Underground metal positioning method and device, and electronic equipment

Abstract

The application discloses a method and device for positioning underground metal and electronic equipment, and belongs to the technical field of object detection. The method comprises the following steps: acquiring detection data of a target metal, wherein the detection data comprises response data of the target metal; determining a position range of the target metal according to the response data; and obtaining the position of the target metal based on the position range and the detection data. In this way, the position information of the metal can be accurately obtained.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of object detection, in particular to a method and device for positioning underground metal objects and an electronic device. BACKGROUND

[0002] With the wide application of underground metal target detection technology in archaeology, ore prospecting, unexploded bomb detection and many other fields, its importance is increasingly prominent. In the above-mentioned fields, the underground buried metal targets to be detected are various, including metal targets that may cause serious safety hazards to humans, such as landmines, explosives and metal fragments with radioactivity and hazards left over from wars. Accurately distinguishing these underground metal targets and obtaining target position information for cleaning is a problem to be solved. In real life, transient electromagnetic method has the advantages of anti-interference ability and strong environmental adaptability, and is favored in the field of underground metal target detection. This method generates a primary field through a transmitting coil, and when the primary field encounters an underground metal target in the propagation process, eddy currents are induced on the surface of the target to resist the change of the magnetic field. Different metal targets differ in the size and decay of induced eddy currents. Therefore, the secondary field generated by the eddy currents around the target contains information about the target.

[0003] In related technologies, when analyzing the detection data obtained based on the secondary field to obtain the position, characteristic response and other parameters of the underground metal, an optimization algorithm can be used to determine the position of the metal. In the use process of the optimization algorithm, appropriate parameter boundary conditions (constraint conditions) need to be set to narrow the range of parameters, reduce the amount of calculation, avoid multi-solution, and make the algorithm iterate to the global optimal solution. However, some constraint conditions are not appropriate, resulting in inaccurate determination of the position of the metal. SUMMARY

[0004] Embodiments of the present application provide a method and device for positioning underground metal objects and an electronic device, which can at least solve the problem that inappropriate constraint conditions result in inaccurate determination of the position of the metal.

[0005] To solve the above technical problems, the present application is implemented as follows:

[0006] In a first aspect, the embodiments of the present application provide a method for positioning underground metal objects, which comprises: obtaining detection data of a target metal, wherein the detection data comprises response data of the target metal; determining a position range of the target metal according to the response data; and obtaining the position of the target metal based on the position range and the detection data.

[0007] In a second aspect, an underground metal positioning device is provided, which comprises: a first obtaining module configured to obtain detection data of a target metal, wherein the detection data comprises response data of the target metal; a determining module configured to determine a position range of the target metal according to the response data; and a second obtaining module configured to obtain the position of the target metal based on the position range and the detection data.

[0008] In a third aspect, an electronic device is provided, which comprises a processor and a memory, wherein the memory stores programs or instructions executable on the processor, and the programs or instructions are executed by the processor to implement the steps of the method according to the first aspect.

[0009] In a fourth aspect, a computer readable storage medium is provided, wherein the computer readable storage medium stores programs or instructions, and the programs or instructions are executed by a processor to implement the steps of the method according to the first aspect.

[0010] In a fifth aspect, a computer program product is provided, wherein the computer program product comprises a computer program stored on a non-transitory computer readable storage medium, and the computer program comprises program instructions, and the program instructions are executed by a computer to make the computer perform the steps of the method according to the first aspect.

[0011] The technical solutions provided in the present application can include the following beneficial effects:

[0012] In the embodiments of the present application, the detection data of the target metal can be obtained, and then the position range of the target metal can be determined according to the response data in the detection data. Finally, the position of the target metal can be obtained based on the position range and the detection data. The position range of the target metal determined by the response data can provide a constraint condition for finally determining the position of the target metal, reduce the calculation amount, and avoid multi-solution, thereby realizing accurate inversion of the position information of the target metal.

[0013] In the embodiments of the present application, it should be understood that the foregoing general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF DRAWINGS

[0014] The accompanying drawings, which are incorporated into and form part of the specification, illustrate embodiments consistent with the present application and, together with the specification, serve to explain the principles of the present application.

