CN210720758U - Detection device for automatically searching underground cable path - Google Patents
Detection device for automatically searching underground cable path Download PDFInfo
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- CN210720758U CN210720758U CN201921523181.0U CN201921523181U CN210720758U CN 210720758 U CN210720758 U CN 210720758U CN 201921523181 U CN201921523181 U CN 201921523181U CN 210720758 U CN210720758 U CN 210720758U
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Abstract
The utility model relates to an automatic seek detection device in underground cable route belongs to cable detection technical field. The device comprises a travelling wheel, a power supply, an obstacle crossing shaft, a supporting plate, a supporting rod, a module integration box, a rear wheel, a transmitter, a receiving module, a positioning module, a communication module, a control module and an upper computer; the travelling wheel is connected with the supporting rod; the power supply is arranged on the support plate; the supporting plate provides a platform for each module, and a power supply and a module integration box are connected with the supporting plate in a fixed connection mode; the obstacle crossing shaft is connected with the support rods, and the support rods are arranged at two ends of the obstacle crossing shaft; the support rod mechanically connects the obstacle crossing shaft with the traveling wheel; the module integration box is fixed on the supporting plate; the rear wheel is arranged on the supporting plate and is provided with no power device for enabling the trolley to stably advance. The utility model discloses do not need the manual work to carry out receiving arrangement's handheld operation, practiced thrift the manpower.
Description
Technical Field
The utility model belongs to the technical field of the cable is surveyed, a automatic seek detection device in underground cable route is related to.
Background
In recent years, power cable power supply is increasingly widely applied due to the advantages of safety, reliability, convenience for city beautification, reasonable layout and the like, wherein buried cables in urban areas are widely used. However, with the continuous development of cities, the original landform and underground pipelines are changed considerably, and due to the reasons of power grid transformation, underground cabling under roads, emergency repair of faulty cables and the like, the original drawing data cannot reflect the laying path and burial depth of the cables correctly. Therefore, underground cables need to be probed and positioned. At present, the commonly used methods comprise electromagnetic detection, audio frequency induction, pulse magnetic field induction and the like, but all the methods need manual detection, and a large amount of manpower is consumed.
Currently, CN 109975889 discloses an underground pipeline path comprehensive detection device, which is powered by a photovoltaic mobile power supply and is convenient to carry. But still require manual detection. CN207908709 discloses a power cable path detecting device, which injects an audio current signal into a cable through a transmitting module, generates a magnetic field signal around the cable, and picks up the electromagnetic field signal generated around the cable by using a receiving device to determine the position and the buried depth of the cable.
However, in the prior art, the device is required to be carried manually for cable detection, and the device does not have the capabilities of automatically advancing and crossing obstacles. Human resources are wasted, and the automation degree is not high. Therefore the utility model provides a can advance underground cable detection device who hinders more automatically.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model aims at providing an automatic seek detection device in underground cable route solves present underground cable and seeks the defect that the device needs artifical inspection.
In order to achieve the above purpose, the utility model provides a following technical scheme:
a detection device for automatically searching underground cable paths comprises a travelling wheel, a power supply, an obstacle crossing shaft, a supporting plate, a supporting rod, a module integration box, a rear wheel, a transmitter, a receiving module, a positioning module, a communication module, a control module and an upper computer;
the travelling wheel is connected with the supporting rod;
the power supply is arranged on the support plate;
the supporting plate provides a platform for each module, and a power supply and a module integration box are connected with the supporting plate in a fixed connection mode;
the obstacle crossing shaft is connected with the support rods, and the support rods are arranged at two ends of the obstacle crossing shaft;
the support rod mechanically connects the obstacle crossing shaft with the traveling wheel;
the module integration box is fixed on the supporting plate;
the rear wheel is arranged on the supporting plate and is provided with no power device for enabling the trolley to stably advance.
Optionally, the receiving module is installed in the module integration box, electrically connected to the control module, and configured to receive a wandering signal sent by the transmitter to the cable to be tested; the receiving module consists of a combined coil and an analog digital signal processing part; the combined coil is arranged in the module integration box and is horizontal to the ground;
the positioning module is arranged in the module integration box, is connected with the upper computer through the communication module, is used for positioning the buried depth of the cable and the geographic position of the GIS, and transmits positioning information to the upper computer through the communication module;
the communication module is arranged in the module integration box and is used for communicating with an upper computer and transmitting the burial depth and GIS (geographic information system) geographic position data acquired by the positioning module;
the control module is arranged in the module integration box and used for controlling the traveling route of the device; data obtained by the receiving module is analyzed and processed by the control module, a travelling route of the trolley is planned, and the trolley is detected along a track of the buried cable; the control module controls the rotating speed of a traveling wheel motor to realize the left-right steering of the traveling trolley; the command signal of the trolley path planning is a receiving signal of the receiving module;
the upper computer communicates with the device through the communication module, and the positioning data of the device is transmitted to the upper computer for recording;
the power supply supplies power for a storage battery or solar energy.
