Underground metal pipeline tracing imaging device

Abstract

The application discloses a kind of underground metal pipeline tracing imaging device, it is related to metal pipeline detection technology, including signal transmitter for emitting excitation signal to underground metal pipeline and electromagnetic signal detection device for receiving electromagnetic signal generated by underground pipeline, the composition of the electromagnetic signal detection device includes multiple electromagnetic induction detection modules, and controller for receiving electromagnetic signal intensity information detected by each electromagnetic induction detection module, the display device for indicating the electromagnetic signal intensity below it with brightness is arranged above each electromagnetic induction detection module and is connected with controller, the brightness of display device is controlled by controller, and the display rule of display device is that the stronger the magnetic field intensity below it is, the greater the brightness is;External operator can judge the surface projection position and trend of underground metal pipeline axis according to the brightness information observed by naked eye.

Description

Technical Field

[0001] This invention relates to metal pipeline inspection technology, and more particularly to an inspection device for underground metal pipelines. Background Technology

[0002] With the rapid development of urban construction in my country, underground metal pipelines, as vital lifelines for cities, play a crucial role in urban water supply and drainage. However, many underground metal pipelines have exceeded their service life, and existing data may be insufficient. This lack of data makes it impossible to accurately locate underground pipelines.

[0003] When an underground metal pipeline malfunctions, the first step is to locate its correct route before excavating a small area for repairs. This avoids the waste and inconvenience caused by large-scale road excavation. To address this issue, pipeline detectors are often used in engineering projects to detect and locate the pipeline.

[0004] However, existing pipeline detectors are single-point instruments, requiring experienced operators to move around the site to determine the direction and depth of the pipeline. This method requires specialized knowledge of the pipeline detector and is prone to misjudging the direction, wasting time and reducing the efficiency of pipeline detection. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art and provide an underground metal pipeline tracing imaging device to solve the technical problem of difficulty in detecting underground metal pipelines in the prior art.

[0006] This invention is achieved through the following technical solution: an underground metal pipeline tracing imaging device, comprising:

[0007] A signal transmitter that sends excitation signals to underground metal pipelines, and

[0008] An electromagnetic signal detection device for receiving electromagnetic signals generated by underground metal pipelines; wherein:

[0009] The electromagnetic signal detection device includes

[0010] An electromagnetic induction detection module, wherein multiple electromagnetic induction detection modules are configured and arranged in an array;

[0011] A controller, which is used to receive electromagnetic signal strength information detected by each electromagnetic induction detection module;

[0012] The display device is connected to the controller and is used to indicate the brightness of the electromagnetic signal below it; and the stronger the electromagnetic signal, the greater the brightness of the display device.

[0013] Prior to this, after the electromagnetic signal detection device is set vertically, the controller uses the electromagnetic signal intensity information detected by three selected electromagnetic induction detection modules on the same vertical line as parameters to obtain the distance between the axis of the underground metal pipeline and the ground surface, and sets this distance as depth information.

[0014] Preferred, the controller controls the display device to display depth information.

[0015] Preferably, the display device is an LED display screen, which includes a plurality of LED beads;

[0016] The LED beads located directly above the electromagnetic induction detection module in the LED display screen are the electromagnetic...

[0017] The reference LED bead corresponding to the sensing and detection module is used to represent the intensity of the electromagnetic signal it detects by its brightness;

[0018] The controller controls the brightness of the reference LED beads. The display rule for the reference LED beads is that the stronger the electromagnetic signal strength directly below them, the greater their brightness. The controller uses the brightness of all the reference LED beads as a basis and calculates the allocation by interpolation fitting to distribute the brightness of the other LED beads in the LED display screen and then lights them up.

[0019] Preferably, the electromagnetic induction detection module includes horizontal and mutually perpendicular excitation coils, each of which is connected to a first signal conditioning circuit.