[0015] Figure 1 Fig. 1 shows a flow diagram of an underground metal positioning method according to an embodiment of the present application;

[0016] Figure 2aA schematic diagram of response data provided by the embodiment of the application showing a single peak on a plane is shown;

[0017] Figure 2b A schematic diagram of response data provided by the embodiment of the application showing a double peak on a plane is shown;

[0018] Figure 3 A schematic diagram of the relationship between the extreme position of the eccentric structure coil and the eccentric distance provided by the embodiment of the application is shown;

[0019] Figure 4a A schematic diagram of determining the horizontal position range when the response data provided by the embodiment of the application shows a single peak on a plane is shown;

[0020] Figure 4b A schematic diagram of determining the horizontal position range when the response data provided by the embodiment of the application shows a double peak on a plane is shown;

[0021] Figure 5a A schematic diagram of determining the depth range when the response data provided by the embodiment of the application shows a single peak on a plane is shown;

[0022] Figure 5b A schematic diagram of determining the depth range when the response data provided by the embodiment of the application shows a double peak on a plane is shown;

[0023] Figure 6 A schematic diagram of determining the position range of the target metal according to the response data provided by the embodiment of the application is shown;

[0024] Figure 7a A schematic diagram of determining the position of the target metal using the position range provided by the embodiment of the application is shown;

[0025] Figure 7b A schematic diagram of determining the position of the target metal without using the position range provided by the embodiment of the application is shown;

[0026] Figure 8 Another flowchart of the underground metal positioning method provided by the embodiment of the application is shown;

[0027] Figure 9 Another flowchart of the underground metal positioning method provided by the embodiment of the application is shown;

[0028] Figure 10 A structural schematic diagram of an underground metal positioning device provided by the embodiment of the application is shown;

[0029] Figure 11 A structural schematic diagram of an electronic device provided by the embodiment of the application is shown;

[0030] Figure 12Fig. 1 shows a structural schematic diagram of another electronic device provided by an example embodiment of the present application. DETAILED DESCRIPTION

[0031] The example embodiments will be described in detail herein with reference to the drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following example embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of apparatuses and methods consistent with some aspects of the present application as detailed in the appended claims.

[0032] Figure 1 Fig. 1 shows a flowchart of a method for positioning underground metal provided by an example embodiment of the present application. The method can be executed by an electronic device. The electronic device can be a terminal such as a mobile phone or a tablet computer. As shown in Fig. 1, the method mainly includes the following steps. Figure 1

[0033] S101: Obtain detection data of a target metal.

[0034] The detection data includes response data of the target metal.

[0035] In the example embodiment of the present application, the detection data of the target metal, i.e., various data when the target metal is detected, can be obtained. In actual applications, a detector composed of one transmitting coil and at least one receiving coil can be used to detect the target metal. The detection data includes response data of the target metal. The response data can be a voltage generated by a secondary field induced by the receiving coil. The secondary field contains position information and type information of the target metal. By processing the detection data, the position of the target metal can be determined, and the type of the target metal can be further determined.

[0036] S102: Determine a position range of the target metal according to the response data.

[0037] In the example embodiment of the present application, the position range of the target metal can be determined according to the response data, i.e., the voltage generated by the secondary field induced by the receiving coil when the target metal is detected. The position range of the target metal can be determined, which can not only reduce the amount of calculation, but also improve the accuracy of the inverted position.

[0038] In an optional implementation, the position range includes a horizontal position range and a depth range.

[0039] The determining of the position range of the target metal according to the response data includes:

[0040] performing current normalization processing on Z-component data in the response data to obtain component response data. ​

[0041] determine a horizontal position range of the target metal according to the extreme value region position of the component response data and the eccentricity between the transmitting coil and the receiving coil;

[0042] determine a depth range of the target metal according to a response value of the component response data on a target survey line, wherein the response value corresponding to the target survey line is greater than a preset value.

[0043] In the embodiments of the present application, the position range of the target metal includes the horizontal position range and the depth range of the target metal. The Z component data in the response data can be subjected to current normalization processing, that is, the voltage generated by the secondary field Z component is subjected to current normalization processing, so that the influence of current fluctuation can be eliminated, and the component response data is obtained. Then, the horizontal position range of the target metal is determined according to the extreme value region position of the component response data and the eccentricity between the transmitting coil and the receiving coil. The depth range of the target metal is determined according to the response value of the component response data on the target survey line. In actual application, the offset between the target metal and the transmitting coil can be determined when the target response (response data) reaches an extreme value. The horizontal position range and the depth range of the target metal are estimated according to the extreme value and the variation trend of the target response Z component.

[0044] In actual application, the distribution of the component response data on the detection region can appear in two cases of single peak (as shown in Figure 2a and double peak (as shown in Figure 2b In different cases, the method for determining the position range is different. In actual application, the specific case can be determined.

