CN112987112A - Submarine cable searching and positioning method based on magnetic induction coil cross combination mode - Google Patents
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Abstract
The invention relates to a submarine cable searching and positioning method based on a magnetic induction coil cross combined mode, which comprises the following steps: arranging a detection device, wherein the detection device comprises an underwater robot and a matrix composed of a first probe, a second probe, a third probe and a fourth probe, the first probe and the second probe are horizontally arranged and separated by a distance L, and the third probe and the fourth probe are vertically arranged and separated by a distance L; carrying the array on an underwater robot, carrying out underwater measurement, determining the route of the submarine cable according to the changes of the induced electromotive force of the first probe and the second probe by taking the induced electromotive force of the third probe and the fourth probe as a reference basis in the moving process of the underwater robot, and primarily judging the position relationship between the array and the submarine cable; and determining the position of the submarine cable, and further accurately calculating the horizontal relative distance and the vertical relative distance between the array and the submarine cable according to the position relation between the array and the submarine cable.
Description
Technical Field
The invention relates to a submarine cable searching and positioning method based on a magnetic induction coil cross combined mode, which is applied to the technical field of submarine cable searching and positioning.
Background
With the continuous deep excavation of people on ocean resources, sea cables (including submarine cables and submarine optical cables) gradually become main means of cross-sea communication and offshore operation and are widely used, and in order to prevent and avoid certain damage to the sea cables caused by unknown factors (such as ship anchoring to the sea cables, construction of offshore engineering projects and the like) on the sea, and influence on optical cable communication and offshore power supply, accurate detection on the routes and buried depths of the sea cables is needed; the detection method comprises an alternating current magnetic field detection method, an absolute magnetic field detection method, a metal detection method, an alternating current carrier method and the like, wherein the alternating current carrier method is a practical and effective magnetic detection method based on the electromagnetic characteristics of the submarine cable, the basic principle is that alternating current with specific frequency and power is conducted in the submarine cable, the submarine cable generates an electromagnetic field which is transmitted to the surrounding space, a special sensor is used for receiving electromagnetic wave signals within a proper distance and processing and analyzing the electromagnetic wave signals, and then the position and routing information of the submarine cable can be obtained. Carrying a magnetic detection rod consisting of a copper coil and a magnetic core by an underwater robot is a practical sensor based on an alternating-current magnetic field detection method, but to obtain reliable information of the route, the position and the burial depth of a submarine cable, a coil probe is required to be combined in a proper mode; the relatively representative coil probe combination scheme is a double three-dimensional magnetic probe array based on an underwater robot, the array scheme consists of two three-dimensional probe matrixes, each three-dimensional probe matrix consists of three mutually orthogonal same probes, the relative positions of the route of the submarine cable and the matrixes are judged according to the positive and negative relations of the magnetic induction intensity measured on different coils at the same time, and the buried depth data of the submarine cable is calculated according to the ratio of the induced electromotive force measured on different coils; firstly, three axes of two three-dimensional matrixes need to be strictly aligned horizontally, the manufacturing process is required to be higher, otherwise, errors caused by the structure can be generated in the measuring process, secondly, during actual detection, the detectors need to repeatedly move left and right in a cable magnetic field and change postures to obtain three induced electromotive force amplitude change rule curves, the cable position is obtained by integrating a dead point method and a peak value method, the three-dimensional matrixes need to use the phase relation of the induced electromotive force of each probe to judge the relative position, the reliability of the three-dimensional matrixes depends on the synchronism of signals processed by a subsequent circuit, if the induced electromotive forces of two probes have phase differences, the relative position of a submarine cable is likely to be misjudged, and the included angle between the two magnetic detectors and the submarine cable is also needed to be obtained in the calculating process, on one hand, the structure and the algorithm of the detecting mode are complex, on the other hand, the structure of the double three-dimensional, which in turn results in inaccurate and time-consuming and labor-intensive calculations of the detection data.
