CN115061208A - Cable trench detection method - Google Patents
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- CN115061208A CN115061208A CN202210659812.1A CN202210659812A CN115061208A CN 115061208 A CN115061208 A CN 115061208A CN 202210659812 A CN202210659812 A CN 202210659812A CN 115061208 A CN115061208 A CN 115061208A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
- G01V3/08—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
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- Y04S10/00—Systems supporting electrical power generation, transmission or distribution
- Y04S10/50—Systems or methods supporting the power network operation or management, involving a certain degree of interaction with the load-side end user applications
- Y04S10/52—Outage or fault management, e.g. fault detection or location
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Abstract
The invention discloses a detection method of a cable trench, which comprises the steps of enabling a detection instrument with a magnetic detection mechanism to go deep into the cable trench, enabling the magnetic detection mechanism to detect the change of a magnetic field due to the difference of a superposed magnetic field and an original magnetic field, gradually changing the influence of the magnetic field on the magnetic detection mechanism from the earth magnetic field to the superposed magnetic field of the earth magnetic field generated by electrifying a cable and the cable in the process of entering the cable trench from the outside, and judging the condition of the cable in the cable trench according to the change of the detection result of the magnetic field, thereby being convenient for judging whether the cable is normally used or not, avoiding the condition that a maintainer sneaks into the cable trench to detect the cable, reducing the detection difficulty of the cable in the cable trench and improving the detection efficiency of the cable in the cable trench.
Description
Technical Field
The invention relates to the field of cable trench detection, in particular to a cable trench detection method.
Background
The cable trench is an underground pipeline for laying and replacing electric power or telecommunication cable facilities, is also an enclosure structure of laid cable facilities, and has pipeline structure forms of rectangle, circle, arch and the like. The long-term accumulation of sewage in the cable trench can cause the reduction of the cable insulation strength, possibly cause single-phase grounding or multi-phase fault and tripping of a high-voltage cable, and reduce the power supply reliability; meanwhile, the secondary cable is grounded at one or more points, and operation rejection or misoperation is protected. Channeling of the cable into small animals may also damage the cable.
The safety, stability and reliability of a power grid are directly threatened, the cable trench needs to be detected to ensure the normal use of the cable, usually, maintenance personnel directly go deep into the cable trench to detect the cable for artificial detection, the difficulty is high, the operation is troublesome, and with the development of the technology, some shooting equipment can also shoot and detect the conditions in the cable trench, but the shooting only can shoot image information and cannot detect whether the use of the cable is normal or not;
the maintenance personnel get into the maintenance after detecting the trouble region in the testing process, this emergence that can lead to two kinds of situations, first delayed the time of later stage detection cable pit, probably neglected the cable pit detection of rear when too much time delays to overhaul the minor fault in earlier stage, the second detects that need prepare a large amount of maintenance tools before the cable pit trouble, and the distance of part cable pit is longer, need carry the very far distance of instrument walking, extravagant manpower resources very much.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides a cable trench detection method to solve the problems.
In order to achieve the above object, the present invention is achieved by the following technical solutions.