[0045] In an optional implementation, the determining of the horizontal position range of the target metal according to the extreme value region position of the component response data and the eccentricity between the transmitting coil and the receiving coil includes:

[0046] In a case where the distribution of the component response data on the plane is in a single peak, the horizontal position range of the target metal is determined according to the region where the response maximum value is located and the eccentricity between the transmitting coil and the receiving coil;

[0047] In a case where the distribution of the component response data on the plane is in a double peak, the horizontal position range of the target metal is determined according to the region where the response minimum value is located and the eccentricity between the transmitting coil and the receiving coil.

[0048] In practical applications, the position of the extreme value of the response is related to the distance between the transmitting coil and the receiving coil. When the centers of the transmitting coil and the receiving coil coincide, the position of the extreme value of the response is considered to be directly above the target. When the distance (eccentricity) between the transmitting coil and the receiving coil increases, the position of the extreme value of the response deviates from the position of the target. The deviation can be simulated. In the embodiments of the present application, when the component response data is unimodal on the plane, the extreme value region refers to the position region of the maximum value of the response. When the response is bimodal, the extreme value region refers to the region where the minimum value of the response is located. The relative position of the transmitting coil (the receiving coil and the transmitting coil) can affect the position of the target when the response reaches the extreme value. The greater the eccentricity between the transmitting coil and the receiving coil, the farther the target deviates from the transmitting coil when the response reaches the extreme value. The transient electromagnetic response of the transmitting coil is forward modeled, and the position of the extreme value of the response gradually deviates from the center of the transmitting coil as the distance between the coils increases, and the change trend is linear, as shown in FIG. 1. In practical applications, the distance between the target and the transmitting coil when the response reaches the extreme value can be estimated by using 0.6 times the distance between the coils. The center of the receiving coil is 28.5 cm away from the center of the transmitting coil in the X direction, and 0.04 cm away from the center of the transmitting coil in the Y direction. The target metal is 2.4 cm away from the center of the transmitting coil in the X direction, and the response reaches the extreme value. The target metal is 17.1 cm away from the center of the transmitting coil in the Y direction, and the response reaches the extreme value. According to the deviation distance, the extreme value region of the response data is translated, and the horizontal position range of the target metal can be obtained, as shown in FIG. 2. Figure 3 Figure 4a Figure 4b

[0049] In an optional implementation, the method further includes:

[0050] obtaining a response variation diagram of the component response data on the target survey line based on the response values of the component response data on the target survey line;

[0051] when the distribution of the component response data on the plane is unimodal, determining the depth range of the target metal according to the width of the response data in the response variation diagram;

[0052] when the distribution of the component response data on the plane is bimodal, determining the depth range of the target metal according to the distance between the two peaks in the response variation diagram.

[0053] ​​​In this embodiment, when the component response data distribution is unimodal, the depth is approximately equal to the signal width; when the response is bimodal, the depth is approximately equal to the distance between the two peaks. In practical applications, there is a certain distance between measurement points. A target measurement line with a larger response can be selected, and interpolation methods such as spline interpolation can be used to obtain the response variation map corresponding to the target measurement line. When the response is unimodal, the depth is approximately 0.4 times the signal width at the peak value; when the measurement line response is bimodal, the depth is approximately equal to the distance between the two peaks. Figure 5a , 5b As shown. In practical applications, the depth estimate can be adjusted up or down by a certain distance based on the spacing between measuring points and the magnitude of the error to obtain the depth range of the target metal.

[0054] In summary, the process of obtaining the location range of the target metal based on the response data is as follows: Figure 6 As shown. After normalizing the target response, if the response exhibits a single peak in the plane, the target depth (depth range of the target metal) can be determined based on the width of the interpolated response signal, and the target horizontal position range (horizontal position range of the target metal) can be determined based on the response's maximum value region. If the response exhibits a double peak in the plane, the target horizontal position range can be determined based on the response's minimum value region, and the target depth can be determined based on the distance between the two interpolated peaks. The target position range can include both the target horizontal position range and the target depth. The offset distance between the target and the transmitting coil when the response reaches its extreme value helps determine the horizontal position range of the target metal.

[0055] S103: Based on the location range and the detection data, the location of the target metal is obtained.

[0056] In this embodiment, the location of the target metal can be obtained based on the location range and detection data. In practical applications, the location of the target metal can be determined using detection data, and during the calculation process, the location range can be used to narrow down the area to which the target metal belongs. This not only reduces the amount of computation but also obtains an accurate location of the target metal.