Disclosure of Invention
In order to solve the technical problems, the invention provides the submarine cable searching and positioning method based on the magnetic induction coil cross combination mode, which can reduce the mutual interference between the probes and the influence of the angle on the detection result, has a simpler structure and a simpler and more convenient algorithm, effectively reduces the calculation error and improves the accuracy of the detection result.
The technical scheme of the invention is as follows:
a submarine cable searching and positioning method based on a magnetic induction coil cross combined mode comprises the following steps:
arranging a detection device, wherein the detection device comprises an underwater robot and a matrix composed of a first probe, a second probe, a third probe and a fourth probe, the first probe and the second probe are horizontally arranged and separated by a distance L, and the third probe and the fourth probe are vertically arranged and separated by a distance L;
carrying the array on an underwater robot, carrying out underwater measurement, determining the route of the submarine cable according to the changes of the induced electromotive force of the first probe and the second probe by taking the induced electromotive force of the third probe and the fourth probe as a reference basis in the moving process of the underwater robot, and primarily judging the position relationship between the array and the submarine cable;
and determining the position of the submarine cable, and further accurately calculating the horizontal relative distance and the vertical relative distance between the array and the submarine cable according to the position relation between the array and the submarine cable.
The specific operation steps of the submarine cable route detection are as follows:
s1: carrying the array on an underwater robot and carrying out underwater measurement, wherein when the induced electromotive force of the first probe or the second probe is 0, the induced electromotive forces of the third probe and the fourth probe are also 0, which indicates that the current position is far away from the submarine cable;
s2: moving the underwater robot along the search path for a certain distance, wherein if the induced electromotive force of the first probe or the second probe is still 0, the underwater robot is indicated to advance along the direction far away from the submarine cable, and at the moment, the underwater robot is controlled to advance in the opposite direction until the induced electromotive force exists in the first probe or the second probe;
s3, when the array detects the induced electromotive force of the first probe or the second probe, the robot is rotated in situ to change the induced electromotive force of the first probe or the second probe, and when the induced electromotive force of the first probe or the second probe is the maximum, the plane where the array is located is vertical to the submarine cable;
s4, selecting a first discrimination mode, and judging that the center of the array is positioned at the left side of the submarine cable when the induced electromotive force of the first probe is smaller than that of the second probe and the induced electromotive forces of the third probe and the fourth probe are not 0; when the induced electromotive force of the first probe is larger than that of the second probe, and the induced electromotive forces of the third probe and the fourth probe are not 0, the center of the matrix at the moment can be judged to be positioned on the right side of the submarine cable; when the induced electromotive force of the first probe is equal to the induced electromotive force of the second probe and the induced electromotive force is not 0, the center of the matrix at the moment can be judged to be positioned right above the submarine cable;
s5: selecting a second discrimination mode, and judging that the center of the matrix is positioned at two sides of the submarine cable when the induced electromotive forces of the third probe and the fourth probe are not 0; at this time, if the induced electromotive force of the first probe is smaller than that of the second probe, it can be determined that the center of the matrix is located on the left side of the submarine cable; if the induced electromotive force of the first probe is larger than that of the second probe, the array can be judged to be positioned on the right side of the submarine cable; when the induced electromotive force of the third probe and the fourth probe is 0 and the induced electromotive force of the first probe and the second probe is not 0, the center of the matrix can be judged to be positioned right above the submarine cable;
and further calculating the horizontal relative distance between the matrix and the submarine cable and the vertical relative distance between the matrix and the submarine cable.