A cable trench detection method comprises the following steps:
1) preparing in the early detection stage: the method comprises the following steps that magnetic detection equipment is used for detecting the electrifying condition of a cable in a cable trench through the influence of a magnetic electric field generated in the electrifying process of the cable on a magnetic material, and a detection instrument is in wireless connection with a terminal and comprises a display end, a detection end and a GPS module;
2) launch detection and record offset angle: the magnetic probe in the detection end of the detection instrument generates angular deviation according to a magnetic field generated after the cable is electrified, and the deviation angle data of the magnetic probe is transmitted to the display end of the detection instrument;
3) data analysis evaluation status: carrying out data analysis on the cable working condition of the detection area according to the offset angle data of the magnetic probe, and evaluating the magnitude of current in the cable and the working condition of the cable;
4) recording the whole video: the detection end of the detection instrument carries out whole-course video recording in the process of moving in the cable trench and transmits video recording information to the display end;
5) presetting a database and performing subdivision data verification: a cable trench detection database is preset in the terminal, and cable working data and information of a detection image are uploaded to a background cable trench detection database after the judgment of a detection instrument is finished;
6) and (4) overhauling according to the positioning information: the maintenance personnel position to the maintenance working place to start maintenance according to the numerical value in the cable trench detection database;
preferably, in the steps 1 to 4, the power-on condition of the cable in the cable trench and the environment where the cable is located are judged according to the detected cable working data and the detected image, and the on-off and detection influence factors of the cable are judged: if the probe deviation angle is zero, the cable is damaged or short circuit cannot normally work, whether the cable is damaged or broken is further confirmed by combining detected images, if the probe deviation angle is between 0.5 and 15 degrees, the cable in the cable duct normally works, and if the probe deviation angle is larger than 15 degrees, the cable in the cable duct abnormally works or the probe is influenced by other factors, and specific analysis is carried out by combining a detection video.
Preferably, the detecting instrument is wirelessly connected with the terminal, and the detecting instrument comprises a display end, a detecting end and a GPS module which are connected with each other.
Preferably, the display end of the detecting instrument comprises a magnetic detecting disc and a display.
Preferably, the detection end of the detection instrument comprises a bracket for fixing the detection structure, a magnetic probe which is arranged inside the bracket and is influenced by the electromagnetic field of the cable, and a shooting device which is arranged inside the bracket and has a night vision function.
Preferably, the magnetic flux formula of the magnetic probe influenced by the cable in the cable trench is beta ═ mu 0 I/[(2πR)r+z]I is the magnitude of the current, μ 0 ＝4π*10 7 R is the distance from the point to the wire, R is the error coefficient, and z is the offset.
Preferably, the detecting end of the detecting instrument is used for performing magnetic detection on a magnetic field different from the original earth magnetic field formed by interaction of magnetism generated by the cable in the cable trench and earth magnetism, so that the detection display end is changed due to the detection result.
Preferably, the detection result evaluation can evaluate whether the cable is normally used or not and evaluate whether the internal environment of the cable trench reaches the standard or not.
Preferably, after the judgment in the steps 5 to 6, uploading the working data of the cable and the information of the detection image to a background cable trench detection database, wherein the signal value transmitted back by the detection instrument when the cable is electrified or the layout is abnormal is a, the signal value transmitted back by the detection instrument when the cable is normal is b, the signal value transmitted back by the detection instrument when the cable is damaged or short-circuited is c, and the maintainer preliminarily judges the fault by combining the signal values transmitted back with the detection image, wherein the signal value transmitted back by the maintainer when the cable is electrified is a1, the signal value transmitted back by the maintainer when the layout is abnormal is a2, the maintainer does not need to transmit back the signal value secondarily when the cable is normal, the signal value transmitted back by the maintainer when the cable is damaged is c1, the signal value transmitted back by the maintainer when the cable is short-circuited is c2, the GPS module in the detection instrument synchronously transmits back the coordinates positioned by the GPS module after the maintainer transmits back any signal value, responsible for maintainingThe repairing personnel prepares the tool to be repaired according to the coordinate information in the cable trench detection database and the fault situation, finds the fault point according to the coordinates and starts the repair, and the magnetic flux formula of the magnetic probe influenced by the cable in the cable trench is beta-mu 0 I/[(2πR)r+z]The formula is also specially set for the method, the formula is mainly applied to a formula that the magnetic probe for detecting the cable duct is influenced by the cable to influence the magnetic flux, the fault condition and the reason are judged in an auxiliary mode through the mutual matching of a display end and a detection end in a detection instrument, the coordinates of fault points are additionally positioned through a GPS (global positioning system) module, a person in charge of maintenance can start in time after checking the fault information and the specific position at a terminal, the number of people can be arranged according to the number of the fault points, the situation that the detection of the cable duct behind is neglected when the small fault is overhauled due to too much time in the early stage is avoided, in addition, the person in charge of maintenance can prepare different maintenance tools according to the fault information of different point positions, and the situation that part of the cable duct is long in distance and the tool needs to be carried for a long distance is avoided.