[0020] The controller includes:

[0021] A multi-channel selection switch, wherein each of the first signal conditioning circuits is connected to the multi-channel selection switch;

[0022] The control signal input interface of the multi-channel selection switch is connected to a signal output interface of the first DSP processor.

[0023] AD conversion module: The signal output interface of the multi-channel selection switch is connected to a signal input interface of the first DSP processor through the AD conversion module.

[0024] Preferably, the controller also includes an expandable interface module connected to the first DSP processor.

[0025] Preferably, there are multiple electromagnetic signal detection devices, and each electromagnetic signal detection device is equipped with a splicing component;

[0026] The splicing assembly includes a splicing plug and a splicing socket. The splicing plug and splicing socket in the same splicing assembly are respectively installed on the corresponding ends of their respective electromagnetic signal detection devices.

[0027] Prior to this, multiple electromagnetic signal detection devices are spliced ​​together into a whole through splicing components, and the corresponding multiple controllers are sequentially connected through multiple expandable interface modules and finally use one controller as the final controller.

[0028] The final controller allocates the brightness of other LEDs in all LED displays based on the brightness of all reference LEDs using an interpolation fitting calculation method, and controls their illumination through the corresponding controller.

[0029] Preferred, each of the electromagnetic signal detection devices is equipped with a positioning component connected to the controller, the positioning component including a second GPS module, a gyroscope and an accelerometer;

[0030] The positioning component is used to acquire the spatial shape, position, and angle information relative to the horizontal plane of the top surface of the electromagnetic signal detection device.

[0031] Preferably, the display device is a flexible LED screen.

[0032] The electromagnetic induction detection module and controller in the electromagnetic signal detection device are arranged on the flexible screen.

[0033] bottom;

[0034] When the LED flexible screen is laid flat, the point directly above each of the electromagnetic induction detection modules is the reference LED bead corresponding to that electromagnetic induction detection module.

[0035] Furthermore, the flexible screen is kept in a horizontal position when the device is in use.

[0036] The present invention has the following advantages over the prior art:

[0037] The present invention provides an underground metal pipeline tracing imaging device that can display the detected electromagnetic signal intensity on the ground in real time, with brightness representing the corresponding electromagnetic signal intensity. Operators can directly determine the direction and axis of the underground metal pipeline based on the brightness, avoiding the excessive reliance on equipment and pipeline expertise in the use of traditional equipment, reducing the requirements of the equipment on operators, and improving detection efficiency. Attached Figure Description

[0038] Figure 1 This is an exploded structural diagram of an underground metal pipeline rubbing imaging device provided in Example 1;

[0039] Figure 2 This is a schematic diagram of the internal circuitry of the signal transmitter in Example 1;

[0040] Figure 3This is a schematic diagram of depth information calculation in Example 1;

[0041] Figure 4 This is an exploded structural diagram of an underground metal pipeline rubbing imaging device provided in Example 2;

[0042] Figure 5 This is a schematic diagram of the internal circuit relationship of the controller in Example 2;

[0043] Figure 6 This is a schematic diagram illustrating the acquisition of projection elevation information and projection electromagnetic signal intensity information in Example 4.

[0044] In the diagram: 1. Signal transmitter; 2. Base plate; 3. Electromagnetic induction detection module; 4. Controller; 5. Display device; 6. LED display screen; 7. Reference LED bead; 8. Display area; 9. Excitation coil; 10. Base plate; 11. First signal conditioning circuit; 12. First DSP processor; 13. Infrared receiving module; 14. First wireless transmission module; 15. First GPS module; 16. First lithium battery module; 17. AD conversion module; 18. Multi-channel selection switch; 19. Expandable interface module; 20. Splicing plug; 21. Splicing socket; 22. Height-adjustable caster wheel; 23. Second DSP processor; 24. Display screen; 25. Second lithium battery module; 26. Power amplifier circuit; 27. Transmitting circuit; 28. Second wireless transmission module; 29. ​​Second signal conditioning circuit. Detailed Implementation