Optionally, the receiving module is a combined coil detection device;
the receiving module is ADC 10662;
the type of the positioning module is ATK1218-BD, and the positioning chip is S1216;
the control module is a singlechip STC89C 52.
The beneficial effects of the utility model reside in that: the receiver of the traditional cable path detection device is designed into a trolley capable of automatically advancing, manual handheld operation of the receiving device is not needed, and manpower is saved.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the invention may be realized and attained by the means of the instrumentalities and/or combinations particularly pointed out in the appended claims.
Drawings
For the purposes of promoting a better understanding of the objects, features and advantages of the invention, reference will now be made to the following detailed description taken in conjunction with the accompanying drawings in which:
FIG. 1 is a view showing the construction of the apparatus;
FIG. 2 is a schematic diagram of the modules of the apparatus;
FIG. 3 is a flow of automated obstacle crossing machine cooperation;
FIG. 4(a) is a schematic diagram of a receiving signal combination coil of the receiving module; fig. 4(b) is a schematic diagram of the installation position of the receiving signal combination coil of the receiving module;
FIG. 5 is a detailed signal instruction and flow for planning a cart route;
FIG. 6 is a circuit diagram of the whole device;
fig. 7 is a transmission circuit of the transmitter.
Reference numerals: 1-a travelling wheel; 2-a power supply; 3-obstacle crossing shaft; 4-a support plate; 5-a support rod; 6-module integration box; 7-rear wheel; 8-a transmitter; 9-a receiving module; 10-a positioning module; 11-a communication module; 12-a control module; and 13-an upper computer.
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will be readily apparent to those skilled in the art from the disclosure herein. The present invention can also be implemented or applied through other different specific embodiments, and various details in the present specification can be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the features in the following embodiments and examples may be combined with each other without conflict.
Wherein the showings are for the purpose of illustrating the invention only and not for the purpose of limiting the same, and in which there is shown by way of illustration only and not in any way limiting the scope of the invention; for a better understanding of the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if there are terms such as "upper", "lower", "left", "right", "front", "back", etc., indicating directions or positional relationships based on the directions or positional relationships shown in the drawings, it is only for convenience of description and simplification of description, but it is not intended to indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore, the terms describing the positional relationships in the drawings are only used for illustrative purposes and are not to be construed as limiting the present invention, and those skilled in the art can understand the specific meanings of the terms according to specific situations.
Referring to fig. 1 to 7, a detection device for automatically searching an underground cable path includes a travel wheel 1, a power supply 2, an obstacle crossing shaft 3, a support plate 4, a support rod 5, a module integration box 6, a rear wheel 7, a transmitter 8, a receiving module 9, a positioning module 10, a communication module 11, a control module 12, and an upper computer 13.
The device travelling wheel is connected with the supporting rod in a mechanical connection mode. The material of the traveling wheel is selected from rubber material with anti-skid function. There are 6 travel wheels. The device can realize the function of automatic obstacle crossing. When no roadblock normally exists, 4 traveling wheels in contact with the ground advance under the driving of the motor. The power supply supplies power to the device. When meeting the barrier, the advancing front wheel on the ground is blocked, and under the action of the supporting rod, the obstacle crossing shaft is driven to rotate forwards, and the upper advancing wheel crosses the barrier. The method for judging whether the roadblock exists is to judge whether the travelling wheels are blocked by the roadblock, and when the travelling wheels on the ground are blocked, the roadblock exists.
The power supply is arranged on the support plate, and the specific connection mode is mechanical connection. The function of the device is to provide power for the traveling wheel, receiving, positioning, communication and control module.
The support plate provides a platform for each module. The part connected with the power supply and the module integration box is fixed on the supporting plate. The supporting plate plays a supporting role.
The obstacle crossing shaft is connected with the support rods in a mechanical connection mode, and the support rods are connected to two ends of the obstacle crossing shaft. The obstacle crossing shaft has the function that when an obstacle is met, the obstacle crossing shaft rotates to drive the supporting rod to rotate to cross the obstacle. The obstacle crossing shaft functions when the device meets an obstacle and does not work when the device does not go forward.
The support rod is used for mechanically connecting the obstacle crossing shaft with the traveling wheel and driving the obstacle crossing shaft to rotate forwards under the supporting action when meeting obstacles and needing to be crossed.
The module integration box is connected in a mode of being fixed on the supporting plate. The inside is provided with a receiving module, a positioning module, a communication module and a control module. The function of which is to provide mounting locations for the individual modules.