Compared with the prior art, the method has the beneficial effects that: a detection method of cable pit is to deepen a detection instrument with a magnetism detection mechanism into the cable pit, the influence of a magnetic field on the magnetism detection mechanism in the process of entering the cable pit from the outside is gradually changed from an earth magnetic field to a superposed magnetic field of the earth magnetic field and a magnetic field generated by electrifying the cable, the magnetism detection mechanism can detect the change of the magnetic field due to the difference of the superposed magnetic field and the original magnetic field, and the detection result of the magnetism of the cable can also change along with the approaching and the far away, the condition of the cable in the cable pit is judged according to the change of the detection result of the magnetic field, the cable is convenient to judge whether to be normally used, the condition that a maintenance worker submerges in the cable pit to detect the cable is avoided, the detection difficulty of the cable in the cable pit is reduced, and the efficiency of the detection of the cable in the cable pit is improved;
the magnetic flux formula of the magnetic probe influenced by the cable in the cable trench is beta-mu 0 I/[(2πR)r+z]The formula is also specially set for the method and mainly applied to the formula that the cable channel detection magnetic probe is influenced by the cable;
the display end and the detection end in the detection instrument are matched with each other to realize auxiliary judgment of fault conditions and reasons, the coordinates of fault points are additionally positioned through a GPS module, a person in charge of maintenance can start in time after checking fault information and specific positions at a terminal, the number of people can be arranged according to the number of the fault points, and the detection of a rear cable trench is not ignored when small faults are overhauled due to too much time in the early stage;
in addition, the personnel in charge of maintenance can prepare different maintenance tools according to the fault information of different point positions, and the condition that part of cable ducts are long in distance and need to carry tools for a long walking distance is avoided.
Drawings
FIG. 1 is a flow chart illustrating the steps of a cable trench detection method according to the present invention;
FIG. 2 is a diagram of a detecting instrument of the method for detecting a cable trench according to the present invention;
fig. 3 is a topological diagram of the detection method of the cable trench according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
A cable trench detection method comprises the following steps:
1) preparing in the early detection stage: the method comprises the steps of determining the position area of a cable trench according to a cable planning design drawing stored in a data room, wherein the layout of a cable is an important component in urban planning, directly finding the position of the cable trench through planning layout when the cable trench needs to be positioned, taking a detection instrument out of a tool box and completing installation, opening a detection port connected with the cable trench, carrying the detection instrument to the vicinity of the cable trench, taking a cover plate down when detecting the cable trench of the cover plate, installing the cover plate in an original position after detection is completed, finding a wire through notch communicated with the cable trench when detecting the cable trench without the cover plate, or detecting by using a drilling machine to drill holes under the condition of need, repairing the drilled holes after detection of the drilling machine is completed, extending the detection end of the installed detection instrument into the interior of the cable trench, and enabling a magnetic detection device to detect the magnetic material through the influence of a magnetic electric field generated in the cable electrifying process Detecting the power-on condition of the cable;
2) launch detection and record offset angle: slowly moving the detection end of the detection instrument along the layout direction of the cable, wherein a magnetic probe in the detection end of the detection instrument generates angular deviation according to a magnetic field generated after the cable is electrified, and transmitting the deviation angle data of the magnetic probe to the display end of the detection instrument;
3) data analysis evaluation status: carrying out data analysis on the cable working condition of the detection area according to the offset angle data of the magnetic probe, and evaluating the magnitude of current in the cable and the working condition of the cable;
4) recording the whole video: the detection end of the detection instrument carries out whole-course video recording in the process of moving in the cable trench and transmits video recording information to the display end;
