, the main control unit 9 drives the electric universal wheel 6 to drive the inverted U-shaped moving frame 1 and the shielding barrel 2 to move towards a certain direction, the first transceiver 10 transmits electromagnetic waves to the ground in the process and receives the reflected electromagnetic waves, the main control unit 9 judges whether the buried cable is moved to the upper part of the buried cable or not according to the received electromagnetic waves in the advancing process of the inverted U-shaped moving frame 1, when the first transceiver 10 is positioned above the buried cable, the movement of the inverted U-shaped moving frame 1 is stopped, the rotating motor 3 drives the rotating plate 8 to rotate, and the second transceiver 11 and the third transceiver 12 rotate along with the rotating plate 8, the second transceiver 11 and the third transceiver 12 can simultaneously transmit and receive electromagnetic waves, in the rotating process, the main control unit 9 judges whether the second transceiver 11 and the third transceiver 12 rotate above the buried cable according to the electromagnetic waves received by the second transceiver 11 and the third transceiver 12, when the second transceiver 11 and the third transceiver 12 are both positioned above the buried cable, the main control unit 9 stops driving of the rotating motor 3, at the moment, the connecting line of the second transceiver 11 and the third transceiver 12 is the trend of the buried cable, the main control unit 9 controls the electric universal wheel 6 to adjust the direction, moves along the directions of the second transceiver 11 and the third transceiver 12 and takes the second transceiver 11 as the front end, and in the moving process, controls the paint spraying marking mechanism to perform paint spraying marking on the ground, so that the path of the buried cable can be obtained.
The underground cable is not arranged in a straight line, when the inverted U-shaped moving frame 1 moves to a bent part, the second transceiver 11 leaves above the underground cable, the main control unit 9 can stop driving of the inverted U-shaped moving frame 1, and drives the second transceiver 11 to return to the position above the underground cable again through the rotating motor 3, then the moving direction is adjusted again to the direction that the second transceiver 11 is moved at the front end by adjusting the direction of the electric universal wheel 6, after continuous adjustment, finally the second transceiver 11 and the third transceiver 12 return to the position above the underground cable arranged in a straight line again, the adjustment can be carried out no matter how many bent parts of the underground cable exist, the inverted U-shaped moving frame 1 moves along the path of the underground cable, paint spraying marking is carried out in the moving process, and therefore a worker can obtain the position and the trend of the underground cable through marking, the whole searching process does not need manual participation, and the labor intensity of workers can be reduced.
Preferably, the bottom surface of the rotating plate 8 is symmetrically provided with L-shaped sliders 14, the outer wall of the shielding cylinder 2 is provided with an annular groove 15, and the L-shaped sliders 14 are located in the annular groove 15.
Preferably, the inner wall of the annular groove 15 is provided with a plurality of piezoelectric ceramic pieces 16, the bottom surface of the L-shaped slider 14 close to the second transceiver 11 is provided with a protrusion 17, the piezoelectric ceramic pieces 16 are located on a rotation path of the protrusion 17, and the main control unit 9 is electrically connected with the piezoelectric ceramic pieces 16.
In order to determine the orientation of the second transceiver 11, the piezoelectric ceramic plate 16 is arranged in the annular groove 15, the bottom surface of the L-shaped slider 14 close to the second transceiver 11 is provided with the protrusion 17, the protrusion 17 is in contact with the piezoelectric ceramic plate 16, the protrusion 17 can be in contact with different piezoelectric ceramic plates 16 in the rotating process, when the piezoelectric ceramic plates 16 are pressed by the protrusion 17, an electric signal is generated to the main control unit 9, the main control unit 9 can judge the orientation of the second transceiver 11 according to the position of the piezoelectric ceramic plate 16 transmitting the electric signal, and therefore the inverted U-shaped moving frame 1 can be driven to move by taking the position of the second transceiver 11 as the front end.
Preferably, the paint spraying marking mechanism comprises a paint box 18, a pipeline and an electric control spray head 19, the paint box 18 is arranged on two sides of the top surface of the rotating plate 8, the electric control spray head 19 is arranged on two sides of the rotating plate 8 and is respectively positioned on one side of the second transceiver 11 and one side of the third transceiver 12, the electric control spray head 19 is connected with the paint box 18 through the pipeline, and the main control unit 9 is electrically connected with the electric control spray head 19.