[0045] The technical solution of the present invention will be clearly and completely described below with reference to the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0046] Example 1

[0047] Combined with appendix Figures 1-3 This invention provides an underground metal pipeline tracing imaging device, including a signal transmitter 1 that emits excitation signals to the underground metal pipeline and an electromagnetic signal detection device for receiving electromagnetic signals generated by the underground metal pipeline. While this embodiment provides a signal transmitter 1, those skilled in the art can select other signal transmitters 1 as needed, such as... Figure 2As shown, the signal transmitter 1 comprises a second DSP processor 23, a display screen 24, a second lithium battery module 25, a second signal conditioning circuit 29, a power amplifier circuit 26, and a transmitting circuit 27. The second wireless transmission module 28, the display screen 24, and the second lithium battery module 25 are respectively connected to the second DSP processor 23. The second DSP processor 23, the second signal conditioning circuit 29, the power amplifier circuit 26, and the transmitting circuit 27 are connected sequentially. The second signal conditioning circuit 29 comprises a signal generator and a frequency divider. The transmitting circuit 27... It includes a harmonic capacitor and a transmitting coil, wherein one output port of the second DSP processor 23 is also connected to the power amplifier circuit 26; the working principle of the signal transmitter 1 is as follows: the second DSP processor 23 controls the signal generator in the second signal conditioning circuit 29 to emit a certain sine wave using a crystal oscillator, the input sine wave is divided into signals of different frequencies by a frequency divider, the signal is then amplified by the power amplifier circuit 26 and applied to the transmitting circuit 27 to transmit an excitation signal to the underground metal pipeline; the transmitting circuit 27 is specifically formed by the harmonic capacitor and the transmitting coil inductance to form a series resonance;

[0048] Combination Figure 1 To facilitate the acquisition of underground pipeline routes, in this embodiment of the invention, the electromagnetic signal detection device comprises multiple electromagnetic induction detection modules 3, a controller 4 for receiving electromagnetic signal strength information detected by each electromagnetic induction detection module 3, and a display device 5 connected to the controller 4 above each electromagnetic induction detection module 3 for displaying the brightness of the electromagnetic signal directly below it. Furthermore, in this embodiment of the invention, to facilitate the integration of the above-mentioned device, a substrate 2 is provided, with multiple electromagnetic induction detection modules 3 arranged in an array on the bottom of the substrate 2, and the controller 4 is also mounted on the substrate 2. The display device 5 can also be mounted on the substrate 2.

[0049] The signal transmitter 1 transmits an excitation signal to the underground metal pipeline. Multiple electromagnetic induction detection modules 3 in the electromagnetic signal detection device detect the electromagnetic signal strength at their respective locations and feed it back to the controller 4. The controller 4, based on the received electromagnetic signal strength information, controls the display device 5 directly above each electromagnetic induction detection module 3 to illuminate it. The brightness of each display device 5 is affected by the electromagnetic signal strength information directly below it; the brighter the display device 5, the stronger the electromagnetic signal strength directly below it. In other words, brightness information represents the electromagnetic signal strength directly below that display device 5. External operators can effectively judge the brightness of the display devices 5 visually based on the brightness information of multiple display devices 5, and determine which display device 5 is closer to the projection of the underground metal pipeline axis on the ground surface, since the projection of the underground metal pipeline axis is closest to the ground surface and therefore has the strongest corresponding electromagnetic signal strength. The operator can also adjust the position by moving the entire electromagnetic signal detection device. Any one of the display devices 5 is selected from all the display devices 5 and used as the observation reference. During the movement of the entire electromagnetic signal detection device, the movement is stopped when the brightness of the observation reference reaches its maximum. At this time, the position of the underground metal pipeline axis projected onto the ground surface is directly below the observation reference. In particular, in order to further determine the direction of the underground metal pipeline, the operator rotates the entire electromagnetic signal detection device with the observation reference at this time as the center, so that the brightness of the two ends of one or more display devices 5 is the same as or close to that of the observation reference. Then, the extension direction of the entire structure formed by the observation reference and the selected display device 5 is the direction of the underground metal pipeline. In order to facilitate the observation of the direction of the underground metal pipeline, the number of electromagnetic induction detection modules 3 is not less than nine in this embodiment of the invention. All electromagnetic induction detection modules 3 are arranged in a matrix. In this embodiment of the invention, they are arranged in a 3x3 pattern. The observation reference is preferably located in the central area. In this embodiment of the invention, it is the one in the very center, which facilitates the rotation of the entire device later.