The rear wheel is arranged on the supporting plate and is provided with no power device for enabling the trolley to stably advance.
The transmitter may send a signal to the cable. The transmitter is a separate device that performs the detection of the cable location by transmitting a detection signal into the cable for reception by the receiver. Its function is to transmit signals to the cable.
The receiving module is arranged in the module integrated box and is electrically connected with the control module. The function is to receive the wandering signal sent by the transmitter to the cable to be tested. The receiving module consists of a combined coil and an analog digital signal processing part. The schematic diagram of the combined coil is shown in fig. 4 (a). The combined coil is installed in the module integrated box, and the installation position is horizontal to the ground. The specific installation is shown in fig. 4 (b).
The positioning module is installed in the module integration box and connected with the upper computer through the communication module. The method is used for positioning the buried depth of the cable and the geographic position of the GIS. The positioning module transmits the positioning information to the upper computer through the communication module.
The communication module is installed in the module integration box and used for communicating with an upper computer and transmitting the burial depth and GIS geographical position data collected by the positioning module.
The control module is arranged in the module integration box and used for controlling the traveling route of the device. Data obtained by the receiving module is analyzed and processed by the control module, a travelling route of the trolley is planned, and the trolley is detected along a track of the buried cable. The control module controls the rotating speed of the traveling wheel motor to realize the left-right steering of the traveling trolley. And the command signal for planning the path of the trolley is a receiving signal of the receiving module.
The upper computer communicates with the device through the communication module. And the positioning data of the detection device is transmitted to the upper computer for recording.
The traveling wheels can be made of different materials.
The power module can use a storage battery or a solar power supply mode.
The detection module includes detection for high voltage cables and low voltage cables.
The combined coils of the receiving module can be combined in various ways.
As shown in fig. 2, the positioning module transmits the positioning information to the upper computer through the communication module. After receiving the electromagnetic induction signal, the receiving module transmits the electromagnetic induction signal to the control module for data analysis and processing, and the control module analyzes the intensity of electromagnetic induction and adjusts a traveling path in real time, so that the device can move along the position of the underground cable.
Fig. 3 shows a specific mechanical cooperation process of automatic obstacle crossing: when no roadblock normally exists, 4 traveling wheels in contact with the ground advance under the driving of the motor. The power supply supplies power to the device. When meeting the barrier, the advancing front wheel on the ground is blocked, and under the action of the supporting rod, the obstacle crossing shaft is driven to rotate forwards, and the upper advancing wheel crosses the barrier.
As shown in fig. 5, the specific signal instructions and flow of the car route are planned. The patent proposes that the laying path of the cable is comprehensively judged by using the strength of the electromagnetic field received by the combined coil of the receiving module and the magnitude of the induced electromotive force of the coils at different positions. Specifically, the front coil and the rear coil in the travelling direction of the trolley judge whether the coils are positioned right above the cable or not by judging the strength of the electromagnetic field intensity of the coils. And the left coil and the right coil judge whether the current position is on the left side or the right side of the buried cable by judging whether the induced electromotive forces in the two coils are equal. The left and right rotation of the trolley is realized by controlling the rotating speed of the motor of the travelling wheel.
(1) The receiving module selects a combined coil detection device, ADC10662 analog-to-digital signal conversion and EP2C5T144I8 as data traditions between FPGA implementation and a control system.
The positioning module selects the ATK1218-BD positioning module. This module has GPS and big dipper mode. The chip is positioned S1216. The positioning module is provided with a communication mode, and can directly output an NMEA-0183GPS protocol to realize communication with an upper computer.
The control module selects the singlechip STC89C 52.
The circuit connection relationship among the modules is shown in fig. 6:
(2) for the case of a cable without power. First the transmitter sends a signal into the cable. The combined coil in the receiving module receives signals traveling along the cable, and after analog-to-digital conversion of the ADC10662, transmission between the combined coil and the singlechip of the control module is realized by the FPGA. The signal is processed by the singlechip STC89C52 of the control module. And determining the traveling direction of the trolley according to the processed electromagnetic field and the electromagnetic induction electromotive force. And meanwhile, the ATK1218-BD positioning module positions the geographic position of the device and communicates with an upper computer in real time through an NMEA-0183GPS communication protocol. The transmitting circuit of the transmitter is shown in fig. 7:
(2) in the case of a cable with a charged cable, the transmitter induces a signal into the armor or shielding layer of the cable. The receiver receives the electromagnetic induction signal. The signals are analyzed to plan the direction of travel. This applies to the case where it is known that there is no other cable interference in the vicinity of the buried cable.
Finally, the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions, and all of them should be covered by the scope of the claims of the present invention.
