CN107817531B - Pipeline instrument receiver coil structure, signal processing method and pipeline instrument receiver - Google Patents
Pipeline instrument receiver coil structure, signal processing method and pipeline instrument receiver Download PDFInfo
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Abstract
The invention belongs to the technical field of power cables, and discloses a coil structure of a pipeline instrument receiver, a signal processing method and a pipeline instrument receiver. The first horizontal coil detects a magnetic field signal of the buried cable in the horizontal direction, and the combination of the first horizontal coil and the second horizontal coil is used for measuring the buried depth and the current magnitude of the buried cable; the vertical coil detects a magnetic field signal of the buried cable in the vertical direction, and the combination of the vertical coil and the first horizontal coil is used for detecting the left and right positions of the buried cable; and the combination of the third horizontal coil and the second horizontal coil is used for measuring the included angle between the receiver and the buried cable so as to realize the compass function. The pipeline instrument receiver has the advantages of high reliability, compact and reasonable coil structure, complete detection function, low cost, good anti-interference performance, and higher detection precision and sensitivity.
Description
Technical Field
The invention belongs to the technical field of power cables, and particularly relates to a pipeline instrument receiver coil structure, a signal processing method and a pipeline instrument receiver.
Background
In recent years, with the rapid development of domestic power grids, buried cables are widely applied to reduce the occupation of too many space resources by overhead lines. Considering that the original drawing data can not correctly reflect the laying path of the underground cable due to the transformation of the power grid and the relocation of the cable, if the position information of the underground cable is not clear enough, the underground cable is difficult to find, a large amount of manpower, material resources and time are wasted, and loss which is difficult to measure is caused. The research of the buried cable path detection in China starts late, but the development speed is high, a plurality of scientific research units, colleges and universities and related enterprises are specially used for the research of the buried cable path detection at present, great breakthroughs are made in the detection method, instrument research and development and other technologies, and the capability of China in the buried cable path detection aspect is integrally improved. At present, the domestic detection of the buried cable is mainly based on the detection principle of an electromagnetic method, the magnetic field around the buried cable is detected through the combination of a plurality of groups of coils, and the position of the cable is determined by judging the strength of a magnetic field signal. This method is particularly important for the structural design of the coil. The traditional receiver usually adopts one group or two groups of coils to detect the buried cable, and the method can carry out simple and effective measurement, but has low detection precision, poor anti-interference performance, single function and lower overall detection efficiency. The coil structure of the intelligent cable path detector is composed of 8 groups of detection coils, and the specific structure is as follows: a group of horizontal coils and a group of vertical coils are arranged above the magnetic head, a group of vertical coils and four groups of front, back, left and right horizontal coils in different directions are arranged in the middle of the magnetic head, and a group of horizontal coils is arranged below the magnetic head; the central left and right horizontal coils are used for detecting the left and right positions of the cable, the upper and lower horizontal coils are used for measuring the depth and the current of the buried cable, the four groups of horizontal coils in the front, back, left and right directions realize the compass function by comparing the induced voltage of the coils, and the deflection direction of the receiver relative to the cable is judged only by comparing the electromotive force, so the compass function can only realize the 45-degree angle indication in the front, back, left and right directions and each direction, and can not realize the indication of any angle, and the compass function is not perfect. The chinese patent No. 201320110499.2 discloses a high-precision underground cable detector, the receiving antenna module of which comprises two groups of horizontal coils and a group of vertical coils, the two groups of horizontal coils are located at the top and bottom of the bracket, the middle is the vertical coil, the specific structure is an i-shaped coil structure; the middle vertical coil and the lower horizontal coil are used for detecting the left and right positions of the buried cable, and the upper and lower groups of horizontal coils are used for measuring the buried depth and the current; although the coil structure design of this patent is fairly simple, can not realize the compass and instruct the function, detects the incomplete function, and does not take the measure of restraining external disturbance, and overall efficiency is not high.