[0050] Furthermore, to obtain the burial depth of underground metal pipelines, in this embodiment of the invention, after the electromagnetic signal detection device is vertically set, the controller 4 uses the electromagnetic signal intensity information detected by the three electromagnetic induction detection modules 3 on the same vertical line as parameters to obtain the distance between the axis of the underground metal pipeline and the ground surface, and sets this distance as the depth information, combined with the attached... Figure 3 The calculation process is as follows:

[0051] The electromagnetic signal strength detected by three electromagnetic induction detection modules 3, positioned on the same vertical line and forming a whole perpendicular to the axis of the underground metal pipeline, is related to the distance from that point to the underground metal pipeline. The three electromagnetic induction detection modules 3 are numbered 1, 2, and 3 from top to bottom, and the detected electromagnetic signal strengths are respectively... 1. 2、 3. The vertical distances of the three to the axis of the underground metal pipeline are as follows: 1. 2、 3, where the distance between two adjacent electromagnetic induction detection modules 3 is d, and the distance between the lowest electromagnetic induction detection module 3 and the ground surface is... The distance from the axis of the underground metal pipeline to the ground surface is The vertical distance from the axis of the underground metal pipeline to the vertical line where the three electromagnetic induction detection modules 3 are located is Then we have:

[0052] (1)

[0053] From Equation 1, we can obtain .

[0054] Furthermore, in this embodiment of the invention, a region in the display device is designated as an information display region 8, and the controller 4 controls the information display region 8 to display depth information.

[0055] Example 2

[0056] Combination Figure 4 and Figure 5To further facilitate observation of the direction and location of underground metal pipelines, the main difference between the overall device in this embodiment and the previous embodiment is that all display devices 5 in embodiment 1 are specifically LED display screens 6 connected to the controller 4 with a flat top. This is because the LED display screen 6 is composed of several LED beads, facilitating later display and judgment. Secondly, the LED beads directly above each electromagnetic induction detection module 3 in the LED display screen 6 serve as reference beads 7 for that module, used to represent the intensity of the detected electromagnetic signal in terms of brightness. Simultaneously, the controller 4 controls the brightness of the reference beads 7, and the stronger the electromagnetic signal intensity directly below the reference beads 7, the greater their brightness (equivalent to the brightness of the display device 5). To facilitate brightness identification by external personnel with the naked eye, this invention… In this embodiment, the controller 4 uses the brightness of all reference LED beads 7 as a basis to calculate and distribute the brightness of the other LED beads in the LED display screen 6 using an interpolation fitting method, and then lights them up. That is, the entire LED display screen 6 is lit up. The brightness of each LED bead is determined by the brightness values ​​of all reference LED beads 7 using an interpolation fitting method, which will create a brightness gradient on the LED display screen 6. The area of ​​the LED display screen 6 that is closer to the projection position of the underground metal pipeline axis on the ground surface has a higher brightness, and vice versa. This makes it easier for external operators to judge the direction and axis position of the underground metal pipeline based on the brightness information. This reduces the need for mobile devices and improves the convenience and visibility of operation. It is equivalent to imprinting the shape and position of the underground metal pipeline on the ground surface LED display screen 6 through the brightness information.