Claims (3)
1. A detection device for automatically searching underground cable paths is characterized in that: the device comprises a traveling wheel, a power supply, an obstacle crossing shaft, a supporting plate, a supporting rod, a module integration box, a rear wheel, a transmitter, a receiving module, a positioning module, a communication module, a control module and an upper computer;
the travelling wheel is connected with the supporting rod;
the power supply is arranged on the support plate;
the supporting plate provides a platform for each module, and a power supply and a module integration box are connected with the supporting plate in a fixed connection mode;
the obstacle crossing shaft is connected with the support rods, and the support rods are arranged at two ends of the obstacle crossing shaft;
the support rod mechanically connects the obstacle crossing shaft with the traveling wheel;
the module integration box is fixed on the supporting plate;
the rear wheel is arranged on the supporting plate and is provided with no power device for enabling the trolley to stably advance.
2. A sonde for automatically locating the path of an underground cable according to claim 1, further comprising: the receiving module is arranged in the module integration box, is electrically connected with the control module and is used for receiving a wandering signal sent to the cable to be tested by the transmitter; the receiving module consists of a combined coil and an analog digital signal processing part; the combined coil is arranged in the module integration box and is horizontal to the ground;
the positioning module is arranged in the module integration box, is connected with the upper computer through the communication module, is used for positioning the buried depth of the cable and the geographic position of the GIS, and transmits positioning information to the upper computer through the communication module;
the communication module is arranged in the module integration box and is used for communicating with an upper computer and transmitting the burial depth and GIS (geographic information system) geographic position data acquired by the positioning module;
the control module is arranged in the module integration box and used for controlling the traveling route of the device; data obtained by the receiving module is analyzed and processed by the control module, a travelling route of the trolley is planned, and the trolley is detected along a track of the buried cable; the control module controls the rotating speed of a traveling wheel motor to realize the left-right steering of the traveling trolley; the command signal of the trolley path planning is a receiving signal of the receiving module;
the upper computer communicates with the device through the communication module, and the positioning data of the device is transmitted to the upper computer for recording;
the power supply supplies power for a storage battery or solar energy.
3. A sonde for automatically locating the path of an underground cable according to claim 1, further comprising: the receiving module is a combined coil detection device;
the receiving module is ADC 10662;
the type of the positioning module is ATK1218-BD, and the positioning chip is S1216;
the control module is a singlechip STC89C 52.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921523181.0U CN210720758U (en) | 2019-09-12 | 2019-09-12 | Detection device for automatically searching underground cable path |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921523181.0U CN210720758U (en) | 2019-09-12 | 2019-09-12 | Detection device for automatically searching underground cable path |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111857163A (en) * | 2020-09-24 | 2020-10-30 | 汉桑（南京）科技有限公司 | Charging method, system and device of soil monitoring equipment |
| CN112415629A (en) * | 2020-10-22 | 2021-02-26 | 北京潞电电气设备有限公司 | Cable path identification and fault location vehicle |
| CN112987112A (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 cross combination mode |
| CN113093268A (en) * | 2021-05-08 | 2021-07-09 | 北京潞电电气设备有限公司 | Method for automatically identifying cable line path |
| CN113568054A (en) * | 2021-08-19 | 2021-10-29 | 海南电网有限责任公司文昌供电局 | Buried cable searching device and method |
| CN115061211A (en) * | 2022-08-18 | 2022-09-16 | 国网山东省电力公司滨州市沾化区供电公司 | Urban network buried cable path diagram correction method and system |
-
2019
- 2019-09-12 CN CN201921523181.0U patent/CN210720758U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111857163A (en) * | 2020-09-24 | 2020-10-30 | 汉桑（南京）科技有限公司 | Charging method, system and device of soil monitoring equipment |
| CN112415629A (en) * | 2020-10-22 | 2021-02-26 | 北京潞电电气设备有限公司 | Cable path identification and fault location vehicle |
| CN112415629B (en) * | 2020-10-22 | 2023-11-21 | 北京潞电电气设备有限公司 | Cable path identification and fault location vehicle |
| CN112987112A (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 cross combination mode |
| CN113093268A (en) * | 2021-05-08 | 2021-07-09 | 北京潞电电气设备有限公司 | Method for automatically identifying cable line path |
| CN113568054A (en) * | 2021-08-19 | 2021-10-29 | 海南电网有限责任公司文昌供电局 | Buried cable searching device and method |
| CN113568054B (en) * | 2021-08-19 | 2022-06-17 | 海南电网有限责任公司文昌供电局 | Buried cable searching device and method |
| CN115061211A (en) * | 2022-08-18 | 2022-09-16 | 国网山东省电力公司滨州市沾化区供电公司 | Urban network buried cable path diagram correction method and system |
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Granted publication date: 20200609 Termination date: 20210912 |