5) presetting a database and performing subdivision data verification: a cable trench detection database is preset in the terminal, the cable working data and the information of the detection image are uploaded to a background cable trench detection database after the judgment of the detection instrument is finished,
6) and (4) overhauling according to the positioning information: the maintenance personnel position to the maintenance working place to start maintenance according to the numerical value in the cable trench detection database;
judging the electrifying condition of the cable in the cable trench and the environment of the cable according to the detected cable working data and the detected image in the steps 1 to 4, judging the on-off of the cable and detecting influence factors: if the deviation angle of the probe is zero, the cable is damaged or short circuit cannot normally work, whether the cable is damaged or broken is further confirmed by combining detected images, if the deviation angle of the probe is between 0.5 and 15 degrees, the cable in the cable trench normally works, if the deviation angle of the probe is more than 15 degrees, the cable in the cable trench abnormally works or the probe is influenced by other factors, specific analysis is carried out by combining a detection video, a detection instrument with a magnetic detection mechanism is deeply inserted into the cable trench, the influence of the magnetic field on the magnetic detection mechanism in the process of entering the cable trench from the outside is gradually changed into a superposed magnetic field of the earth magnetic field and the cable power-on generated magnetic field, and the magnetic detection mechanism can detect the change of the magnetic field due to the difference between the superposed magnetic field and the original magnetic field and can also change along with the detection result of the magnetism approaching to and departing from the cable, the condition of the cable in the cable duct is judged according to the change of the magnetic field detection result, whether the cable is normally used or not is convenient to judge, the condition that maintenance personnel dive into the cable duct to detect the cable is avoided, the detection difficulty of the cable in the cable duct is reduced, the efficiency of detecting the cable in the cable duct is improved, the influence on the electromagnetic emission process test is avoided according to the position and the angle deviation of a magnetic probe, when other experimental conditions are not changed, the deflection angle of the magnetic probe is selected to be 0 degree, 10 degrees, 15 degrees, 20 degrees, 25 degrees, 30 degrees, 35 degrees, 40 degrees and 45 degrees, when the angle is larger than 15 degrees, the voltage difference is larger than 10 percent, the magnetic probe is greatly influenced, and therefore the judgment critical angle of the probe deviation angle is defined to be 15 degrees.
The detection end of the detection instrument comprises a bracket for fixing a detection structure, a magnetic probe which is arranged in the bracket and is influenced by a cable electromagnetic field and a shooting device which is arranged in the bracket and has a night vision function, the display end of the detection instrument comprises a supporting seat for supporting, a magnetic detection disc for displaying magnetic change and a display for displaying images of a detection ditch, the magnetic detection disc is in signal connection with the magnetic probe and is in signal connection with the display and the shooting device, the detection end of the detection instrument is connected with the display end of the detection instrument through a telescopic rod which can be disassembled and assembled, when the detection device needs to be used, the detection end, the display end part and the telescopic rod of the detection instrument are taken out from the tool box, the detection end and the display end part are connected together through the telescopic rod, the detection end is deeply inserted into the cable ditch, and the telescopic rod is controlled to be extended along with the continuous penetration of the detection end, when accomodating, contract the telescopic link and be convenient for accomodate and carry, carry out the image recording to the inside condition of cable pit through the shooting equipment that has the night vision function, whether receive the external influence of cable pit internal environment according to influence analysis cable.
The magnetic probe is subjected to the cable in the cable trenchThe formula of the magnetic flux of influence is β ═ μ 0 I/[(2πR)r+z]
I is the magnitude of the current, μ 0 ＝4π*10 7 R is the distance from the point to the wire, R is the error coefficient, and z is the offset. The detection instrument detection end interacts magnetism and earth magnetism generated by a cable in the cable trench to form a magnetic field different from an original earth magnetic field for magnetic detection, so that the detection display end changes due to a detection result, the detection result evaluation can evaluate whether the cable is normally used, and whether the internal environment of the cable trench reaches the standard or not can be evaluated.