[0057] Furthermore, in this embodiment of the invention, the electromagnetic induction detection module 3 comprises a base plate 10 fixedly connected to the substrate 2 and two excitation coils 9 mounted horizontally and perpendicularly on the base plate 10. Each excitation coil 9 is connected to a first signal conditioning circuit 11. Meanwhile, the controller 4 comprises a first DSP processor 12, an infrared receiving module 13, a first wireless transmission module 14, a first GPS module 15, a first lithium battery module 16, an AD conversion module 17, and a multi-channel selection switch 18. Each first signal conditioning circuit 11 is connected to the multi-channel selection switch 18. The control terminal of the multi-channel selection switch 18... The input interface is connected to a signal output interface of the first DSP processor 12. The signal output interface of the multi-channel selection switch 18 is connected to a signal input interface of the first DSP processor 12 through the AD conversion module 17. At the same time, the infrared receiving module 13, the first wireless transmission module 14, the first GPS module 15 and the first lithium battery module 16 are respectively connected to the first DSP processor 12. The infrared receiving module 13 is used to receive signals from an external wireless remote control to control the overall opening or closing of the device. The first GPS module 15 is used to obtain the location information of the device. The first lithium battery module 16 is used to power the device.

[0058] Furthermore, to facilitate the expansion of the device to connect to other components, in this embodiment of the invention, the controller 4 is further comprising an expandable interface module 19.

[0059] Furthermore, to facilitate expanding the detection range and improving detection accuracy, in this embodiment of the invention, multiple electromagnetic signal detection devices are provided. Each electromagnetic signal monitoring device can be a cuboid structure, but in this embodiment, it is a cube structure, which facilitates subsequent splicing. Each vertical wall of each electromagnetic signal detection device is equipped with a splicing component, which is specifically composed of a splicing plug 20 and a splicing socket 21. The splicing plug 20 and splicing socket 21 of the same splicing component are respectively installed at both ends of the corresponding side wall of the corresponding electromagnetic signal detection device. After all electromagnetic signal detection devices are interconnected through the splicing components, all LED displays 6 in the whole are on the same horizontal plane, which facilitates subsequent detection.

[0060] Furthermore, to facilitate the movement of mobile devices, a height-adjustable caster 22 is installed at each of the four corners at the bottom of each substrate 2, thereby facilitating leveling and movement.

[0061] When multiple electromagnetic signal detection devices are spliced ​​together into a whole through splicing components, multiple controllers 4 are sequentially connected through multiple expandable interface modules 19, and finally one controller 4 is used as the final controller. The final controller uses the brightness information of all reference LED beads 7 as the basis to calculate and allocate the brightness of other LED beads in all LED displays 6 by interpolation fitting. It controls the corresponding controller 4 to light up, thereby expanding the detection range, reducing the need for equipment movement, and making it easier for operators to observe the corresponding information.

[0062] Example 3

[0063] To further improve the convenience of the device, in this embodiment of the invention, the LED display screen 6 in Embodiment 2 is a flexible LED screen and the substrate is removed. The electromagnetic induction detection module 3, splicing component, and controller 4 in each electromagnetic signal detection device are installed at the bottom of the flexible screen in the manner arranged on the substrate. When the LED flexible screen is laid flat, the point directly above each electromagnetic induction detection module is the reference LED bead corresponding to that electromagnetic induction detection module. And when the device is in use, the flexible screen is in a horizontal state (this embodiment of the invention only sets the LED display screen as a flexible LED screen, so no drawings are provided).

[0064] The equipment can be laid flat and spliced ​​for operation when in use, and when not in use, the flexible screen can be rolled up as a whole to facilitate unfolding and relocation, thus improving the convenience of the equipment.

[0065] Example 4

[0066] To further improve the convenience and adaptability of the equipment, the equipment provided in Embodiment 3 has been further improved in this embodiment of the invention. Specifically, a third GPS module connected to the corresponding controller 4 is installed in the middle of each electromagnetic induction detection module 3. Furthermore, the splicing component is made into a flexible part, for example, the connection between the splicing plug and the electromagnetic signal detection device is flexible (such as the splicing plug 20 being hinged to the electromagnetic signal detection device). In this embodiment of the invention, only some equipment has been added, and the focus is on the improvement of the detection method, so no drawings are provided.