[0057] In an optional implementation, obtaining the location of the target metal based on the location range and the detection data includes:

[0058] Using the location range as a constraint condition for the target algorithm, and the detection data as a parameter of the target algorithm, the location of the target metal is calculated, wherein the target algorithm is used to invert the location of the target metal based on the detection data.

[0059] In the embodiments of the present application, the position range can be used as a constraint condition of a target algorithm, and the detection data can be used as a parameter of the target algorithm to calculate the position of the target metal, wherein the target algorithm is used to inverse the position of the target metal based on the detection data. In actual application, the target algorithm can be an optimization algorithm. The optimization algorithm is a method and procedure specially designed to find the optimal solution of a problem. In mathematics and computer science, these algorithms aim to find the "best" or "optimal" solution from a set of possible solutions. For example, the global optimization algorithm can be a differential evolution algorithm, an ant colony algorithm, a simulated annealing algorithm, a particle swarm algorithm, etc. In the embodiments of the present application, the position information of the target metal can be inverted by the above optimization algorithm.

[0060] In actual application, when the position of the target metal is determined based on the detection data, an inversion algorithm such as a magnetic gradient tensor algorithm or a multiple signal classification method can be used, but this kind of algorithm has requirements for the structure or number of the transmitting coil and the receiving coil, and the optimization algorithm does not limit the coil parameters and has strong applicability. However, when the optimization algorithm is applied, the local optimization algorithm has very high requirements for the initial value, and if the initial value is not accurate, the final solution result is greatly different from the actual value. The global optimization algorithm relaxes the selection condition of the initial value, but needs to set appropriate parameter boundary conditions (constraint conditions), which can reduce the calculation amount, avoid multi-solution, and make the algorithm iterate to the global optimal solution. The present application uses the position range as the constraint condition of the optimization algorithm, and the position of the target metal can be obtained more accurately.

[0061] In the above optional implementation manner, the detection data further includes: a current of a transmitting coil of the detector, a parameter of the transmitting coil, a parameter of a receiving coil of the detector, and a relative position of the transmitting coil and the receiving coil;

[0062] The position range is used as a constraint condition of a target algorithm, and the detection data is used as a parameter of the target algorithm to calculate the position of the target metal, including:

[0063] The current of the transmitting coil, the parameter of the transmitting coil, the parameter of the receiving coil, the relative position of the transmitting coil and the receiving coil, and the response data obtained by each time channel are used as input parameters of the target algorithm, and the position range is used as a constraint condition of the optimization algorithm to obtain a position result of each time channel;

[0064] The position results of each time channel are averaged to obtain the position of the target metal.

[0065] In this embodiment of the application, the detection data further includes: the current of the detector's transmitting coil, the parameters of the transmitting coil, the parameters of the detector's receiving coil, and the relative positions of the transmitting coil and the receiving coil; in practical applications, the parameters of the transmitting coil include the number of turns and the area of ​​the transmitting coil; the number of turns of the receiving coil includes the number of turns and the area of ​​the receiving coil.

[0066] In this embodiment, the current of the transmitting coil, the parameters of the transmitting coil, the parameters of the receiving coil, the relative positions of the transmitting and receiving coils, and the response data obtained from each time channel can be used as input parameters for the target algorithm. The position range is used as a constraint condition for the optimization algorithm to obtain the position results for each time channel. Then, the position results of each time channel are averaged to obtain the position of the target metal. In practical applications, a weighted average can be applied to the position results of each time channel to reduce the influence of extreme values. That is, the extreme value data (whose weight is 0) is excluded, and the average value of the remaining values ​​(with equal weight) is taken to obtain the final position of the target metal.

[0067] In practical applications, the differential evolution algorithm is used to utilize the location range and the positioning results of different target metals, such as... Figure 7a , Figure 7b As shown, using the location range obtained from the response data to locate the target metal can improve the accuracy of the location.

[0068] In an optional implementation, after determining the location of the target metal based on the location range and the detection data, the method further includes the following steps:

[0069] Step 1: Obtain the magnetic polarization tensor matrix corresponding to the target metal based on the position of the target metal and the response data. In this embodiment, the magnetic polarization tensor matrix corresponding to the target metal can be obtained based on the position of the target metal and the response data. The position matrix can be calculated from the position of the target metal. The position matrix of the target metal It consists of the positional parameters of the target metal. (Matrix) It is independent of positional parameters and depends only on the inherent properties of the target metal, such as size and material. In practical applications, this matrix can be determined based on the position matrix and response data.