In summary, the problems of the prior art are as follows: the compass indication function can not be realized, the function is not detected completely, no measure for inhibiting external interference is taken, and the overall efficiency is not high.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a pipeline instrument receiver coil structure, a signal processing method and a pipeline instrument receiver.
The invention is realized in such a way that a signal processing method of a pipeline instrument receiver coil structure comprises the following steps:
the analog signal conditioning is used for adjusting and processing the induced voltage signal generated in the coil;
the analog-to-digital signal conversion is used for converting the analog signal output by the signal conditioning circuit into a digital signal;
and the digital signal processing is used for restoring the energy spectrum of the received frequency signal and calculating the position information of the cable.
The signal processing method further includes: the receiver acquires magnetic field signals of the underground cable through program switching and different coil combinations, the magnetic field signals are subjected to bias adjustment, filtering and amplification through the coil circuit board card and then transmitted to the core board card of the receiver, the magnetic field signals are subjected to differential amplification, low-pass filtering and reverse amplification through the signal conditioning circuit again and then transmitted to the A/D converter, the A/D converter transmits converted digital signals to the DSP for digital signal processing, and the position of the underground cable is finally obtained based on the characteristics of a novel coil structure and a derivation and calculation method of a theoretical formula of the novel coil structure, and is displayed in real time through the liquid crystal display.
The derivation and calculation method based on the characteristics of the novel coil structure and the theoretical formula thereof comprises the following steps: judging the left and right positions of the cable, calculating the buried depth and the current of the cable, and calculating the included angle between the receiver and the cable;
the judgment of the left and right positions of the cable is realized by the combination of the first horizontal coil and the vertical coil; when the cable is electrified with current I, the magnetic field intensity received by the first horizontal coil and the vertical coil is respectively as follows:
wherein, mu0Is the permeability of the medium in vacuum, mu0＝4π×10-7H/m, H is the vertical distance from the first horizontal coil and the vertical coil to the cable, and x is the horizontal distance from the first horizontal coil and the vertical coil to the cable;
the calculation of the buried depth of the cable and the magnitude of the current is realized by the combination of the first horizontal coil and the second horizontal coil; when the receiver is positioned right above the buried cable, the induced electromotive forces generated in the first horizontal coil and the second horizontal coil are respectively:
wherein I is the current intensity in the cable, h is the vertical distance from the first horizontal coil to the cable, d is the vertical distance between the first horizontal coil and the second horizontal coil, S1And S3The sectional areas, S, of the first horizontal coil and the second horizontal coil, respectively1And S3The sizes are equal, and omega is the angular frequency of a current signal in the cable; when the first horizontal coil is in contact with the ground, h is the buried depth of the cable; the buried depth h and the current I of the cable are as follows:
the calculation of the included angle between the receiver and the cable is realized by the combination of the second horizontal coil and the third horizontal coil; when the cable is electrified with current I, the induced electromotive forces generated in the second horizontal coil and the third horizontal coil are respectively as follows:
wherein N is3And N4Number of turns, S, of the second horizontal coil and the third horizontal coil, respectively3And S4Sectional areas of the second horizontal coil and the third horizontal coil, h is a vertical distance from the second horizontal coil and the third horizontal coil to the cable, x is a horizontal distance from the second horizontal coil and the third horizontal coil to the cable, and theta3And theta4The included angles between the second horizontal coil and the cable and the included angles between the third horizontal coil and the cable are respectively included;
since the mounting positions of the second horizontal coil and the third horizontal coil are perpendicular, θ3And theta4The relationship of (1) is:
θ3+θ4＝90°；
then, it is obtained from the above equation:
number of turns N of second horizontal coil3And the number of turns N of the third horizontal coil 44Equal, second horizontal coil cross-sectional area S3And cross-sectional area S of the third horizontal coil4Equal, the angle theta between the receiver and the cable3Comprises the following steps:
another object of the present invention is to provide a pipeline instrument receiver coil structure, including:
the first horizontal coil is used for detecting a magnetic field signal of the buried cable in the horizontal direction, and the combination of the first horizontal coil and the second horizontal coil is used for measuring the buried depth and the current magnitude of the buried cable;
the vertical coil is used for detecting a magnetic field signal of the buried cable in the vertical direction, and the combination of the vertical coil and the first horizontal coil is used for detecting the left and right positions of the buried cable;
the third horizontal coil is perpendicular to the second horizontal coil in installation position, and the combination of the third horizontal coil and the second horizontal coil is used for measuring the included angle between the receiver and the buried cable so as to realize the compass function;
and the bracket is used for mounting and fixing the four groups of coils at a specific position.