[0067] When the device is in use, if only one electromagnetic signal detection device works alone, the controller can select any horizontal plane where the third GPS module is located as the correction plane. Then, based on the electromagnetic signal strength information obtained by each electromagnetic induction detection module 3 and the elevation information obtained by the corresponding third GPS module, the controller obtains the corrected electromagnetic signal strength information at the projection of the corresponding electromagnetic signal strength information on the correction plane. The corrected electromagnetic signal strength information is used as the basis for adjusting the brightness of the corresponding reference LED. The brightness adjustment rule of the reference LED is that the larger the corrected electromagnetic signal strength information, the greater its brightness. Based on the brightness information of all reference LEDs, the controller 4 uses the interpolation fitting calculation method to allocate the brightness of other LEDs in the LED flexible screen and control their lighting.

[0068] When multiple electromagnetic signal detection devices are connected into a whole through multiple splicing components, and the corresponding multiple controllers 4 are sequentially connected through multiple expandable interface modules 19, and finally one controller is used as the final controller, the final controller selects one of the third GPS modules in its electromagnetic signal detection device as the reference GPS module and uses its horizontal plane as the correction plane (selecting the middle position is the best). Each controller 4 obtains the corrected electromagnetic signal intensity information at the projection of the electromagnetic signal intensity information of the corresponding electromagnetic induction detection module 3 onto the correction plane based on the electromagnetic signal intensity information obtained by each electromagnetic induction detection module 3 and the elevation information obtained by the corresponding third GPS module. The corrected electromagnetic signal intensity information is used as the basis for adjusting the brightness of the corresponding reference LED. The brightness adjustment rule of the reference LED is that the larger the corrected electromagnetic signal intensity information, the greater its brightness. The final controller uses the brightness information of all reference LEDs as the basis to calculate and allocate the brightness of other LEDs in all LED flexible screens by interpolation fitting and controls the lighting through the corresponding controller.

[0069] With the above setup, external operators can simply lay the equipment on the ground without worrying about whether the ground is level, which greatly reduces the difficulty of operating the equipment and improves the testing efficiency.

[0070] The method for obtaining modified electromagnetic signal strength information is referenced. Figure 6 In the picture This provides the elevation information corresponding to the correction surface where the reference GPS module is located. This refers to the electromagnetic signal strength information corresponding to the location of the reference GPS module. For the elevation information corresponding to a reference LED bead. This corresponds to the electromagnetic signal strength information. This refers to the corrected elevation information corresponding to the reference LED on the correction surface where the reference GPS module is located. Then it is the corresponding corrected electromagnetic signal strength information; Equivalent to the above, and the above parameters satisfy:

[0071] ,in The attenuation coefficient of the magnetic field is used. The calculation of the projected elevation information and projected electromagnetic signal intensity information corresponding to other reference lamp beads is the same as above.

[0072] The above settings effectively avoid the drawback of needing to keep the equipment level during use, thus improving the equipment's adaptability and ease of operation.

[0073] Example 5

[0074] To further improve the convenience and adaptability of the equipment while reducing its manufacturing cost, the equipment provided in Embodiment 2 is further improved in this embodiment of the invention. Specifically, each electromagnetic signal detection device is equipped with a positioning component connected to the controller 4. The positioning component consists of a second GPS module, a gyroscope, and an accelerometer. The purpose of the second GPS module, gyroscope, and accelerometer is to obtain the spatial shape, position, and angle information relative to the horizontal plane of the top surface of the electromagnetic signal detection device. Secondly, the splicing component is made into a flexible part, for example, the connection between the splicing plug and the electromagnetic signal detection device is flexible (same as in Embodiment 4), and the height-adjustable caster wheel 22 is removed. In this embodiment of the invention, only some equipment is added, and the focus is on the improvement of the detection method, so no drawings are provided.