Step 5-step 6, after the judgment is finished, the working data of the cable and the information of the detection image are uploaded to a background cable trench detection database, wherein the signal value transmitted back by the detection instrument is a when the cable is electrified or the layout is abnormal, the signal value transmitted back by the detection instrument is b when the cable is normal, the signal value transmitted back by the detection instrument is c when the cable is damaged or short-circuited, and the overhaul personnel primarily judge the fault by combining the signal value transmitted back with the detection image, wherein the signal value transmitted back by the overhaul personnel when the cable is electrified is a1, the signal value transmitted back by the overhaul personnel when the layout is abnormal is a2, the overhaul personnel do not need to transmit the signal value secondarily when the cable is normal, the signal value transmitted back by the overhaul personnel when the cable is damaged is c1, the signal value transmitted back by the overhaul personnel when the cable is short-circuited is c2, a GPS module in the detection instrument, and the coordinates positioned by the GPS module are synchronously transmitted back to the cable trench detection database after the overhaul personnel transmit any signal value back, the personnel responsible for maintenance can prepare the tools needed to be maintained and used according to the coordinate information in the cable trench detection database and the fault situation, find the fault point according to the coordinates and start maintenance, and the magnetic flux formula of the magnetic probe influenced by the cable in the cable trench is beta-mu 0 I/[(2πR)r+z]The formula is also specially set for the method, the formula is mainly applied to a formula that the magnetic probe is detected by the cable to influence the magnetic flux of the cable trench, the fault condition and the reason are judged in an auxiliary way by the mutual matching of a display end and a detection end in a detection instrument, the coordinates of fault points are additionally positioned by a GPS module, a person in charge of maintenance can start in time after checking fault information and specific positions at a terminal, the number of people can be arranged according to the number of the fault points, and the phenomenon that the number of people is too large in the early stage is avoidedIn addition, the personnel in charge of maintenance can prepare different maintenance tools according to the fault information of different point positions, so that the condition that part of the cable trenches are long in distance and need to carry tools to walk for a long distance is avoided.
The cables in the cable duct are electrically connected with an external main controller and 220V mains supply, and the main controller can be a conventional known device controlled by a computer and the like.
When the detection instrument is used, the detection instrument with the magnetic detection mechanism is deeply inserted into the cable trench, the influence of a magnetic field on the magnetic detection mechanism in the process of entering the cable trench from the outside is gradually changed into a superposed magnetic field of the earth magnetic field and the magnetic field generated by electrifying the cable, the magnetic detection mechanism can detect the change of the magnetic field due to the difference of the superposed magnetic field and the original magnetic field, and the detection result of the magnetism of the cable can also change along with the approaching and the departing.
In conclusion, according to the detection method of the cable trench, the condition of the cable in the cable trench is judged according to the change of the magnetic field detection result, whether the cable is normally used or not is convenient to judge, maintenance personnel are prevented from submerging into the cable trench to detect the cable, the detection difficulty of the cable in the cable trench is reduced, and the detection effect of the cable in the cable trench is improved.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular is intended to include the plural unless the context clearly dictates otherwise, and it should be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of features, steps, operations, devices, components, and/or combinations thereof.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A cable trench detection method is characterized in that: the method comprises the following steps:
1) preparing in the early detection stage: the method comprises the following steps that magnetic detection equipment is used for detecting the electrifying condition of a cable in a cable duct through the influence of a magnetic electric field generated in the electrifying process of the cable on a magnetic material, a detection instrument is wirelessly connected with a terminal, and the detection instrument comprises a display end, a detection end and a GPS module;
2) launch detection and record offset angle: the magnetic probe in the detection end of the detection instrument generates angular deviation according to a magnetic field generated after the cable is electrified, and the deviation angle data of the magnetic probe is transmitted to the display end of the detection instrument;
3) data analysis evaluation status: carrying out data analysis on the cable working condition of the detection area according to the offset angle data of the magnetic probe, and evaluating the magnitude of current in the cable and the working condition of the cable;
4) recording the whole video: the detection end of the detection instrument carries out whole-course video recording in the process of moving in the cable trench and transmits video recording information to the display end;
5) presetting a database and performing subdivision data verification: a cable trench detection database is preset in the terminal, and cable working data and information of a detection image are uploaded to a background cable trench detection database after the judgment of a detection instrument is finished;
6) overhauling according to the positioning information: and the maintainer positions to a maintenance working place according to the numerical value in the cable trench detection database to start maintenance.
