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A CPS report will often be made in these circumstances, but not always. You can contact the sheriff's department's records division and ask for a copy of your incident report to see if the sheriff made such a report - but it is possible that a referral was made at some other stage in the 5150 process as well (I don't know the details of your case).
However a CPS report in and of itself does not mean anything other than the CPS investigator will look into the police report and possibly the 5150 hearing to determine whether any further investigation is necessary. (You may receive a letter from them saying "I heard you may need assistance?" CPS offers resources to families as well as their more aggressive interventions for children that are in immediate need of protection).
I do think that retaining a lawyer is probably a good idea for you, I don't know that you are going to need to do anything overly litigious at this time, but it is probably worthwhile to speak to one (especially before you do something like move out of your residence).
A family law attorney would be the ideal specialist to talk to (your overarching concern/issue is the continued custody and concern for your children), but try to find one that at least has some experience with the 5150/conservatorship process (there are not a lot of attorneys that deal with this particular area of law (unfortunately most individuals that find themselves in this process do not have adequate resources to defend themselves and are left with the public defender's office), but do at least ask).
You can find local attorneys using the State and local Bar Association directories, or private directories such as www.AVVO.com; www.FindLaw.com; or www.Martindale.com (I personally find www.AVVO.com to be the most user friendly).