WO2018133153A1 - Device for positioning hidden feature, and positioning method - Google Patents

Abstract

Disclosed in the present invention is a device for positioning a hidden feature. The device comprises: a detection module used to detect multiple regions and generate multiple feature signals varying on the basis of different positions of a hidden feature; a controller coupled to the detection module and configured to analyze a combination of the multiple feature signals to detect the hidden feature; and one or more indicators switchable between a first state and a second state and coupled to the controller. The controller is configured to switch the one or more indicators to the first state if marking positions of the one or more indicators are above a hidden feature, and otherwise switch the indicators to the second state, such that the indicators in the first state mark the position of the hidden feature. Also disclosed in the present invention is a positioning method for detecting a hidden feature. The present invention effectively adapts to a curved or uneven surface of a medium under test by means of combinations of the multiple feature signals, thus providing superior detection accuracy.

Description

Device for positioning concealed features and method for positioning Technical field

The present invention relates to the field of detection, and more particularly to an apparatus and method for positioning a concealed feature within a medium.

Background technique

At present, the building must be placed under the walls and under the floor with features such as beams, columns, joists and other supporting objects. In addition, various wires and metal parts are often placed under the walls and under the floor. Wait. After laying the floor and the wall, it is usually necessary to cut or drill into the support surface for various types of decoration, or to provide openings in the surface, but at the same time, it is necessary to avoid damage to the underlying support objects, wires and pipes. In these cases, the builder often wants to know exactly where the support objects are behind the wall or floor before starting work to avoid cutting or drilling into them. In other cases, the constructor may also wish to anchor the weight to the concealed support element to ensure the anchorage of the anchorage, in which case the constructor typically desires to align with the underlying support element. Fasteners are mounted on the surface. However, once the surface finishes such as walls and floors are in place, the position of various types of support elements, wires and pipes cannot be detected by the naked eye or the like.

Now, during the construction, the construction personnel will use the experience of the sound to judge whether there is a support by sound, etc., and some professional hidden feature detection devices will be applied. The most common one is to detect the opacity through the capacitive displacement sensor. The blurring feature behind the surface of the media. These detectors detect changes in capacitance on the surface of the measured medium to determine the presence of hidden features behind the medium. Conventional concealed feature detectors typically have a flat inspection bottom surface, but many architectural surfaces, such as walls and floors, may appear flat when accidentally observed. However, they usually have at least a slight curvature. In addition, many surfaces of the medium to be tested may also have various embossments, which may affect the distance between the detector and the surface of the medium to be tested. When a conventional planar detector is placed on or through a curved surface, an air gap is irregularly present between the sensor plate and the surface of the medium to be inspected. Detector obtained on the surface of the test medium The feature data will vary depending on whether there is an air gap, so the inconsistency of the air gap makes it more difficult to determine the exact location of the hidden features. If the surface has too much curvature, it may be difficult or impossible to detect hidden features. Air gap problems affect conventional capacitive sensing detectors and are more pronounced in larger detectors with larger sensor plates or larger detection planes. U.S. Patent (Announcement No. US8593163B) discloses a concealed feature detector that can be attached to a surface to be tested. By using a flexiblely coupled sensor plate and a flexible bottom surface, the sensor bottom surface and internal sensors can be adapted to bend or not. Regularly measure the surface of the media to reduce measurement errors. However, such a detector needs to make a flexible connection between the sensor board inside the detector and the flexible substrate supporting the sensor, and the bottom plate of the housing needs to be made of a flexible material to fit the surface of the measured medium, resulting in a complicated connection structure and flexible connection of the sensor. Low reliability. At the same time, the flexible bottom surface is a measured medium that fits the curved surface, and a certain pressure is applied to the detector, so that the sliding friction of the detector on the surface of the measured medium is increased, which affects the comfort of the sliding of the detector.