2. The method for detecting a cable trench according to claim 1, wherein: judging the electrifying condition of the cable in the cable trench and the environment of the cable according to the detected cable working data and the detected image in the steps 1 to 4, judging the on-off of the cable and detecting influence factors: if the probe deviation angle is zero, the cable is damaged or short circuit cannot normally work, whether the cable is damaged or broken is further confirmed by combining detected images, if the probe deviation angle is between 0.5 and 15 degrees, the cable in the cable duct normally works, and if the probe deviation angle is larger than 15 degrees, the cable in the cable duct abnormally works or the probe is influenced by other factors, and specific analysis is carried out by combining a detection video.
3. The method for detecting a cable trench according to claim 1, wherein: the detection instrument is wirelessly connected with the terminal and comprises a display end, a detection end and a GPS module which are connected with each other.
4. The method for detecting a cable trench according to claim 1, wherein: the display end of the detecting instrument comprises a magnetic detecting disc and a display.
5. The method for detecting a cable trench according to claim 1, wherein: the detection end of the detection instrument comprises a support used for fixing a detection structure, a magnetic probe which is arranged in the support and is influenced by a cable electromagnetic field, and shooting equipment which is arranged in the support and has a night vision function.
6. The method for detecting a cable trench according to claim 1, wherein: the magnetic flux formula of the magnetic probe influenced by the cable in the cable trench is beta-mu 0 I/[(2πR)r+z]I is the magnitude of the current, μ 0 ＝4π*10 7 R is the distance from the point to the wire, R is the error coefficient, and z is the offset.
7. The method for detecting a cable trench according to claim 1, wherein: the detection end of the detection instrument interacts with the magnetism generated by the cable in the cable trench and the earth magnetism to form a magnetic field different from the original magnetic field of the earth for magnetic detection, so that the detection display end changes due to the detection result.
8. The method for detecting a cable trench according to claim 1, wherein: the detection result evaluation can be used for evaluating whether the cable is normally used or not and evaluating whether the internal environment of the cable trench reaches the standard or not.
9. The method for detecting a cable trench according to claim 1, wherein: and 5, uploading the information of the cable working data and the detection images to a background cable trench detection database after the judgment is finished, wherein the signal value transmitted back by the detection instrument is a when the cable is electrified or the layout is abnormal, the signal value transmitted back by the detection instrument is b when the cable is normal, the signal value transmitted back by the detection instrument is c when the cable is damaged or short-circuited, and the maintainer preliminarily judges the fault by combining the signal value transmitted back with the detection images.
10. The method of detecting a trench according to claim 9, wherein: the system comprises a cable, a maintainer, a detector, a GPS module, a cable trench detection database, a maintenance person, a tool, a fault point detection database and a fault point detection database, wherein the value of a signal returned by the maintainer when the cable is electrified is a1, the value of the signal returned by the maintainer when the layout is abnormal is a2, the maintainer does not need to return a signal value for the second time when the cable is normal, the value of the signal returned by the maintainer when the cable is damaged is c1, the value of the signal returned by the maintainer when the cable is short-circuited is c2, the GPS module in the detector detects the GPS coordinate and returns the coordinate positioned by the maintainer to the cable trench detection database synchronously, the maintainer in charge of maintenance prepares according to the coordinate information in the cable trench detection database and the fault situation, the tool in need of maintenance and finds the fault point according to the coordinate to start maintenance.
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| CN202210659812.1A CN115061208A (en) | 2022-06-13 | 2022-06-13 | Cable trench detection method |
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| CN202210659812.1A CN115061208A (en) | 2022-06-13 | 2022-06-13 | Cable trench detection method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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