The Design Of Intelligent Tracking Car Based On Electromagnetic Signal

The cable path detector is one of the most important electronic devices to detect the underground power cable path in the electric power industry.Fully automatic cable detector can greatly reduce the workload of inspection workers and avoid the damage of public circuit caused by misoperation,which has certain practical significance and application value.In this paper,two working modes are designed to realize on-line detection of running cable and idle detection of injecting specific signals.In the existing environment of the laboratory,the simulation tracing is carried out by using high frequency current conductor and wire with three-phase current.The main work completed in this paper is as follows:1.The principle of electromagnetic induction and magnetic field distribution of underground cable are introduced.MATLAB is used to calculate the magnetic field strength of the high frequency energized conductor,and the size of the power frequency magnetic field and induced electromotive force is simulated in MAXWELL.Determine the detection plan.2.STM32F103C8T6 is adopted to build the minimum system,and hardware circuits such as power conversion circuit,A4950 motor drive circuit,signal acquisition circuit and signal preprocessing circuit under two working modes are designed.The filter circuit is simulated in Multisim to verify the validity of the circuit design and make PCB board.3.The intelligent vehicle program is written in C language.The position PID and incremental PID are used to control the steering engine and the motor respectively,and the cable path is determined and recorded according to the electromagnetic signals of the three coils.Use Visual Studio platform to develop mobile phone client,design Bluetooth interface to realize remote control and data transmission.4.Complete the overall debugging of the intelligent tracking vehicle,build the track with the three-phase power box of the laboratory,conduct the experiment with the buried cable that simulates the running state,and simulate the detection state of specific signals with the race track of the intelligent vehicle.Experimental results show that the detection depth is consistent with the simulation results and can meet the basic design requirements.