Summary of the invention

The invention is directed to the problem that the positioning device in the prior art cannot adapt to the interference of the curved surface or the surface embossing of the detected medium, thereby causing the measurement accuracy to be affected, and provides a device for locating feature and a positioning method, and the specific technology thereof The plan is as follows:

An apparatus for locating a concealed feature, comprising: a detecting module for detecting a plurality of regions to generate a plurality of characteristic signals that are changed based on a position different from a concealed feature; configured to analyze the plurality of characteristic signal combined values for detecting a controller coupled to the detection module; capable of switching between the first state and the second state coupled to one or more indicators of the controller; wherein the controller is configured to be one or more The one or more indicators are switched to the first state when the marked position of the indicator is above the concealed feature, otherwise switched to the second state such that the indicator in the first state identifies the location of the concealed feature .

Preferably, the detecting module simultaneously detects two regions and generates two characteristic signals that are changed based on different locations from the concealed features; the controller is configured to analyze the two characteristic signal differences to detect the concealed features.

Preferably, the plurality of detected regions are axially adjacent to the positioning device.

Preferably, the positioning device further comprises a displacement sensor coupled to the controller, the displacement sensor for detecting displacement data of the positioning device;

Advantageously, the plurality of indicators are configured, the controller being configured to switch the one or more indicators to the first when the marked position of the one or more first set of indicators is above the concealed feature State, otherwise switched to the second state, and updating the second set of indicator states based on the displacement data such that the indicator in the first state identifies the location of the concealed feature.

Preferably, the controller is configured to detect displacement data and update the second set of indicator states when the displacement data is greater than or equal to the set value.

Preferably, the second set of indicator status updates when the displacement generated after the first set of indicator switching states is substantially equal to the axial distance of the first set of indicator indicating positions and the second set of indicator indicating positions For the state in which the first set of indicators is switched, the axial distance is the projected pitch on the longitudinal axis of the positioning device.

Preferably, the plurality of indicators are arranged axially back and forth along the positioning device, at least one of the head and tail indicators being a first set of indicators.

Preferably, the plurality of indicators have substantially equal axial distances.

Preferably, the positioning device further includes a displacement sensor coupled to the controller, the displacement sensor is configured to detect displacement data of the positioning device; the indicator is a plurality, and the controller is configured to When the displacement generated after detecting the starting point of the concealed feature is equal to or greater than the indicator set distance, the indicator is switched to the first state, and the displacement generated when the concealed feature end point is detected is equal to or greater than the indicator setting The distance is switched to the second state.

Preferably, the indicator setting distance is an axial distance between the indicator marking position and the starting point of the concealing feature when the controller detects the starting point of the concealed feature, the axial distance is at the longitudinal axis of the positioning device The projection pitch on the top.

Preferably, the detecting module comprises a capacitance detecting module, and the capacitance detecting module comprises: at least two adjacently arranged sensor boards, each of the sensor boards having a capacitance that changes according to the following items: (a) a proximity of the sensor plate to one or more surrounding objects, (b) a dielectric constant of the surrounding object; a detection circuit coupled to the sensor plate, the detection circuit configured to measure a capacitance of the respective sensor plates; The controller is configured to analyze the capacitance value of the detection circuit to detect the concealment feature.

Preferably, the detecting module comprises a metal detecting module, and the metal detecting module generates a characteristic signal that is changed based on a position different from a concealed feature having a metal substance.

Preferably, the detecting module comprises an alternating current detecting module, and the alternating current detecting module generates a characteristic signal that is changed based on a position different from a hidden feature having alternating current.

Preferably, the detecting module further comprises: generating a metal detecting module based on a characteristic signal that is different from a position of the concealed feature having the metal substance, and generating an alternating current detecting module based on the characteristic signal that is different from the position of the concealed feature having the alternating current The positioning device further includes a mode selection module, configured to set a controller to select a characteristic signal generated by one or more of the analysis capacitance detection module, the metal detection module, and the alternating current detection module to detect the concealment feature.

The present invention also provides a method for locating a concealed feature, the method employing a positioning device having a plurality of feature signals that are generated based on different locations of the concealed features according to a plurality of detection regions, wherein: measuring a plurality of a characteristic signal sensed in an adjacent area, the area surrounding an area of the detection module; determining a position of the concealed feature in the plurality of adjacent measurement areas based on the measured combined value of the plurality of regional characteristic signals The one or more indicators corresponding to the locations of the plurality of adjacent measurement regions and the concealed feature stack are switched from the second state to the first state; wherein the indicators of the first state identify locations between the concealed features.