The calculation method of the horizontal relative distance between the array and the submarine cable and the vertical relative distance between the array and the submarine cable is as follows:
setting the induced electromotive force of the first probe to be epsilon1The induced electromotive force of the second probe is epsilon2The induced electromotive force of the third probe is epsilon3The induced electromotive force of the fourth probe is epsilon4，
Denotes a known constant, where0The vacuum rate is expressed in μ0＝4π×10-7H/m,μaDenotes the effective permeability, NS is the coil constant, ImExpressed as the amplitude of the current, ω ═ 2 π f, since the material and structure of each probe are the same, K can be considered as a known constant, and (x, y) represents the coordinate of the center of the matrix, ρiDenotes the distance, beta, of the ith probe from the sea cableiShowing the ith probeThe included angle between the direction of (a) and the magnetic induction intensity direction;
when the center of the matrix is located on the left side of the sea cable,
induced electromotive force generated by the first probe:
induced electromotive force generated by the second probe:
induced electromotive force generated by the third probe:
induced electromotive force generated by the fourth probe:
order to
At this time, from epsilon1>ε2，ε3<ε4The following can be obtained: 0<a<1,0<b<1
And further calculating to obtain the numerical values of two roots, wherein the distance numerical value calculated by one root is negative and not practical, so that the distance numerical value is truncated to obtain the following result:
thus, it is possible to obtain:
further, the horizontal distance D between the array and the submarine cable is obtained as follows:
the vertical height H of the array from the submarine cable is as follows:
when the matrix center is located on the right side of the sea cable,
induced electromotive force generated by the first probe:
induced electromotive force generated by the second probe:
induced electromotive force generated by the third probe:
induced electromotive force generated by the fourth probe:
order to
At this time, from epsilon1>ε2，ε3<ε4The following can be obtained: a is>1,0<b<1
As above, it can be demonstrated that:
therefore, the following can be obtained:
further solving the horizontal distance D between the array and the submarine cable as follows:
the vertical height H of the array from the submarine cable is as follows:
when the center of the array is directly above the sea cable,
when the array is positioned above the submarine cable, the horizontal distance D between the array and the submarine cable is equal to 0, and at the moment
Induced electromotive force generated by the first probe:
induced electromotive force generated by the second probe:
can be solved to obtain:
or
At the moment, the height of the array from the submarine cable
Thus, it is possible to provide
Can be obtained by proving
The invention has the following beneficial effects:
1. the axes of the first probe and the second probe in the array are perpendicular to the axes of the third probe and the fourth probe, so that the influence of the angle on the detection result is reduced, the included angle between the magnetic detector and the submarine cable is not needed in the calculation process, the calculation is more convenient, and the four probes are more convenient to measure relative to the original six probes.
2. Compared with a double three-dimensional detector array, the cross-shaped combined array provided by the invention has a simpler structure, does not have three-axis strictly horizontal operation, can reduce the working requirement to a certain extent, is easier to realize array balance, enables the operation and measurement calculation to be simpler and more convenient, and avoids the measurement error caused by the structure.
3. The matrix of the cross combination provided by the invention has stronger activity, and when the matrix can be flexibly changed, the interference between the probes can be reduced, the occurrence of a primary string field and a secondary string field is reduced, so that the experimental result is closer to the calculated value.
4. The induced electromotive force generated by the two vertically placed coils is theoretically 0 when the two vertically placed coils are right above the submarine cable, the induced electromotive force is very little in practice, errors caused by the self reason of the probe are reduced by judging the two paths of signals, and the correctness of the result is guaranteed.
5. The array has high flexibility, the same array can be superposed in other directions or combined with other arrays for detection, and the accuracy of the result can be better facilitated.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural diagram of the array of the present invention located on the left side of a submarine cable;
FIG. 3 is a schematic structural diagram of the array of the present invention located on the right side of the submarine cable;
fig. 4 is a schematic diagram of the array of the present invention located directly above the sea cable.
The reference numbers in the figures denote:
1. a first probe; 2. a second probe; 3. a third probe; 4. a fourth probe; 11. a seabed; 12. a sea cable; 13. magnetic field distribution around the sea cable.
Detailed Description
The invention is described in detail below with reference to the figures and the specific embodiments.
Referring to fig. 1 to 4, the submarine cable searching and positioning method based on the magnetic induction coil cross combination mode includes the following steps:
arranging a detection device, wherein the detection device comprises an underwater robot and a matrix composed of a first probe 1, a second probe 2, a third probe 3 and a fourth probe 4, the first probe 1 and the second probe 2 are horizontally arranged and separated by a distance L, and the third probe 3 and the fourth probe 4 are vertically arranged and separated by a distance L;
carrying the array on an underwater robot, carrying out underwater measurement, determining the route of the submarine cable 12 according to the changes of the induced electromotive force of the first probe 1 and the second probe 2 by taking the induced electromotive force of the third probe 3 and the fourth probe 4 as a reference basis in the moving process of the underwater robot, and preliminarily judging the position relation between the array and the submarine cable 12;
and determining the position of the submarine cable 12, and accurately calculating the horizontal relative distance between the array and the submarine cable 12 and the vertical relative distance between the array and the submarine cable according to the position relation between the array and the submarine cable 12.