Further, the first horizontal coil and the vertical coil are positioned at the bottom of the bracket, and the second horizontal coil and the third horizontal coil are positioned at the top of the bracket; the combination of the first horizontal coil and the vertical coil is used for detecting the left and right positions of the buried cable; the combination of the first horizontal coil and the second horizontal coil is used for measuring the depth and the current magnitude of the buried cable; the combination of the second horizontal coil and the third horizontal coil is used for realizing a compass indication function; the bracket is used for fixing and installing the four groups of receiving coils at a specific position; the coil circuit board card is used for carrying out bias adjustment, filtering and amplification preliminary processing on the magnetic field signals acquired by the coils, and the receiver core board card is used for realizing the functions of switching different coil combinations, conditioning the coil signals, converting A/D signals, processing digital signals and carrying out human-computer interaction.
Further, the coil circuit board card includes:
the coil welding hole is used for welding the receiver coil;
a bias adjustment circuit for providing a bias voltage;
the clamp protection circuit is used for limiting the voltage of an input signal and playing a role of a protection circuit;
the filtering and amplifying circuit is used for filtering out the interference of the out-of-band signal and amplifying the input signal;
and the connecting seat is used for connecting the core board card of the receiver.
Further, the core control board of the receiver includes:
the SDRAM module, the FLASH module, the crystal oscillator circuit, the reset circuit, the power supply module, the JTAG configuration module, the A/D conversion circuit, the signal conditioning circuit, the multi-channel selection circuit, the audio power amplifier module, the liquid crystal display module and the key module are all electrically connected with the DSP module; the receiver controls the multi-channel selection switch through a program, selects the signal conditioning circuits corresponding to different coils, the signal conditioning circuits adjust and process the magnetic field signals collected by each group of coils and then output the magnetic field signals to the audio power amplification circuit and the A/D converter, the audio power amplification circuit converts the analog electric signals into sound signals, and the strength of the received magnetic field signals is judged according to the sound of the loudspeaker; the A/D converter transmits the converted digital signals to the DSP for digital signal processing, the position information of the buried cable is calculated through an improved FIR digital filtering algorithm and theoretical formula derivation based on a coil structure, real-time display is carried out through a liquid crystal display, and finally the position of the cable is determined.
The SDRAM module is used for temporarily storing operation data in the CPU and data exchanged with the FLASH;
the FLASH module is used for storing a system program of the receiver;
the crystal oscillator circuit is used for providing basic clock signals for the CPU and other circuit modules;
the reset circuit is used for ensuring the safe and reliable work of the receiver core board card circuit;
the power supply module is used for supplying power to the whole receiver system;
the JTAG configuration circuit is used for simulation debugging of the core board card of the receiver;
the A/D conversion circuit is used for converting the analog voltage signal acquired by the coil into a digital signal, so that the DSP can conveniently process the digital signal;
the signal conditioning circuit is used for further adjusting and processing the magnetic field signal acquired by the coil;
a multipath channel selection circuit for selecting different coil combinations;
the audio power amplifier module is used for assisting in prompting the strength of the magnetic field signal detected by the receiver;
the liquid crystal display module is used for displaying cable path indication, received signal strength, received frequency, compass indication, battery electric quantity and menu information of the human-computer interaction interface;
and the key module is used for operating the human-computer interaction interface.
Further, the signal conditioning circuit includes:
the differential comparison circuit is used for carrying out differential amplification output on input signals at two ends of the coil;
the second-order low-pass filter circuit is used for filtering high-frequency interference signals outside a passband;
and the inverse proportion operation circuit is used for providing a stable inverse output signal and improving the load capacity.