[0075] When the equipment is working:

[0076] When only one of the electromagnetic signal detection devices is working alone, the controller 4 uses the horizontal plane where the positioning component is located as the reference plane, and obtains the spatial angle relationship between the plane where the electromagnetic signal detection device is located and the horizontal plane based on the data obtained by the gyroscope and accelerometer. Then, based on the obtained spatial angle relationship, the elevation information obtained by the second GPS module, and the positional relationship of each electromagnetic induction detection module 3 relative to the positioning component, it obtains the elevation information of each electromagnetic induction detection module 3. After that, based on the elevation information obtained by each controller 4 and the electromagnetic signal strength information obtained by the corresponding electromagnetic induction detection module 3, it obtains the corrected electromagnetic signal strength information at the projection of the corresponding electromagnetic induction detection module 3 on the reference plane, and uses the corrected electromagnetic signal strength information as the basis for adjusting the brightness of the corresponding reference LED. The brightness adjustment rule of the reference LED is that the larger the corrected electromagnetic signal strength information, the greater its brightness. Based on the brightness information of all reference LEDs, the controller 4 uses an interpolation fitting calculation method to allocate the brightness of other LEDs in the LED display screen and control their lighting.

[0077] When multiple electromagnetic signal detection devices are connected into a whole through multiple splicing components, and the corresponding multiple controllers 3 are sequentially connected through multiple expandable interface modules 19, and finally one controller is used as the final controller, the final controller uses the horizontal plane where the positioning component in its electromagnetic signal detection device is located as the reference plane. Each controller 4 obtains the spatial angle relationship between the plane where the corresponding electromagnetic signal detection device is located and the reference plane based on the data obtained by the gyroscope and accelerometer in its corresponding positioning component. Then, based on the obtained spatial angle relationship, the elevation information obtained by the corresponding second GPS module, and the positional relationship between each electromagnetic induction detection module 3 in the corresponding electromagnetic signal detection device and the positioning component, the final controller uses the obtained spatial angle relationship, the corresponding elevation information obtained by the second GPS module, and the positional relationship between each electromagnetic induction detection module 3 in the corresponding electromagnetic signal detection device and the positioning component. The system acquires the elevation information of each electromagnetic induction detection module 3 in the electromagnetic signal detection device. Then, each controller 4, based on the elevation information and electromagnetic signal strength information of each electromagnetic induction detection module 3, acquires the corrected electromagnetic signal strength information at the projection point of the corresponding electromagnetic induction detection module 3 on the reference plane. The corrected electromagnetic signal strength information is used as the basis for adjusting the brightness of the corresponding reference LED. The brightness adjustment rule of the reference LED is that the larger the corrected electromagnetic signal strength information, the greater its brightness. The final controller allocates the brightness of other LEDs in all LED displays based on the brightness information of all reference LEDs using an interpolation fitting calculation method and controls the lighting of them through the corresponding controller.

[0078] Given that the spatial shape, position, and angle information relative to the horizontal plane of the electromagnetic signal detection device are known, and considering that the relative positions of each electromagnetic induction detection module 3 in the electromagnetic signal detection device are known, the elevation information of each electromagnetic induction detection module 3 can be effectively obtained. Furthermore, by referring to the corrected electromagnetic signal strength information acquisition method provided in Embodiment 4, the corresponding corrected electromagnetic signal strength information in the embodiment of the present invention can be effectively obtained.

[0079] With the above settings, even when the display device is a rigid LED screen, the equipment can be laid on uneven ground for measurement, thereby reducing the manufacturing cost of the equipment.