The specific operation steps of the route detection of the submarine cable 12 are as follows:
s1: the array is carried on an underwater robot and is launched for measurement, when the induced electromotive force of the first probe 1 or the second probe 2 is 0, the induced electromotive force of the third probe 3 and the fourth probe 4 is 0, and the current position is far away from the submarine cable 12;
s2: moving the underwater robot along the search path for a certain distance, wherein if the induced electromotive force of the first probe 1 or the second probe 2 is still 0, the underwater robot is indicated to advance along the direction far away from the submarine cable 12, and at the moment, the underwater robot is controlled to advance in the opposite direction until the induced electromotive force exists in the first probe 1 or the second probe 2;
s3, when the array detects the induced electromotive force of the first probe 1 or the second probe 2, the robot is rotated in situ to change the induced electromotive force of the first probe 1 or the second probe 2, and when the induced electromotive force of the first probe 1 or the second probe 2 is the maximum, the plane where the array is located is vertical to the submarine cable 12;
s4, selecting a first discrimination mode, and judging that the center of the matrix is positioned at the left side of the submarine cable 12 when the induced electromotive force of the first probe 1 is smaller than that of the second probe 2 and the induced electromotive forces of the third probe 3 and the fourth probe 4 are not 0; when the induced electromotive force of the first probe 1 is greater than that of the second probe 2, and the induced electromotive forces of the third probe 3 and the fourth probe 4 are not 0, it can be determined that the center of the matrix is located on the right side of the submarine cable 12 at the moment; when the induced electromotive force of the first probe 1 is equal to the induced electromotive force of the second probe 2 and both are not 0, it can be determined that the center of the matrix is located right above the submarine cable 12 at the moment;
s5: selecting a second discrimination mode, and when the induced electromotive forces of the third probe 3 and the fourth probe 4 are not 0, judging that the center of the matrix is positioned at two sides of the submarine cable 12; at this time, if the induced electromotive force of the first probe 1 is smaller than the induced electromotive force of the second probe 2, it can be determined that the center of the matrix is located on the left side of the submarine cable 12; if the induced electromotive force of the first probe 1 is greater than that of the second probe 2, it can be determined that the matrix is located on the right side of the submarine cable 12; when the induced electromotive forces of the third probe 3 and the fourth probe 4 are 0 and the induced electromotive forces of the first probe 1 and the second probe 2 are not 0, it can be determined that the center of the matrix is located right above the submarine cable 12;
further, the horizontal relative distance between the matrix and the submarine cable 12 and the vertical relative distance between the matrix and the submarine cable 12 are calculated.