Another object of the present invention is to provide a coil structure of the pipeline instrument receiver;
the coil structure consists of four groups of coils, wherein a first horizontal coil and a vertical coil are arranged at the bottom of a bracket, a second horizontal coil and a third horizontal coil are arranged at the top of the bracket and are packaged in a receiver through a cylindrical tube of 600mm multiplied by 6mm multiplied by 120mm, and the receiver is light in integral shape and convenient to carry; the different combinations of the four groups of receiving coils can realize the functions of detecting the strength of the magnetic field signal, judging the left and right positions of the cable, measuring the depth and the current of the cable and indicating a compass; the receiver has the advantages of small number of coils, compact and reasonable structure, complete detection function, less signal processing circuits and easy realization; by combining a signal differential technology and digital transmission, common-mode interference is effectively inhibited, the anti-interference capability of the system is improved, the distortion is small after signal amplification, and a better detection effect is achieved in a weak magnetic field environment; the core board card of the receiver adopts a 32-bit DSP processor, so that the processing speed and the operational capability of a receiver system are enhanced, the detection speed of the receiver is improved, and the reaction time is about 100 ms; and a 24-bit AD converter is carried, so that the conversion precision and the sampling rate are higher, the measurement precision of the receiver is improved, the actual measurement error is about 2cm-5cm, and the efficiency of detecting the buried cable path is effectively improved.
Drawings
FIG. 1 is a schematic diagram of a coil structure of a pipeline instrument receiver according to an embodiment of the present invention;
fig. 2 is a schematic diagram of an overall design of a core board of a receiver according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a method for determining left and right positions of a cable according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a method for calculating the buried depth and the current magnitude of a cable according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a method for calculating an included angle between a receiver and a cable according to an embodiment of the present invention;
fig. 6 is a schematic diagram illustrating a hardware functional configuration of a core board card of a receiver according to an embodiment of the present invention;
in the figure: 1. a first horizontal coil; 2. a vertical coil; 3. a second horizontal coil; 4. a third horizontal coil; 5. a support; 6. a coil circuit board card; 7. and a receiver core board card.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The invention has higher detection precision and speed, has better detection effect under the environment of a weak magnetic field, and effectively improves the efficiency of detecting the path of the buried cable.
The following detailed description of the principles of the invention is provided in connection with the accompanying drawings.
As shown in fig. 1, a coil structure of a pipeline instrument receiver provided by an embodiment of the present invention includes:
the device comprises a first horizontal coil 1, a vertical coil 2, a second horizontal coil 3, a third horizontal coil 4, a bracket 5, a coil circuit board card 6 and a receiver core board card 7.
The combination of the first horizontal coil 1 for detecting the magnetic field signal of the buried cable in the horizontal direction and the second horizontal coil 3 for measuring the buried depth and the current magnitude of the buried cable.
The vertical coil 2 is used for detecting a magnetic field signal of the buried cable in the vertical direction, and the combination with the first horizontal coil 1 is used for detecting the left and right positions of the buried cable.
And the third horizontal coil 4 is arranged at a position vertical to the second horizontal coil 3, and is combined with the second horizontal coil 3 to measure the included angle between the receiver and the buried cable so as to realize the compass function.
And a bracket 5 for mounting and fixing the four groups of coils at a specific position.
The first horizontal coil 1 and the vertical coil 2 are positioned at the bottom of the bracket, and the second horizontal coil 3 and the third horizontal coil 4 are positioned at the top of the bracket; the combination of the first horizontal coil 1 and the vertical coil 2 is used for detecting the left and right positions of the buried cable; the combination of the first horizontal coil 1 and the second horizontal coil 3 is used for measuring the depth and the current magnitude of the buried cable; the second horizontal coil 3 and the third horizontal coil 4 are combined to realize a compass indication function; the bracket 5 is used for fixing and installing the four groups of receiving coils at a specific position; the coil circuit board 6 is used for carrying out primary processing such as bias adjustment, filtering and amplification on magnetic field signals acquired by the coils, and the receiver core board 7 is used for realizing switching of different coil combinations, conditioning of coil signals, A/D signal conversion, digital signal processing, human-computer interaction functions and the like.