Preferably, the method further comprises analyzing a displacement generated by the positioning device on the surface of the measured medium, and updating an indicator state that does not correspond to the detection module area when the displacement is greater than or equal to the set value, the indicator update status A specific indicator state for the positioning device in the direction of movement.

Preferably, the method further comprises analyzing a displacement of the positioning device on the surface of the measured medium, and determining a relative position of the concealed feature and the positioning device according to the displacement, and laminating the area where the positioning device is located and the concealing feature The one or more indicators corresponding to the position are switched from the second state to the first state.

The present invention achieves the following beneficial effects:

By simultaneously detecting a plurality of detection areas, the obtained characteristic signals are judged by taking their difference or other combined values, which can effectively solve the problem that the positioning device encounters uneven force or soft medium when the surface of the medium to be tested is moved. The up-and-down distance between the instrument and the surface of the medium changes, so that the detection value of the sensor changes, thereby affecting the accuracy of detection. In addition, since the positioning signals generated by the similar detection regions have the same change value when the positioning device is lifted off or close to the surface of the medium, the difference value or the combined value of the positioning device can effectively eliminate the error variation values, so that the positioning device can distinguish the distance from the deviation. And the process of approaching the surface of the media overcomes the problem that some existing positioning devices can only be opened for normal operation when placed on the surface of the media. In addition, by adding the displacement sensor and multiple indicators, the width and position of the concealed features can be displayed intuitively. At the same time, the positioning device can check at a fixed position after detecting the concealed feature, without determining the width of the concealing device by moving back and forth on the surface of the medium like the existing positioning device, and the positioning device can simultaneously locate more than one. The position and width of the blurred features allow the user to better observe and mark the position of the feature. By using the joint work of different detection modules, the detection and recognition capability of the positioning device for various concealed features can be improved. Through the mode selection mode, different detection modules and their combinations can be selected for detection at any time during the detection process, according to different detection module pairs. The feedback of the concealed medium can accurately determine the type of concealed features under the medium to facilitate subsequent construction.

The additional aspects and advantages of the invention will be set forth in part in the description which follows.

DRAWINGS

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below. Obviously, the drawings in the following description are only It is an embodiment of the present invention, and those skilled in the art can obtain other drawings according to the provided drawings without any creative work.

1 is a schematic diagram of a system of a positioning device according to an embodiment of the present invention;

2 is a schematic structural diagram of a positioning device according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of a use state of a positioning device according to an embodiment of the present invention; FIG.

FIG. 4 is a schematic diagram of data processing according to an embodiment of the present invention; FIG.

FIG. 5 is a schematic diagram of a system of a positioning device according to another embodiment of the present invention; FIG.

6 is a schematic bottom view of a positioning device according to another embodiment of the present invention;

Figure 7 is a partial enlarged view of a portion A in Figure 4;

FIG. 8 is a schematic diagram of a use state of a positioning device according to another embodiment of the present invention; FIG.

FIG. 9 is a schematic diagram of a use state of a positioning device according to another embodiment of the present invention; FIG.

FIG. 10 is a schematic diagram of a system of a positioning device according to another embodiment of the present invention; FIG.

FIG. 11 is a schematic diagram of a system of a positioning device according to another embodiment of the present invention; FIG.

FIG. 12 is a flowchart of a positioning method according to an embodiment of the present invention;

FIG. 13 is a flowchart of a positioning method according to another embodiment of the present invention.

detailed description

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention. It should be noted that the various embodiments in the present specification are described in a progressive manner, and each embodiment focuses on differences from other embodiments, and the same similar parts between the various embodiments may be referred to each other.