[0070]

[0071] This matrix is ​​composed of elements of the magnetic polarization tensor matrix:

[0072]

[0073] Through matrix Reconstructing the magnetic polarization tensor matrix :

[0074]

[0075] Step 2, diagonalize the magnetic polarization tensor matrix by using a matrix diagonalization algorithm to obtain the category characteristics of the target metal; in actual application, when multiple matrices are simultaneously diagonalized by using the matrix diagonalization algorithm, a joint diagonalization algorithm, a QR decomposition method, or a block diagonal matrix method can be used. The algorithm inversion can obtain the category characteristics of the target metal.

[0076] Step 3, parameter fitting is performed on the category characteristics to obtain target category characteristics; in the embodiments of the present application, the obtained category characteristics can be subjected to parameter fitting to obtain target category characteristics.

[0077] Step 4, determining the category to which the target metal belongs according to the target category characteristics; in the embodiments of the present application, the category to which the target metal belongs can be determined according to the target category characteristics.

[0078] In the embodiments of the present application, the magnetic polarization tensor matrix corresponding to the target metal can be obtained according to the position of the target metal and the response data, and then the matrix diagonalization algorithm is used to diagonalize the magnetic polarization tensor matrix to obtain the category characteristics of the target metal; the category characteristics are subjected to parameter fitting to obtain target category characteristics; finally, the category to which the target metal belongs is determined according to the target category characteristics of the target metal. In this way, the category of the target metal can be accurately determined.

[0079] In the embodiments of the present application, the detection data of the target metal can be obtained, and then the position range of the target metal is determined according to the response data in the detection data; finally, the position of the target metal is obtained based on the position range and the detection data. The position range of the target metal determined by the response data can provide a constraint condition for finally determining the position of the target metal, reduce the calculation amount, and avoid multiple solutions, thereby realizing accurate inversion of the position information of the target metal.

[0080] Figure 8 A flowchart of a method for positioning an underground metal provided by an example embodiment of the present application is shown. As shown in the flowchart, the method mainly includes the following steps: Figure 8

[0081] Step 801: A data acquisition module collects target response, transmission current, and measurement point position information. The target response can be response data. In actual application, the data acquisition module can obtain the secondary field response of the target metal and the current in the transmission coil by using a transient electromagnetic detection device and record the measurement point position to provide information for subsequent inversion.

[0082] ​Step 802: The target estimation module quickly obtains the target position parameter range according to the target response. The target position estimation module can quickly estimate the position parameter (position range) of the target metal according to the Z component of the target response, and provide a constraint condition for the inversion process.

[0083] Step 803: The target position inversion module obtains the accurate position parameter by using an optimization algorithm according to the estimated position range. The target position accurate inversion module can obtain the accurate position by using an optimization algorithm according to the estimated position range.

[0084] Step 804: The characteristic response inversion module obtains the target characteristic response by using a matrix diagonalization algorithm according to the position inversion result. The characteristic response inversion module can obtain the characteristic response (category characteristic) of the target by using a matrix diagonalization algorithm. The characteristic responses of different metal targets are different, and can be used as a basis for target recognition.

[0085] Step 805: Different targets are recognized according to the characteristic responses. In actual applications, the category of the target metal can be determined according to the characteristic response of the target metal.

[0086] Figure 9 A flowchart of a method for positioning an underground metal object is shown. As shown in the figure, the method mainly includes the following steps: Figure 9

[0087] Step 901: The target response, the transmission current, the transceiver coil parameter, and the target position range.

[0088] Step 902: The accurate position parameter is obtained by using an optimization algorithm.

[0089] Step 903: The position matrix is obtained according to the position inversion result, and the magnetic polarization tensor matrix is obtained by using the least square method and deformation.

[0090] Step 904: The characteristic response of the target is obtained by using a matrix diagonalization algorithm according to the obtained magnetic polarization tensor matrix.

[0091] Step 905: The characteristic response parameter is obtained by parameterizing fitting the characteristic response.

[0092] In actual applications, the target response, the transmission current, the transceiver coil parameter, and the target position range can be obtained, and then the accurate position parameter is obtained by using an optimization algorithm. Then, the position matrix is obtained according to the position inversion result, and the magnetic polarization tensor matrix is obtained by using the least square method and deformation. Then, the characteristic response of the target is obtained by using a matrix diagonalization algorithm according to the obtained magnetic polarization tensor matrix (category characteristic). Finally, the characteristic response parameter (target category characteristic) is obtained by parameterizing fitting the characteristic response, so that the target can be recognized and classified.​

[0093] The underground metal positioning method provided in the embodiments of the present application can be executed by an underground metal positioning device. The underground metal positioning method is executed by the underground metal positioning device in the embodiments of the present application, and the underground metal positioning device provided in the embodiments of the present application is described.