In a preferred embodiment of the invention: four groups of coils of the coil structure are respectively fixed at specific positions by a coil support of the receiver, the receiver of the pipeline instrument detects magnetic field signals of the underground cable by program switching and selecting different coil combinations, as shown in figure 2, the magnetic field signals collected by the coils are firstly subjected to primary processing such as bias adjustment, filtering and amplification through a coil circuit board and then transmitted to a core board card of the receiver, then are subjected to processing such as differential amplification, low-pass filtering and reverse amplification through a signal conditioning circuit and then transmitted to an A/D converter, the A/D converter transmits the converted digital signals to a DSP for digital signal processing, and finally the position of the underground cable is obtained based on the characteristics of the novel coil structure and the derivation and calculation of a theoretical formula, and is displayed in real time through a liquid crystal screen.
In a preferred embodiment of the invention: the characteristics of the novel coil structure and the derivation and calculation method of the theoretical formula thereof comprise the following steps: judging the left and right positions of the cable, calculating the buried depth and the current of the cable, and calculating the included angle between the receiver and the cable;
the judgment of the left and right positions of the cable is realized by the combination of the first horizontal coil 1 and the vertical coil 2, as shown in fig. 3; when the cable is electrified with current I, the magnetic field intensity received by the first horizontal coil 1 and the vertical coil 2 is respectively as follows:
wherein, mu0Is the magnetic permeability (mu) of the medium in vacuum0＝4π×10-7H/m), H is the vertical distance from the first horizontal coil 1 and the vertical coil 2 to the cable, and x is the horizontal distance from the first horizontal coil 1 and the vertical coil 2 to the cable;
when the vertical coil 2 is located on the left side of the cable, H2Is vertically upward; when the vertical coil 2 is located at the right side of the cable, H2Is vertically downward; and H1Is always in the horizontal right direction, by judging H1×H2The sign of (a) can determine whether the receiver is located on the left side or the right side of the cable;
the calculation of the cable buried depth and the current magnitude is realized by the combination of the first horizontal coil 1 and the second horizontal coil 3, as shown in fig. 4; when the receiver is located right above the buried cable, the induced electromotive forces generated in the first horizontal coil 1 and the second horizontal coil 3 are respectively:
wherein I is the current intensity in the cable, h is the vertical distance from the first horizontal coil 1 to the cable, d is the vertical distance between the first horizontal coil 1 and the second horizontal coil 3, S1And S3The cross-sectional areas, S, of the first horizontal coil 1 and the second coil 3, respectively1And S3The sizes are equal, and omega is the angular frequency of a current signal in the cable; when the first horizontal coil 1 is in contact with the ground, h is the buried depth of the cable; the buried depth h and the current I of the cable are as follows:
the calculation of the included angle between the receiver and the cable is realized by the combination of the second horizontal coil 3 and the third horizontal coil 4, as shown in fig. 5; when the cable is supplied with current I, the induced electromotive forces generated in the second horizontal coil 3 and the third horizontal coil 4 are respectively:
wherein N is3And N4Number of turns, S, of the second coil 3 and the third coil 4, respectively3And S4Sectional areas of the second horizontal coil 3 and the third horizontal coil 4, respectively, h is a vertical distance from the second horizontal coil 3 and the third horizontal coil 4 to the cable, x is a horizontal distance from the second horizontal coil 3 and the third horizontal coil 4 to the cable, and θ3And theta4The included angles between the second horizontal coil 3 and the third horizontal coil 4 and the cable are respectively;
since the second horizontal coil 3 is perpendicular to the installation position of the third horizontal coil 4, θ3And theta4The relationship of (1) is:
θ3+θ4＝90° (5)
then, it is obtained from the above equation:
number of turns N of the second horizontal coil 3 in the present invention3And the number of turns N of the third horizontal coil 44Equal, second horizontal coil 3 cross-sectional area S3And the cross-sectional area S of the third horizontal coil 44Equal, the angle theta between the receiver and the cable3Comprises the following steps:
as shown in fig. 6, the hardware design of the receiver core board 7 of the present invention includes: the device comprises a DSP module, an SDRAM module, a FLASH module, a crystal oscillator circuit, a reset circuit, a power supply module, a JTAG configuration module, an A/D conversion circuit, a signal conditioning circuit, a multi-channel selection circuit, an audio power amplifier module, a liquid crystal display module and a key module.