The calculation method of the horizontal relative distance between the matrix and the submarine cable 12 and the vertical relative distance between the matrix and the submarine cable 12 is as follows:
the induced electromotive force of the first probe 1 is set to epsilon1The induced electromotive force of the second probe 2 is epsilon2The induced electromotive force of the third probe 3 is epsilon3The induced electromotive force of the fourth probe 4 is epsilon4，
Denotes a known constant, where0The vacuum rate is expressed in μ0＝4π×10-7H/m,μaDenotes the effective permeability, NS is the coil constant, ImExpressed as the amplitude of the current, ω ═ 2 π f, since the material and structure of each probe are the same, K can be considered as a known constant, and (x, y) represents the coordinate of the center of the matrix, ρiDenotes the distance, beta, of the ith probe from the sea cable 12iThe included angle between the direction of the ith probe and the direction of the magnetic induction intensity is shown;
when the center of the matrix is located to the left of the sea cable 12,
induced electromotive force generated by the first probe 1:
induced electromotive force generated by the second probe 2:
induced electromotive force generated by the third probe 3:
induced electromotive force generated by the fourth probe 4:
order to
At this time, from epsilon1>ε2，ε3<ε4The following can be obtained: 0<a<1,0<b<1
And further calculating to obtain the numerical values of two roots, wherein the distance numerical value calculated by one root is negative and not practical, so that the distance numerical value is truncated to obtain the following result:
thus, it is possible to obtain:
further, the horizontal distance D between the array and the submarine cable 12 is obtained as follows:
the vertical height H of the array from the submarine cable 12 is as follows:
when the matrix center is located on the right side of the sea cable 12,
induced electromotive force generated by the first probe 1:
induced electromotive force generated by the second probe 2:
induced electromotive force generated by the third probe 3:
induced electromotive force generated by the fourth probe 4:
order to
At this time, from epsilon1>ε2，ε3<ε4The following can be obtained: a is>1,0<b<1
As above, it can be demonstrated that:
therefore, the following can be obtained:
further, the horizontal distance D between the array and the submarine cable 12 is obtained as follows:
the vertical height H of the array from the submarine cable 12 is as follows:
when the matrix center is directly above the sea cable 12,
when the array is located above the submarine cable 12, the horizontal distance D between the array and the submarine cable 12 is 0, and at this time
Induced electromotive force generated by the first probe 1:
induced electromotive force generated by the second probe 2:
can be solved to obtain:
or
At this time the height of the array from the sea cable 12
Thus, it is possible to provide
Can be obtained by proving
In the operation step of judging the submarine cable route, a fifth probe (the position of the fifth probe should be perpendicular to the plane of the array) can be added at the center of the array, and when the induced electromotive force of the fifth probe is 0, the plane of the array at the moment can be judged to be perpendicular to the submarine cable, so that the method of searching the route by the rotation of the robot is replaced.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (3)
1. Submarine cable searching and positioning method based on magnetic induction coil cross combination mode is characterized in that: the method comprises the following steps:
arranging a detection device, wherein the detection device comprises an underwater robot and a matrix composed of a first probe, a second probe, a third probe and a fourth probe, the first probe and the second probe are horizontally arranged and separated by a distance L, and the third probe and the fourth probe are vertically arranged and separated by a distance L;
carrying the array on an underwater robot, carrying out underwater measurement, determining the route of the submarine cable according to the changes of the induced electromotive force of the first probe and the second probe by taking the induced electromotive force of the third probe and the fourth probe as a reference basis in the moving process of the underwater robot, and primarily judging the position relationship between the array and the submarine cable;
and determining the position of the submarine cable, and further accurately calculating the horizontal relative distance and the vertical relative distance between the array and the submarine cable according to the position relation between the array and the submarine cable.
2. The submarine cable searching and positioning method based on the magnetic induction coil cross combination mode according to claim 1, wherein: the specific operation steps of the submarine cable route detection are as follows:
s1: carrying the array on an underwater robot and carrying out underwater measurement, wherein when the induced electromotive force of the first probe or the second probe is 0, the induced electromotive forces of the third probe and the fourth probe are also 0, which indicates that the current position is far away from the submarine cable;
s2: moving the underwater robot along the search path for a certain distance, wherein if the induced electromotive force of the first probe or the second probe is still 0, the underwater robot is indicated to advance along the direction far away from the submarine cable, and at the moment, the underwater robot is controlled to advance in the opposite direction until the induced electromotive force exists in the first probe or the second probe;
s3, when the array detects the induced electromotive force of the first probe or the second probe, the robot is rotated in situ to change the induced electromotive force of the first probe or the second probe, and when the induced electromotive force of the first probe or the second probe is the maximum, the plane where the array is located is vertical to the submarine cable;
s4, selecting a first discrimination mode, and judging that the center of the array is positioned at the left side of the submarine cable when the induced electromotive force of the first probe is smaller than that of the second probe and the induced electromotive forces of the third probe and the fourth probe are not 0; when the induced electromotive force of the first probe is larger than that of the second probe, and the induced electromotive forces of the third probe and the fourth probe are not 0, the center of the matrix at the moment can be judged to be positioned on the right side of the submarine cable; when the induced electromotive force of the first probe is equal to the induced electromotive force of the second probe and the induced electromotive force is not 0, the center of the matrix at the moment can be judged to be positioned right above the submarine cable;
s5: selecting a second discrimination mode, and judging that the center of the matrix is positioned at two sides of the submarine cable when the induced electromotive forces of the third probe and the fourth probe are not 0; at this time, if the induced electromotive force of the first probe is smaller than that of the second probe, it can be determined that the center of the matrix is located on the left side of the submarine cable; if the induced electromotive force of the first probe is larger than that of the second probe, the array can be judged to be positioned on the right side of the submarine cable; when the induced electromotive force of the third probe and the fourth probe is 0 and the induced electromotive force of the first probe and the second probe is not 0, the center of the matrix can be judged to be positioned right above the submarine cable; and further calculating the horizontal relative distance between the matrix and the submarine cable and the vertical relative distance between the matrix and the submarine cable.