[0094] Figure 10 The structure of the underground metal positioning device provided in an example of the present application is shown in a structural schematic diagram. The underground metal positioning device can implement all or part of the content in the embodiments shown in the present application, and the underground metal positioning device includes a first acquisition module 1001, a determination module 1002, and a second acquisition module 1003. Figure 1

[0095] In the embodiments of the present application, the first acquisition module 1001 is configured to acquire detection data of a target metal, wherein the detection data includes response data of the target metal; the determination module 1002 is configured to determine a position range of the target metal according to the response data; and the second acquisition module 1003 is configured to obtain the position of the target metal based on the position range and the detection data.

[0096] In an optional implementation, the position range includes a horizontal position range and a depth range.

[0097] When the determination module 1002 is configured to determine the position range of the target metal according to the response data, the determination module 1002 is specifically configured to:

[0098] perform current normalization processing on Z-component data in the response data to obtain component response data;

[0099] determine the horizontal position range of the target metal according to a position of an extreme value region of the component response data and an eccentricity between a transmitting coil and a receiving coil;

[0100] determine a depth range of the target metal according to a response value of the component response data on a target survey line, wherein the response value corresponding to the target survey line is greater than a preset value.

[0101] In an optional implementation, when the determination module 1002 is configured to determine the horizontal position range of the target metal according to the position of the extreme value region of the component response data and the eccentricity between the transmitting coil and the receiving coil, the determination module 1002 is specifically configured to:

[0102] when the distribution of the component response data on a plane is unimodal, determine the horizontal position range of the target metal according to a region where a response maximum value is located and the eccentricity between the transmitting coil and the receiving coil;

[0103] ​In a case where the distribution of the component response data on the plane is bimodal, the horizontal position range of the target metal is determined according to a region where a response minimum value is located and an eccentricity between the transmitting coil and the receiving coil.

[0104] In an optional implementation, the determining module 1002 is specifically configured for:

[0105] obtaining a response variation diagram of the component response data on the target survey line based on the response value of the component response data on the target survey line;

[0106] In a case where the distribution of the component response data on the plane is unimodal, the depth range of the target metal is determined according to a width of the response data in the response variation diagram;

[0107] In a case where the distribution of the component response data on the plane is bimodal, the depth range of the target metal is determined according to a distance between two peaks in the response variation diagram.

[0108] In an optional implementation, the second obtaining module 1003 is specifically configured for:

[0109] taking the position range as a constraint condition of a target algorithm and taking the detection data as a parameter of the target algorithm to calculate the position of the target metal, where the target algorithm is used to invert the position of the target metal based on the detection data.

[0110] In an optional implementation, the detection data further includes a current of a transmitting coil of a detector, a parameter of the transmitting coil, a parameter of a receiving coil of the detector, and a relative position of the transmitting coil and the receiving coil.

[0111] The second obtaining module 1003 is specifically configured for:

[0112] taking the current of the transmitting coil, the parameter of the transmitting coil, the parameter of the receiving coil, and the relative position of the transmitting coil and the receiving coil, and the response data obtained by each time channel as an input parameter of the target algorithm, and taking the position range as a constraint condition of the optimization algorithm to obtain a position result of each time channel;

[0113] averaging the position result of each time channel to obtain the position of the target metal.

[0114] In an optional implementation, the underground metal positioning apparatus further comprises an identification module configured to:

[0115] According to the position of the target metal and the response data, a magnetic polarization tensor matrix corresponding to the target metal is obtained;

[0116] The magnetic polarization tensor matrix is diagonalized by using a matrix diagonalization algorithm to obtain a category feature of the target metal;

[0117] The category feature is parameter fitted to obtain a target category feature;

[0118] According to the target category feature, a category to which the target metal belongs is determined.

[0119] The underground metal positioning apparatus in the embodiments of the present application can be an electronic device or a component in an electronic device, such as an integrated circuit or a chip. The electronic device can be a terminal or other devices other than a terminal. For example, the electronic device can be a mobile phone, a tablet computer, a notebook computer, a palm computer, a vehicle-mounted electronic device, a mobile Internet device (MID), an augmented reality (AR) / virtual reality (VR) device, a robot, a wearable device, an ultra-mobile personal computer (UMPC), a netbook, or a personal digital assistant (PDA), and can also be a server, a network attached storage (NAS), a personal computer (PC), a television (TV), a teller machine, or a self-service machine, and the embodiments of the present application are not limited in this regard.