The SDRAM module, the FLASH module, the crystal oscillator circuit, the reset circuit, the power supply module, the JTAG configuration module, the A/D conversion circuit, the signal conditioning circuit, the multi-channel selection circuit, the audio power amplifier module, the liquid crystal display module and the key module are all electrically connected with the DSP module.
And the SDRAM module is used for temporarily storing the operation data in the CPU and the data exchanged with the FLASH.
And the FLASH module is used for storing the system program of the receiver.
The crystal oscillator circuit is used for providing basic clock signals for the CPU and other circuit modules.
And the reset circuit is used for ensuring the safe and reliable work of the receiver core board card circuit.
And the power supply module is used for supplying power to the whole receiver system.
And the JTAG configuration circuit is used for simulating and debugging the core board card of the receiver.
And the A/D conversion circuit is used for converting the analog voltage signal acquired by the coil into a digital signal, so that the DSP can conveniently process the digital signal.
And the signal conditioning circuit is used for further adjusting and processing the magnetic field signal acquired by the coil.
And the multipath channel selection circuit is used for selecting different coil combinations.
And the audio power amplifier module is used for assisting in prompting the strength of the magnetic field signal detected by the receiver.
And the liquid crystal display module is used for displaying information such as cable path indication, received signal strength, received frequency, compass indication, battery power, menus and the like of the human-computer interaction interface.
And the key module is used for operating the human-computer interaction interface.
The CPU of the hardware platform of the core board card of the receiver uses ADSP chip of double Blackfin cores of ADI company in America, each core comprises 2 multiply/add accumulators (MAC), 2 Arithmetic Logic Units (ALU) with 40 bits, 4 video ALUs and 1 bit shifter with 40 bits, and can execute complex control and signal processing tasks and simultaneously keep extremely high data throughput rate. The hardware conditions are beneficial to quickly realizing the related algorithm and improving the running speed of the system.
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 and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (6)
1. A signal processing method of a pipeline instrument receiver coil structure is characterized by comprising the following steps:
the analog signal conditioning is used for adjusting and processing the induced voltage signal generated in the coil;
the conversion of the analog-to-digital signal is used for converting the analog signal into a digital signal;
the digital signal processing is used for restoring the energy spectrum of the received frequency signal and calculating the position information of the cable; the signal processing method further includes: the receiver acquires magnetic field signals of the buried cable through program switching and different coil combinations, the magnetic field signals are subjected to bias adjustment, filtering and amplification through a coil circuit board card and then transmitted to a receiver core board card, the magnetic field signals are subjected to differential amplification, low-pass filtering and reverse amplification through a signal conditioning circuit and then transmitted to an A/D converter, the A/D converter sends the converted digital signals to a DSP (digital signal processor) for digital signal processing, and finally position information of the buried cable is obtained and displayed in real time through a liquid crystal screen based on the characteristics of a novel coil structure and a derivation and calculation method of a theoretical formula of the novel coil structure;
the derivation and calculation method based on the characteristics of the novel coil structure and the theoretical formula thereof comprises the following steps: judging the left and right positions of the cable, calculating the buried depth and the current of the cable, and calculating the included angle between the receiver and the cable;
the judgment of the left and right positions of the cable is realized by the combination of the first horizontal coil and the vertical coil; when the cable is electrified with current I, the magnetic field intensity received by the first horizontal coil and the vertical coil is respectively as follows:
wherein, mu0Is the permeability of the medium in vacuum, mu0＝4π×10-7H/m, H is the vertical distance from the first horizontal coil and the vertical coil to the cable, and x is the horizontal distance from the first horizontal coil and the vertical coil to the cable;