When paint spraying is needed, the electric control spray head 19 conveys the paint in the paint box 18 through a pipeline and then sprays the paint to the ground, and the paint spraying marking mechanism comprises two groups which are symmetrically arranged and are respectively positioned at one side of the second transceiver 11 and one side of the third transceiver 12.
Preferably, the inside first cavity 21 and the second cavity 22 of divideing into through baffle 20 of paint case 18, the paint of different colours is stored in first cavity 21 and the second cavity 22, the pipeline includes first sub-defeated lacquer pipe 23, second sub-defeated lacquer pipe 24, main defeated lacquer pipe 25 and three way solenoid valve 26, the one end and the first cavity 21 of first sub-defeated lacquer pipe 23 are connected, and the other end and the first entry linkage of three way solenoid valve 26, the one end and the second cavity 22 of second sub-defeated lacquer pipe 24 are connected, and the other end and the second entry linkage of three way solenoid valve 26, the export and the main defeated lacquer pipe 25 of three way solenoid valve 26 are connected, main defeated lacquer pipe 25 is connected with automatically controlled shower nozzle 19, main control unit 9 is connected with three way solenoid valve 26 electricity.
Set up two cavitys with paint tank 18 for two kinds of different colours of storage paint, be used for burying the paint spraying mark of straightway and the paint spraying mark of bending section of cable with burying respectively, main control unit 9 switches on with different entrances through the export of control three way solenoid valve 26 to realize the transport of different colours paint in the different cavitys.
Preferably, a failure determination unit 27 is arranged inside the main control unit 9, a trained neural network is arranged inside the failure determination unit 27, the failure determination unit 27 is configured to identify electromagnetic wave waveform data received by the first transceiver 10 and reflected by the ground, and when a failure occurs in the identification result, the main control unit 9 controls the rotating motor 3 to drive the rotating plate 8 to rotate for one circle and controls the paint spraying marking mechanism to spray paint.
The first transceiver 10 of the present invention is used for transmitting high frequency electromagnetic waves, which is used for searching the position of a cable and judging whether a fault exists in an underground cable, the first transceiver 10 receives the reflected electromagnetic waves and transmits the electromagnetic waves to the main control unit 9, the main control unit 9 images the electromagnetic wave data and transmits the electromagnetic wave data to the fault judgment unit 27, the fault judgment unit 27 is internally provided with a neural network trained by a large amount of electromagnetic wave data, the fault judgment unit 27 can judge whether a fault exists in the cable according to the electromagnetic wave data, when the buried cable has a fault, the main control unit 9 stops driving of the electric universal wheel 6 and drives the rotating motor 3 to drive the rotating plate 8 to rotate for a circle, in the rotating process, the paint spraying marking mechanism can spray paint on the ground, and obtain circular paint spraying mark, the staff can acquire buried cable fault position according to circular paint spraying mark fast.
Preferably, a metal mesh 13 is arranged inside the side wall of the shielding cylinder 2.
The metal mesh 13 can prevent external electromagnetic wave data from entering the shielding cylinder 2, and ensure the detection result.
A buried cable searching method is realized based on a buried cable searching device and comprises the following steps:
step S1, the main control unit 9 drives the electric universal wheel 6 to drive the inverted U-shaped moving frame 1 to move in the area to be searched, and controls the first transceiver 10 to transmit and receive electromagnetic waves, and the main control unit 9 stops driving the electric universal wheel 6 when judging the position of the buried cable according to the electromagnetic waves received by the first transceiver 10; the purpose of step S1 is to obtain the position of a short segment of the buried cable, and to use the position as a starting point for searching and marking the path of the buried cable.
Step S2, after the position of the buried cable is obtained, the main control unit 9 controls the rotating motor 3 to drive the rotating plate 8 to rotate, and controls the second transceiver 11 and the third transceiver 12 to transmit and receive electromagnetic waves, and when the second transceiver 11 and the third transceiver 12 are located right above the buried cable at the same time, the main control unit 9 stops driving of the rotating motor 3; the step S2 is for determining the direction of the buried cable where the starting point is located and determining the moving direction of the inverted U-shaped moving frame 1.
Step S3, the main control unit 9 drives the electric universal wheel 6 to move along the direction of the connection line of the second transceiver 11 and the third transceiver 12, the second transceiver 11 is taken as the front end to move, and meanwhile, the paint spraying marking mechanism is controlled to perform paint spraying marking on the ground; the step S3 is for marking a straight line segment of the buried cable.