[0120] The underground metal positioning apparatus in the embodiments of the present application can be a device with an operating system. The operating system can be an Android operating system, an ios operating system, or other possible operating systems, and the embodiments of the present application are not limited in this regard.

[0121] The underground metal positioning apparatus provided in the embodiments of the present application can implement the method provided in the embodiments of the present application, and each process of the method is not repeated here to avoid repetition. Figure 1

[0122] Optionally, as Figure 8 ​As shown, the electronic device 800 according to an embodiment of the present application includes a processor 801 and a memory 802. The memory 802 stores programs or instructions executable by the processor 801. When the programs or instructions are executed by the processor 801, the above-described method is implemented. Figure 1 The underground metal positioning method shown in the above embodiment includes each step shown in the above embodiment, and can achieve the same technical effects. To avoid repetition, the details are not described here.

[0123] It should be noted that the electronic device in the embodiments of the present application includes the mobile electronic device and the non-mobile electronic device described above.

[0124] Figure 9 A structural block diagram of another electronic device 900 is shown according to an example embodiment of the present application. The electronic device 900 can be implemented as a smart phone, a tablet computer, a notebook computer, a desktop computer, a smart watch, a television, etc. The electronic device 900 can also be referred to as a user device, a portable terminal, a laptop terminal, a desktop terminal, etc.

[0125] Generally, the electronic device 900 includes a processor 901 and a memory 902.

[0126] The processor 901 can include one or more processing cores, such as a 4-core processor, a 10-core processor, etc. The processor 901 can be implemented in at least one of a hardware form of a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array), a PLA (Programmable Logic Array). The processor 901 can also include a main processor and a coprocessor. The main processor is a processor for processing data in an awake state, also known as a CPU (Central Processing Unit). The coprocessor is a low-power processor for processing data in a standby state. In some embodiments, the processor 901 can be integrated with a GPU (Graphics Processing Unit) for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 901 can also include an AI (Artificial Intelligence) processor for processing machine learning-related computing operations.

[0127] The memory 902 may include one or more computer-readable storage media, which may be non-transitory. The memory 902 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In some embodiments, the non-transitory computer-readable storage media in the memory 902 is used to store at least one instruction, which is executed by the processor 901 to implement all or part of the steps in the underground metal locating method shown in the method embodiments of this application.

[0128] In some embodiments, the electronic device 900 may optionally include a peripheral device interface 903 and at least one peripheral device. The processor 901, memory 902, and peripheral device interface 903 can be connected via a bus or signal line. Each peripheral device can be connected to the peripheral device interface 903 via a bus, signal line, or circuit board. Specifically, the peripheral device includes at least one of the following: a radio frequency circuit 904, a display screen 905, a camera assembly 906, an audio circuit 907, and a power supply 908.

[0129] In some embodiments, the electronic device 900 further includes one or more sensors 909. The one or more sensors 909 include, but are not limited to, an accelerometer 910, a gyroscope 911, a pressure sensor 912, an optical sensor 913, and a proximity sensor 914.

[0130] Those skilled in the art will understand that Figure 9 The structure shown does not constitute a limitation on the electronic device 900, and may include more or fewer components than shown, or combine certain components, or use different component arrangements.

[0131] This application also provides a computer-readable storage medium storing a program or instructions. When the program or instructions are executed by a processor, they implement the various processes of the above-mentioned underground metal location method and achieve the same technical effect. To avoid repetition, they will not be described again here.

[0132] The processor is the processor in the electronic device described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0133] This application embodiment also provides a chip, which includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is used to run programs or instructions to implement the various processes of the above-mentioned underground metal positioning method and achieve the same technical effect. To avoid repetition, it will not be described again here.

[0134] It should be understood that the chip mentioned in the embodiments of the present application can also be referred to as a system-level chip, a system chip, a chip system, or a system-on-chip chip, etc.

[0135] The embodiments of the present application also provide a computer program product, which comprises a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, implement the steps of the underground metal positioning method described above and achieve the same technical effects. To avoid repetition, details are not described here.