the calculation of the buried depth of the cable and the magnitude of the current is realized by the combination of the first horizontal coil and the second horizontal coil; when the receiver is positioned right above the buried cable, the induced electromotive forces generated in the first horizontal coil and the second horizontal coil are respectively:
wherein I is the current intensity in the cable, h is the vertical distance from the first horizontal coil to the cable, d is the vertical distance between the first horizontal coil and the second horizontal coil, S1And S3The sectional areas, S, of the first horizontal coil and the second horizontal coil, respectively1And S3The sizes are equal, and omega is the angular frequency of a current signal in the cable; when the first horizontal coil is in contact with the ground, h is the buried depth of the cable; the buried depth h and the current I of the cable are as follows:
the calculation of the included angle between the receiver and the cable is realized by the combination of the second horizontal coil and the third horizontal coil; when the cable is electrified with current I, the induced electromotive forces generated in the second horizontal coil and the third horizontal coil are respectively as follows:
wherein N is3And N4Number of turns, S, of the second horizontal coil and the third horizontal coil, respectively3And S4Sectional areas of the second horizontal coil and the third horizontal coil, respectively, h is a vertical distance from the second horizontal coil and the third horizontal coil to the cable, x is a horizontal distance from the second horizontal coil and the third horizontal coil to the cable, and theta3And theta4The included angles between the second horizontal coil and the cable and the included angles between the third horizontal coil and the cable are respectively included;
since the mounting positions of the second horizontal coil and the third horizontal coil are perpendicular, θ3And theta4The relationship of (1) is:
θ3+θ4＝90°；
then, it is obtained from the above equation:
number of turns N of second horizontal coil3And the number of turns N of the third horizontal coil4Equal, second horizontal coil cross-sectional area S3And cross-sectional area S of the third horizontal coil4Equal, the angle theta between the receiver and the cable3Comprises the following steps:
the pipeline instrument receiver coil structure comprises:
the first horizontal coil is used for detecting a magnetic field signal of the buried cable in the horizontal direction, and the combination of the first horizontal coil and the second horizontal coil is used for measuring the buried depth and the current magnitude of the buried cable;
the vertical coil is used for detecting a magnetic field signal of the buried cable in the vertical direction, and the combination of the vertical coil and the first horizontal coil is used for detecting the left and right positions of the buried cable;
the third horizontal coil is perpendicular to the second horizontal coil in installation position, and the combination of the third horizontal coil and the second horizontal coil is used for measuring the included angle between the receiver and the buried cable so as to realize the compass function;
and the bracket is used for mounting and fixing the four groups of coils at a specific position.
2. The signal processing method of a pipeline instrument receiver coil structure of claim 1, wherein the first horizontal coil and the vertical coil are located at the bottom of the support, and the second horizontal coil and the third horizontal coil are located at the top of the support; the combination of the first horizontal coil and the vertical coil is used for detecting the left and right positions of the buried cable; the combination of the first horizontal coil and the second horizontal coil is used for measuring the depth and the current magnitude of the buried cable; the combination of the second horizontal coil and the third horizontal coil is used for realizing a compass indication function; the bracket is used for fixing and installing the four groups of receiving coils at a specific position; the coil circuit board card is used for carrying out bias adjustment, filtering and amplification preliminary processing on the magnetic field signals acquired by the coils, and the receiver core board card is used for realizing the functions of switching different coil combinations, conditioning the coil signals, converting A/D signals, processing digital signals and carrying out human-computer interaction.
3. The signal processing method of the pipeline instrument receiver coil structure as claimed in claim 2, wherein the coil circuit board card comprises:
the coil welding hole is used for welding the receiver coil;
a bias adjustment circuit for providing a bias voltage;
the clamp protection circuit is used for limiting the voltage of an input signal and playing a role of a protection circuit;
the filtering and amplifying circuit is used for filtering out the interference of the out-of-band signal and amplifying the input signal;
and the connecting seat is used for connecting the core board card of the receiver.