Step S4, when the mobile terminal moves to the bending part of the buried cable, the second transceiver 11 leaves the position above the buried cable, the main control unit 9 controls the inverted U-shaped mobile frame 1 to continue driving, so that the first transceiver 10 moves to the position above the position, where the second transceiver 11 leaves the position, of the buried cable, the main control unit 9 stops driving of the electric universal wheel 6, controls the rotating motor 3 to drive the rotating plate 8 to rotate, so that the second transceiver 11 rotates to the position above the buried cable, the main control unit 9 drives the electric universal wheel 6 to drive the inverted U-shaped mobile frame 1 to move along the direction of the connection line of the first transceiver 10 and the second transceiver 11, and uses the second transceiver 11 as the front end to move
In step S4, when the second transceiver 11 leaves the above of the buried cable, the main control unit 9 controls the paint marking mechanism to stop painting, when the second transceiver 11 rotates above the buried cable again and the main control unit 9 drives the electric universal wheel 6 to move the inverted U-shaped moving frame 1, the main control unit 9 controls the paint marking mechanism to spray paint with a color different from the color of the paint sprayed in step S3, step S4 is a direction adjustment performed when the inverted U-shaped moving frame 1 moves to a bend of the buried cable, wherein when the second transceiver 11 leaves the buried cable, the main control unit 9 can determine a time when the second transceiver 11 leaves the buried cable according to front and rear electromagnetic wave data and calculate a distance that the first transceiver 10 should continue moving according to a distance between the first transceiver 10 and the second transceiver 11 and a moving speed of the inverted U-shaped moving frame 1, the first transceiver 10 is moved to the position where the second transceiver 11 leaves the buried cable at the previous moment, and meanwhile, paints with different colors are used for marking in the process of adjusting the direction, so that workers can conveniently obtain the approximate path of the bent section.
And S5, repeatedly executing the step S4 until the second transceiver 11 and the third transceiver 12 are both positioned right above the buried cable, and repeatedly executing the steps S3 to S5.
In step S2-step S5, the failure determination unit 27 built in the main control unit 9 determines whether the buried cable has a failure according to the electromagnetic wave data received by the first transceiver 10, and when it is determined that the buried cable has a failure, the main control unit 9 stops driving of the electric universal wheel 6 and simultaneously starts the rotating motor 3 and the paint spraying marking mechanism, so that the rotating motor 3 drives the rotating plate 8 to rotate for one circle and sprays a circular paint mark on the ground, so that a worker can timely obtain the failure point of the buried cable.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. The buried cable searching device is characterized by comprising an inverted U-shaped moving frame, a shielding cylinder, a rotating motor, a searching mechanism and a paint spraying marking mechanism, wherein the inverted U-shaped moving frame consists of a transverse plate and vertical plates connected with two sides of the bottom surface of the transverse plate, electric universal wheels are arranged at the bottoms of the vertical plates, and driven universal wheels are arranged at the bottom of the shielding cylinder; the searching mechanism comprises a rotating plate, a main control unit, a first transceiver used for receiving and sending high-frequency electromagnetic waves, a second transceiver and a third transceiver used for receiving and sending low-frequency electromagnetic waves, wherein the rotating motor is arranged on the bottom surface of the transverse plate, an output shaft of the rotating motor is connected with the center of the top surface of the rotating plate, the rotating plate is arranged above the shielding cylinder and is rotatably connected with the shielding cylinder, the first transceiver is arranged in the middle of the bottom surface of the rotating plate and is positioned inside the shielding cylinder, the second transceiver and the third transceiver are respectively arranged on two sides of the bottom surface of the rotating plate, the paint spraying marking mechanism is arranged on two sides of the rotating plate, and the main control unit is arranged on the top surface of the transverse plate and is respectively electrically connected with the rotating motor, the paint spraying marking mechanism, the electric universal wheel, the first transceiver, the second transceiver and the third transceiver.
2. The underground cable searching device as claimed in claim 1, wherein the bottom surface of the rotating plate is symmetrically provided with L-shaped sliding blocks, the outer wall of the shielding cylinder is provided with an annular groove, and the L-shaped sliding blocks are located in the annular groove.
3. The underground cable searching device as claimed in claim 2, wherein the inner wall of the annular groove is provided with a plurality of piezoelectric ceramic plates, the bottom surface of the L-shaped slider close to the second transceiver is provided with a protrusion, the piezoelectric ceramic plates are located on a rotation path of the protrusion, and the main control unit is electrically connected with the piezoelectric ceramic plates.