Embodiment 1:

Embodiment 1 of the present invention provides an apparatus for measuring a position of a concealed feature under a surface of an object, comprising: a detecting module, configured to detect a plurality of regions to generate a plurality of characteristic signals that are changed based on a position different from a concealed feature a controller coupled to the detection module, the controller configured to analyze a combined value of the plurality of characteristic signals to detect a covert feature; one or more indicators coupled to the controller, the indication The device is switchable between a first state and a second state; the controller being configured to switch the one or more indicators to the first state when the marked position of the one or more indicators is above the concealed feature Otherwise, switching to the second state causes the indicator in the first state to identify the location of the concealed feature.

As shown in FIG. 1, in the present embodiment, the detecting module includes a plurality of sensor boards 411 and detecting circuits 412, each of which has a capacitance that varies based on: (a) a sensor board with one or more The proximity of the surrounding objects, (b) the dielectric constant of the surrounding objects; the detection circuit 412 coupled to the sensor board 411, the detection circuit 412 being configured to measure the capacitance of the sensor board 411; 11 is configured to analyze the capacitance value of detection circuit 412 to detect the concealment feature.

For ease of understanding, a brief description of how to use the capacitive sensor board 411 to detect the blurring characteristics behind the surface of the object is the electrical measurement of the ability of the object to hold or store the object. A common form of energy storage device is a parallel plate capacitor whose capacitance is calculated by: C = Er * Eo * A / d, where A is the overlap area of the parallel plates, d is the distance between the plates, and Er is relatively static The dielectric constant or the dielectric constant of the material between the plates. Eo is a constant. The dielectric constant Er of air is 1, while most solid non-conductive materials have a dielectric constant greater than one. In its most basic form, the capacitive sensor portion is a single-plate capacitive sensor. These single-board capacitive sensors use the environment around them as the second board, which can be assumed to be an infinite dielectric. The veneer can also form a capacitor with other metal plates or device housings. When the capacitive sensor board is placed on the wall and there is no hidden support behind the wall position, the detector measures the capacitance of the wall and the air behind it. The detector measures the capacitance of the wall and the support having a higher dielectric constant than air when placed in a position hidden behind a wall with a concealment such as a support. Therefore, the change data of the capacitance is recorded by the detector and can then be used to trigger the indication system.

Preferably, the capacitive sensor of the positioning device in the embodiment adopts two sensor boards 411. In this embodiment, the sensor board 411 is a copper piece on the circuit board, and a separate conductive sheet may also be used. The sheet may be composed of a metal sheet, which may be a copper sheet, an aluminum sheet, an iron sheet, or an alloy sheet, etc., as long as the following functions can be achieved, that is, the capacitive sensor board has a capacitance that varies based on the following: (a) The proximity of the sensor board to one or more surrounding objects, and (b) the dielectric constant of the surrounding objects.

Preferably, in the embodiment, the indicator 15 is three LED indicators disposed on the positioning device housing in a row along the axis of the positioning device, and the LED indicator light can be illuminated according to the control signal of the controller 11. And switch between the two states. The position of the LED indicator light in this embodiment is the position indicated by the indicator. In actual situations, some of the indicator lights may only be used to remind the housing of a hidden feature under some other position, and the corresponding marked position may pass through other housings. Markings, etc. are indicated, and there may be hidden features when the indicator is lit and below the corresponding marked position. In addition, the indicator is also optional It is marked by an integrated liquid crystal display, but the liquid crystal display is also displayed by a combination of dots, so it can also be regarded as a plurality of indicators, and the implementation principle is similar. It should be noted that the number of LED indicators provided in this embodiment is only a simple and simple example for subsequent discussion, and multiple columns may be arranged axially along the positioning device, and the axial direction is the symmetry axis of the positioning device length, that is, the drawing. The vertical axis B in 2. In order to improve the display accuracy and measurement range of the position of the hidden feature of the positioning device.

The controller 11 is configured to analyze a combined value of the plurality of characteristic signals to detect a concealed feature and to switch the one or more indicators to a point when one or more of the indicators are above the concealed feature The light state, otherwise switched to the off state, such that the indicator in the lit state identifies the location of the concealed feature. Preferably, in the embodiment, the controller 11 is configured to analyze the difference in capacitance values of the two sensor boards 411, and control the state switching of the three LEDs according to the difference in capacitance values. . As shown in FIG. 3, the sensor plates C1 and C2 of the positioning device are relatively close sensors, so when the distance between the bottom surface of the positioning device and the surface of the measured medium changes, the amount of change caused by the change of the distance between the two sensors is basically Consistent, so it can be eliminated by subtracting the capacitance values of the two sensors without affecting the signal of the measured object. As shown in Figure 4, the capacitance difference is determined by C1-C2.