4. The signal processing method of the coil structure of the pipeline instrument receiver as claimed in claim 2, wherein the receiver core control board comprises:
the SDRAM module, the FLASH module, the crystal oscillator circuit, the reset circuit, the power supply module, the JTAG configuration module, the A/D conversion circuit, the signal conditioning circuit, the multi-channel selection circuit, the audio power amplifier module, the liquid crystal display module and the key module are all electrically connected with the DSP module; the receiver controls the multi-channel selection switch through a program, selects the signal conditioning circuits corresponding to different coils, the signal conditioning circuits adjust and process the magnetic field signals collected by each group of coils and then output the magnetic field signals to the audio power amplification circuit and the A/D converter, the audio power amplification circuit converts the analog electric signals into sound signals, and the strength of the received magnetic field signals is judged according to the sound of the loudspeaker; the A/D converter transmits the converted digital signals to a DSP for digital signal processing, the position information of the buried cable is calculated through an improved FIR digital filtering algorithm and theoretical formula derivation based on a coil structure, real-time display is carried out through a liquid crystal display, and the position of the cable is finally determined;
the SDRAM module is used for temporarily storing operation data in the CPU and data exchanged with the FLASH;
the FLASH module is used for storing a system program of the receiver;
the crystal oscillator circuit is used for providing basic clock signals for the CPU and other circuit modules;
the reset circuit is used for ensuring the safe and reliable work of the receiver core board card circuit;
the power supply module is used for supplying power to the whole receiver system;
the JTAG configuration circuit is used for simulation debugging of the core board card of the receiver;
the A/D conversion circuit is used for converting the analog voltage signal acquired by the coil into a digital signal, so that the DSP can conveniently process the digital signal;
the signal conditioning circuit is used for further adjusting and processing the magnetic field signal acquired by the coil;
a multipath channel selection circuit for selecting different coil combinations;
the audio power amplifier module is used for assisting in prompting the strength of the magnetic field signal detected by the receiver;
the liquid crystal display module is used for displaying cable path indication, received signal strength, received frequency, compass indication, battery electric quantity and menu information of the human-computer interaction interface;
and the key module is used for operating the human-computer interaction interface.
5. The method of signal processing for a pipeline instrument receiver coil structure of claim 4, wherein the signal conditioning circuit comprises:
the differential comparison circuit is used for carrying out differential amplification output on input signals at two ends of the coil;
the second-order low-pass filter circuit is used for filtering high-frequency interference signals outside a passband;
and the inverse proportion operation circuit is used for providing a stable inverse output signal and improving the load capacity.
6. A pipeline tool receiver using the signal processing method of the pipeline tool receiver coil structure of claim 1.
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| CN108983297B (en) * | 2018-06-15 | 2019-07-16 | 中国科学院地质与地球物理研究所 | A kind of surface em signal deteching circuit |
| CN109781836A (en) * | 2018-12-30 | 2019-05-21 | 上海微波技术研究所（中国电子科技集团公司第五十研究所） | Optical cable and cable sheath failure and route exploration instrument and its operating method |
| CN110618462B (en) * | 2019-09-29 | 2021-07-30 | 上海中车艾森迪海洋装备有限公司 | Method and device for detecting submarine cable |
| CN111624437B (en) * | 2020-04-18 | 2021-07-30 | 西安电子科技大学 | Integrated comprehensive underground cable maintenance detection method, detection system and detection instrument |
| CN111856208B (en) * | 2020-07-17 | 2023-09-19 | 山东科汇电力自动化股份有限公司 | Device and method for positioning fault point of ultra-high voltage cable sheath |
| CN115144910B (en) * | 2022-09-01 | 2022-11-25 | 青岛鼎信通讯股份有限公司 | Be applied to pipeline detection instrument receiver in electric power field |
| CN115201923B (en) * | 2022-09-15 | 2022-12-16 | 青岛鼎信通讯股份有限公司 | Ground cable orientation and buried depth detection method applied to electric power field |
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