[0136] Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. The application is intended to cover any variations, uses or adaptations of the application following, in general, the principles of the application and including such

[0137] It should be understood that the present application is not limited to the precise construction that has been described above and shown in the accompanying drawings, and that various modifications and changes can be made without departing from the scope thereof. The scope of the application is limited only by the claims that follow.

Claims

1. A method of locating a metal underground, characterized in that, The method comprises: obtaining detection data of a target metal, wherein the detection data comprises response data of the target metal; determining a position range of the target metal according to the response data; obtaining the position of the target metal based on the position range and the detection data; wherein the detection data further comprises a current of a transmitting coil of a detector, parameters of the transmitting coil, parameters of a receiving coil of the detector, and a relative position between the transmitting coil and the receiving coil; the obtaining the position of the target metal based on the position range and the detection data comprises: taking the position range as a constraint condition of a target algorithm, and taking the detection data as parameters of the target algorithm, to calculate the position of the target metal, wherein the target algorithm is used to inverse the position of the target metal based on the detection data.

2. The method of claim 1, wherein, the position range comprises a horizontal position range and a depth range; the determining the position range of the target metal according to the response data comprises: performing current normalization processing on Z-component data in the response data to obtain component response data; determining the horizontal position range of the target metal according to a position of an extreme value region of the component response data and an eccentricity between the transmitting coil and the receiving coil; determining the depth range of the target metal according to a response value of the component response data on a target survey line, wherein the response value corresponding to the target survey line is greater than a preset value.

3. The method of claim 2, wherein, the determining the horizontal position range of the target metal according to the position of the extreme value region of the component response data and the eccentricity between the transmitting coil and the receiving coil comprises: in a case where a distribution of the component response data on a plane is unimodal, determining the horizontal position range of the target metal according to a region where a response maximum value is located and the eccentricity between the transmitting coil and the receiving coil; in a case where the distribution of the component response data on the plane is bimodal, determining the horizontal position range of the target metal according to a region where a response minimum value is located and the eccentricity between the transmitting coil and the receiving coil.

4. The method of claim 2, wherein, the determining the depth range of the target metal according to the response value of the component response data on the target survey line comprises: obtaining a response variation diagram of the component response data on the target survey line based on the response value of the component response data on the target survey line; in a case where the distribution of the component response data on the plane is unimodal, determining the depth range of the target metal according to a width of response data in the response variation diagram; in a case where the distribution of the component response data on the plane is bimodal, determining the depth range of the target metal according to a distance between two peaks in the response variation diagram.

5. The method of claim 1, wherein, the taking the position range as the constraint condition of the target algorithm, and taking the detection data as the parameters of the target algorithm, to calculate the position of the target metal comprises: The current of the transmitting coil, the parameters of the transmitting coil, the parameters of the receiving coil, the relative positions of the transmitting coil, the receiving coil, and the response data of each time channel are taken as input parameters of the target algorithm, and the position range is taken as a constraint condition of the optimization algorithm, to obtain a position result of each time channel; The position results of each time channel are averaged to obtain the position of the target metal.

6. The method according to any one of claims 1 to 5, characterized in that, After the position of the target metal is determined based on the position range and the detection data, the method further comprises: According to the position of the target metal and the response data, a magnetic polarization tensor matrix corresponding to the target metal is obtained; The magnetic polarization tensor matrix is diagonalized by using a matrix diagonalization algorithm to obtain a category feature of the target metal; The category feature is parameter fitted to obtain a target category feature; According to the target category feature, a category to which the target metal belongs is determined.

7. An underground metal location device characterized by, Comprises: A first acquisition module configured to acquire detection data of a target metal, wherein the detection data comprises response data of the target metal; A determination module configured to determine a position range of the target metal according to the response data; A second acquisition module configured to obtain the position of the target metal based on the position range and the detection data; The detection data further comprises: a current of a transmitting coil of a detector, parameters of the transmitting coil, parameters of a receiving coil of the detector, and relative positions of the transmitting coil and the receiving coil; When the second acquisition module is configured to obtain the position of the target metal based on the position range and the detection data, the second acquisition module is specifically configured to: Take the position range as a constraint condition of a target algorithm, take the detection data as parameters of the target algorithm, and calculate the position of the target metal, wherein the target algorithm is used to inverse the position of the target metal based on the detection data.

8. An electronic device, comprising: The electronic device comprises a processor and a memory, the memory stores programs or instructions executable on the processor, and the programs or instructions are executed by the processor to implement the steps of the method of any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium stores programs or instructions, and the programs or instructions are executed by the processor to implement the steps of the method of any one of claims 1 to 6.

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