As shown in FIG. 3, when the positioning device is moved from position 1 to position 4, the amount of change in the capacitance value c1 of the sensor board C1 is advanced, and the amount of change in the capacitance value c2 of the sensor board C2 is delayed. When the positioning device 1 reaches the position 1, as shown in FIG. 4, the capacitance difference (c1-c2) of the sensor boards C1, C2 starts to increase but the added value does not exceed the threshold a, and all the indicators a1 - a3 Is dead,

When moving from position 1 to position 2, the increase in the capacitance difference (c1-c2) of the sensor boards C1, C2 exceeds the threshold a, and the controller 11 controls the indicator a1 to illuminate.

When moving from position 2 to position 3, the increase in the capacitance difference (c1-c2) of the sensor boards C1, C2 reaches the maximum value b and starts to decrease, and the controller 11 controls the indicator lamp a2 to illuminate.

When moving from position 3 to position 4, the capacitance difference (c1-c2) of the sensor boards C1, C2 starts to decrease, and when the decrease value approaches the maximum value b, the controller 11 controls the indicator light a3 to illuminate.

When moving from position 4 to position 5, the capacitance difference (c1-c2) of the sensor boards C1, C2 continues to decrease, and when the decrease value is greater than the maximum value b, the controller 11 controls the indicator light a1 to be turned off.

When moving from position 5 to position 6, the capacitance difference (c1-c2) of the sensor boards C1, C2 continues to decrease, and when the decrease value reaches the maximum value d, the controller 11 controls the indicator light a2 to be turned off.

When moving from position 6 to position 7, the capacitance difference (c1-c2) of the sensor boards C1, C2 starts to increase, and when the capacitance difference (c1-c2) increases by a quantity close to b, the controller 11 controls the indicator a3 to be turned off.

In the above process, the controller controls each indicator light by using the increase and decrease values in the moving process according to the capacitance difference (c1-c2) of the sensor boards C1 and C2 as reference nodes. Of course, it is also possible to control the specific value of the capacitance difference (c1-c2) during the movement as a reference node, and the capacitance difference (c1-c2) can also be calibrated when sliding on the surface of the medium without the concealed feature. . The thresholds a, b, c, and d may be selected by placing the positioning device on a surface of the medium where the concealed feature position is known or visible by testing a change in the capacitance difference as the relative position of the concealed feature changes.

In some embodiments, when the indicator light in the positioning device is only one, it can also be controlled according to the similar principle described above, and the discussion will not be repeated here. In other embodiments, three adjacent sensor boards are used in the positioning device, and the combined values of the capacitance values of the three sensor boards can be obtained by adding or subtracting weights or other algorithms, and then combining the combinations. Values are similar to those described above, and other numbers of sensor boards can be similarly performed and will not be discussed here.

By using a plurality of relatively close sensors to simultaneously detect a plurality of adjacent detection areas, the obtained characteristic signals are judged by taking their difference or other combined values, which can effectively solve the movement of the positioning device on the surface of the medium to be tested. The problem that the detection value of the sensor changes and affects the detection accuracy due to the uneven force or the softness of the medium causes the upper and lower distances of the instrument and the surface of the medium to change. In addition, since the positioning signals generated by the sensors have the same change value when the positioning device is lifted off or close to the surface of the medium, taking the difference value or the combined value can effectively eliminate the error variation values, so that the positioning device can distinguish the distance from the deviation. And the process of approaching the surface of the medium does not work, and overcomes the problem that some existing positioning devices can only be opened normally when placed on the surface of the medium.