[0080] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A device for tracing and imaging underground metal pipelines, characterized in that, include: A signal transmitter that sends excitation signals to underground metal pipelines, and An electromagnetic signal detection device for receiving electromagnetic signals generated by underground metal pipelines; wherein: The electromagnetic signal detection device includes An electromagnetic induction detection module, wherein multiple electromagnetic induction detection modules are configured and arranged in an array; A controller, which is used to receive electromagnetic signal strength information detected by each electromagnetic induction detection module; The display device is connected to the controller and is used to indicate the brightness of the electromagnetic signal below it; and the stronger the electromagnetic signal, the greater the brightness of the display device. After the electromagnetic signal detection device is set vertically, the controller uses the electromagnetic signal intensity information detected by the three selected electromagnetic induction detection modules on the same vertical line as parameters to obtain the distance between the axis of the underground metal pipeline and the ground surface and sets this distance as depth information. The display device is an LED display screen, which includes a plurality of LED beads; Among them, the LED beads located directly above the electromagnetic induction detection module in the LED display screen are the reference beads corresponding to the electromagnetic induction detection module, which are used to represent the intensity of the electromagnetic signal detected by the module in terms of brightness. The controller controls the brightness of the reference LED beads. The display rule for the reference LED beads is that the stronger the magnetic field strength directly below them, the greater their brightness. The controller uses the brightness of all the reference LED beads as a basis and calculates the allocation by interpolation fitting to allocate the brightness of the other LED beads in the LED display screen and then lights them up. There are multiple electromagnetic signal detection devices, and each electromagnetic signal detection device is equipped with a splicing component. The splicing assembly includes a splicing plug and a splicing socket. The splicing plug and splicing socket in the same splicing assembly are respectively installed on the corresponding ends of their respective electromagnetic signal detection devices. Multiple electromagnetic signal detection devices are spliced ​​together into a whole through splicing components, and the corresponding multiple controllers are sequentially connected through multiple expandable interface modules, and finally one controller is used as the final controller. The final controller allocates the brightness of other LEDs in all LED displays based on the brightness of all reference LEDs using an interpolation fitting calculation method, and controls the lighting of other LEDs through the corresponding controller. Each of the electromagnetic signal detection devices is equipped with a positioning component connected to the controller. The positioning component includes a second GPS module, a gyroscope, and an accelerometer. The positioning component is used to acquire the spatial shape, position, and angle information relative to the horizontal plane of the top surface of the electromagnetic signal detection device; This provides the elevation information corresponding to the correction surface where the reference GPS module is located. This refers to the electromagnetic signal strength information corresponding to the location of the reference GPS module. For the elevation information corresponding to a reference LED bead. This corresponds to the electromagnetic signal strength information. This refers to the corrected elevation information corresponding to the reference LED on the correction surface where the reference GPS module is located. Then it is the corresponding corrected electromagnetic signal strength information; Equivalent to the above, and the above parameters satisfy... ,in is the attenuation coefficient of the magnetic field.

2. The underground metal pipeline tracing imaging device according to claim 1, characterized in that, The controller controls the display device to display depth information.

3. The underground metal pipeline tracing imaging device according to any one of claims 1-2, characterized in that, The electromagnetic induction detection module includes horizontal and mutually perpendicular excitation coils, and each excitation coil is connected to a first signal conditioning circuit. The controller includes: A multi-channel selection switch, wherein each of the first signal conditioning circuits is connected to the multi-channel selection switch; The control signal input interface of the multi-channel selection switch is connected to a signal output interface of the first DSP processor. AD conversion module: The signal output interface of the multi-channel selection switch is connected to a signal input interface of the first DSP processor through the AD conversion module.

4. The underground metal pipeline tracing imaging device according to claim 3, characterized in that, The controller also includes an expandable interface module connected to the first DSP processor.

5. The underground metal pipeline tracing imaging device according to claim 1, characterized in that, The display device is a flexible LED screen. The electromagnetic induction detection module and controller in the electromagnetic signal detection device are arranged on the flexible screen. The bottom; When the LED flexible screen is laid flat, the point directly above each of the electromagnetic induction detection modules is the reference LED bead corresponding to that electromagnetic induction detection module. Furthermore, the flexible screen should be kept in a horizontal position when the device is in use.

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