4. The underground cable searching device as claimed in claim 1, wherein the paint spraying marking mechanism comprises paint boxes, pipelines and electric control spray heads, the paint boxes are arranged on two sides of the top surface of the rotating plate, the electric control spray heads are arranged on two sides of the rotating plate and are respectively arranged on one side of the second transceiver and one side of the third transceiver, the electric control spray heads are connected with the paint boxes through the pipelines, and the main control unit is electrically connected with the electric control spray heads.
5. The underground cable searching device as claimed in claim 4, wherein the inside of the paint box is divided into a first cavity and a second cavity by a partition, the first cavity and the second cavity store paints with different colors, the pipeline comprises a first sub paint conveying pipe, a second sub paint conveying pipe, a main paint conveying pipe and a three-way solenoid valve, one end of the first sub paint conveying pipe is connected with the first cavity, the other end of the first sub paint conveying pipe is connected with a first inlet of the three-way solenoid valve, one end of the second sub paint conveying pipe is connected with the second cavity, the other end of the second sub paint conveying pipe is connected with a second inlet of the three-way solenoid valve, an outlet of the three-way solenoid valve is connected with the main paint conveying pipe, the main paint conveying pipe is connected with an electrically controlled sprayer, and the main control unit is electrically connected with the three-way solenoid valve.
6. The underground cable searching device as claimed in claim 1, wherein a fault determining unit is disposed inside the main control unit, a trained neural network is disposed inside the fault determining unit, the fault determining unit is configured to identify the electromagnetic wave waveform data received by the first transceiver and reflected by the ground, and when the identification result shows that there is a fault, the main control unit controls the rotating motor to rotate the rotating plate for one rotation and controls the paint spraying marking mechanism to spray paint.
7. The underground cable searching device as claimed in claim 1, wherein a metal mesh is arranged inside the side wall of the shielding cylinder.
8. An underground cable searching method is realized based on the underground cable searching device of any one of claims 1 to 7, and is characterized by comprising the following steps:
step S1, the main control unit drives the electric universal wheel to drive the inverted U-shaped moving frame to move in the area to be searched, controls the first transceiver to transmit and receive electromagnetic waves, and stops driving the electric universal wheel when the main control unit judges the position of the buried cable according to the electromagnetic waves received by the first transceiver;
step S2, after the position of the buried cable is obtained, the main control unit controls the rotating motor to drive the rotating plate to rotate, controls the second transceiver and the third transceiver to transmit and receive electromagnetic waves, and stops driving of the rotating motor when the second transceiver and the third transceiver are positioned right above the buried cable;
step S3, the main control unit drives the electric universal wheel to move along the direction of the connection line of the second transceiver and the third transceiver by taking the second transceiver as the front end, and simultaneously controls the paint spraying marking mechanism to perform paint spraying marking on the ground;
step S4, when the mobile terminal moves to the bending part of the buried cable, the second transceiver leaves the position above the buried cable, the main control unit controls the inverted U-shaped mobile frame to continue driving, so that the first transceiver moves to the position above the position, at the moment, of the second transceiver, the position of the second transceiver leaves the buried cable, the main control unit stops driving of the electric universal wheel and controls the rotating motor to drive the rotating plate to rotate, so that the second transceiver rotates to the position above the buried cable, and the main control unit drives the electric universal wheel to drive the inverted U-shaped mobile frame to move along the direction of the connection line of the first transceiver and the second transceiver and takes the second transceiver as the front end;
and S5, repeatedly executing the step S4 until the second transceiver and the third transceiver are both positioned right above the buried cable, and repeatedly executing the steps S3-S5.
9. The method as claimed in claim 8, wherein in step S4, the main control unit controls the paint marking mechanism to stop spraying paint after the second transceiver leaves the above of the underground cable, and controls the paint marking mechanism to spray paint with a color different from the paint spraying color in step S3 when the second transceiver rotates above the underground cable again and the main control unit drives the electric universal wheels to move the inverted U-shaped moving frame.
10. The method as claimed in claim 8, wherein in steps S2-S5, the main control unit determines whether the buried cable has a fault according to the electromagnetic wave data received by the first transceiver, and when the buried cable has a fault, the main control unit stops driving the electric universal wheel and simultaneously starts the rotating motor and the paint marking mechanism, so that the rotating motor drives the rotating plate to rotate for one circle and sprays a circular paint mark on the ground.
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