Embodiment 2:

An embodiment of the present invention discloses a device for measuring a position of a concealed feature under the surface of an object, comprising: a detecting module, wherein the detecting module is configured to detect a plurality of regions to generate a plurality of feature signals that are changed based on different locations of the concealed features; a controller coupled to the detection module, the controller configured to analyze a combined value of the plurality of characteristic signals to detect a concealed feature; a plurality of indicators coupled to the controller, the indicator being capable of Switching between a first state and a second state; the controller is configured to The one or more indicators are switched to the first state when one or more of the indicators are above the concealed feature, otherwise switched to the second state such that the indicator in the first state identifies the concealed feature s position.

As shown in FIG. 5, in the present embodiment, the detecting module includes a plurality of sensor boards 411 and detecting circuits 412, each of which has a capacitance that varies based on: (a) a sensor board and one or more The proximity of the surrounding object, (b) the dielectric constant of the surrounding object; the detection circuit 412 coupled to the sensor board 411, the detection circuit 412 being configured to measure the capacitance of the sensor board 411; the controller 11 A combined value of the measured capacitance values of the detection circuit 412 is configured to detect the concealment feature.

In the embodiment, the capacitive sensor of the positioning device adopts two sensor boards 411, and the indicator 15 is six LEDs disposed on the positioning device housing in a row along the axis of the positioning device, and the spacing between the indicators is S. The led indicator light can be switched between the lighting state and the closing state according to the controller control signal. It should be noted that the number of LED indicators provided in this embodiment is only a simple and simple example for subsequent discussion. In practice, the number of LED indicators may be greatly increased according to specific needs, or multiple columns may be arranged in parallel along the positioning device. The axial direction is the longitudinal direction of the positioning device. To improve the display accuracy and measurement range of the width and position of the concealed features of the positioning device.

The controller 11 and the displacement sensor for detecting the displacement data of the positioning device are electrically connected 14; as shown in FIGS. 6 and 7, in the embodiment, the displacement sensor selects a roller on which an encoder is mounted, and the roller Installed on the bottom of the positioning device shell, the part of the roller is exposed to the bottom surface of the shell to contact with the surface of the object to be tested. When the positioning device moves on the surface of the object, the rotating wheel is driven to drive the encoder to rotate and output a rotation angle signal to the controller, and the controller rotates according to the rotation. The angular distance and the circumference of the roller surface can be used to calculate the rolling distance, that is, the displacement distance of the positioning device. The number of rollers and the installation position can be set as needed, as long as the relevant functions can be realized. In this embodiment, three rollers are arranged at three points on the bottom surface of the positioning device, so that the positioning device is smooth and stable when moving along the surface of the medium such as a wall, and can well fit the surface of the medium. The encoder may be optionally mounted on one of the rollers, or an encoder may be mounted on two or three of them, and the displacement generated by the individual encoders may be eliminated by comparing the displacement data output from the encoders. The data error provides measurement accuracy, and the displacement data of the three encoders can also be processed by other existing processing algorithms to provide displacement measurement accuracy. This embodiment is made by using a roller equipped with an encoder. For the displacement sensor, the sliding friction of the existing positioning device on the surface of the object is converted into rolling friction, which also improves the movement comfort of the positioning device on the surface of the object to be tested, and at the same time, the point contact between the roller and the surface of the measured medium can be It is convenient to bypass the debris attached to the surface of the medium, and it is good to avoid the positioning device of the existing bottom surface which is in full contact with the measured medium. The bottom of the positioning device is lifted due to the unevenness of the surface of the measured object during the sliding process. Or because the size of the positioning device is increased, the bottom plane cannot fit well or adapt to the curvature of the surface of the measured medium, and the size of the air gap between the bottom portion and the object to be tested is increased and uneven. The value of the capacitance generated by the sensor board, which in turn affects the accuracy of the detection.

In another embodiment, the displacement sensor can also employ an optical trajectory sensor. The optical trajectory sensor is mounted on the bottom of the positioning device, and the measuring light of the optical trajectory sensor is emitted to the surface of the measured medium through the opening at the bottom, and the displacement data is obtained by the digital signal processor inside the optical trajectory sensor for the image of the reflected light image. And sent to the controller 11. The optical track sensor can be an existing optical mouse sensor package, such as an Agilent ADNS-2610 optical mouse sensor.