3. The submarine cable searching and positioning method based on the magnetic induction coil cross combination mode according to claim 2, wherein: the calculation method of the horizontal relative distance between the array and the submarine cable and the vertical relative distance between the array and the submarine cable is as follows:
setting the induced electromotive force of the first probe to be epsilon1The induced electromotive force of the second probe is epsilon2The induced electromotive force of the third probe is epsilon3The induced electromotive force of the fourth probe is epsilon4，
Denotes a known constant, where0The vacuum rate of the representation is such that,generally take mu0＝4π×10-7H/m,μaDenotes the effective permeability, NS is the coil constant, ImExpressed as the amplitude of the current, ω ═ 2 π f, since the material and structure of each probe are the same, K can be considered as a known constant, and (x, y) represents the coordinate of the center of the matrix, ρiDenotes the distance, beta, of the ith probe from the sea cableiThe included angle between the direction of the ith probe and the direction of the magnetic induction intensity is shown;
when the center of the matrix is located on the left side of the sea cable,
induced electromotive force generated by the first probe:
induced electromotive force generated by the second probe:
induced electromotive force generated by the third probe:
induced electromotive force generated by the fourth probe:
order to
At this time, from epsilon1>ε2，ε3<ε4The following can be obtained: 0<a<1,0<b<1
And further calculating to obtain the numerical values of two roots, wherein the distance numerical value calculated by one root is negative and not practical, so that the distance numerical value is truncated to obtain the following result:
thus, it is possible to obtain:
further, the horizontal distance D between the array and the submarine cable is obtained as follows:
the vertical height H of the array from the submarine cable is as follows:
when the matrix center is located on the right side of the sea cable,
induced electromotive force generated by the first probe:
induced electromotive force generated by the second probe:
induced electromotive force generated by the third probe:
induced electromotive force generated by the fourth probe:
order to
At this time, from epsilon1>ε2，ε3<ε4The following can be obtained: a is>1,0<b<1
As above, it can be demonstrated that:
therefore, the following can be obtained:
further solving the horizontal distance D between the array and the submarine cable as follows:
the vertical height H of the array from the submarine cable is as follows:
when the center of the array is directly above the sea cable,
when the array is positioned above the submarine cable, the horizontal distance D between the array and the submarine cable is equal to 0, and at the moment
Induced electromotive force generated by the first probe:
induced electromotive force generated by the second probe:
can be solved to obtain:
or
At the moment, the height of the array from the submarine cable
Thus, it is possible to provide
Can be obtained by proving
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Cited By (3)
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| CN114518601A (en) * | 2022-03-29 | 2022-05-20 | 福州大学 | Submarine cable searching and positioning device and method |
| CN115144910A (en) * | 2022-09-01 | 2022-10-04 | 青岛鼎信通讯股份有限公司 | Be applied to pipeline detection instrument receiver in electric power field |
| CN116068340A (en) * | 2023-03-02 | 2023-05-05 | 杭州电子科技大学 | Three-phase single-core submarine cable route positioning method and device based on phase difference gradient measurement |
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