In this embodiment, the positioning device sets the indicator lights a1-a3 of the head of the led indicator queue as the first group of indicators, and the remaining indicator lights a4-a6 are the second group of indicator lights, and the sensor board C1 is disposed on Below the indicator light a1, the sensor board C2 is disposed below the indicator light a3, and the indicator light a2 is located above the middle of C1 and C2, and the C1 and C2 are mounted in the positioning device housing. The controller is configured to switch the one or more led indicators to a lighting state when one or more of the first set of led indicators are above the concealed feature, otherwise switch to a closed state and according to the displacement The data updates the second set of led indicator states such that the indicator in the illuminated state accurately identifies the location and width of the concealed feature. The width of the concealed feature can be detected intuitively by the lighting state of the indicator lights a1-a6, and the position of the concealed feature under the surface of the measured medium can be displayed. At the same time, the positioning device can check at a fixed position after detecting the concealed feature, without determining the width of the concealing device by moving back and forth on the surface of the medium like the existing positioning device, and the positioning device can simultaneously locate more than one. The position and width of the blurred features allow the user to better observe and mark the position of the feature.

The specific working principle is as follows, as shown in FIG. 8 , wherein the control manner of a1-a3 as the first group of indicator lights is the same as that in the first embodiment, and the description will not be repeated here, and the second group is described below. The working process of the indicator lights a4-a6.

When the displacement sensor detects that the displacement data of the positioning device 1 on the surface of the measured medium is greater than n integer multiple of the interval of the indicator light, wherein n≥1, the status of each indicator light a4-a6 of the second group is updated to be along the positioning. The state in which the device moves in the direction of the previous indicator, in this embodiment the spacing of the indicators is the same.

As shown in FIG. 8, when the positioning device 1 continues to move from the position 1 to the position 2, when the displacement sensor 14 detects that the positioning device moves by a distance S, the distance S is the distance between the two indicator lights. The controller 11 reads the state of the indicator lights a3-a5 at this time, and uses them as the update state of the indicator lights a4-a6, respectively, and sends the update state control signals to the indicator lights a4-a6 for state switching. That is, the state of each indicator light (lighting or extinguishing) is transmitted backward one bit, that is, the indicator light a6 replaces the state of the indicator light a5, the indicator light a5 replaces the state of the indicator light a4, and the indicator light a4 replaces the state of the indicator light a3. Therefore, the indicator light a4 is lit in this position 2.

When the positioning device 1 continues to move from the position 2 to the approach position 3, when the displacement sensor 14 detects that the positioning device has moved two distances S, the controller 11 reads the state of the indicator lights a3-a5 at this time again, and As the update status of the indicator lights a4-a6, respectively, the update status control signals are sent to the indicator lights a4-a6 for state switching, so that a4, a5 of the second group of indicator lights are lit in this position 2. Each subsequent movement of the positioning device repeats the status update action of the pair of second indicator lights.

The same is true if the positioning device moves in the opposite direction. After the positioning device moves the distance S, the second group of indicator lights updates the state of the previous indicator light found by the movement, or the previous update period can be retrieved from the memory in the controller 11. The status of each indicator is restored, that is, it returns to the previous pre-update status.

In a preferred embodiment, the positioning method further comprises the following steps:

When the sensor board capacitance value decreases and the displacement sensor does not detect the displacement amount, a control signal that switches to the second state is output to all of the indicators.

The detector 11 detects the displacement data of the sensor plate with a reduced capacitance value but does not simultaneously generate displacement from the positioning device 1 at the displacement sensor 14, and it can be assumed that the positioning device 1 has started to detach from the surface of the measured medium, and the controller 11 is all The indicator 15 outputs a control signal that is switched to the second state, and in this embodiment, the indicator lamps a1-a6 are turned off.

This step can remind the user of the positioning device that the positioning device has left the surface of the medium, and can avoid the characteristic signal generated by the detecting module from being undetected by the user from the surface of the interface to be detected, so that the detecting module generates an error. Affecting the accuracy and accuracy of the detection of hidden features, making the indication The device 15 shows the erroneous hidden feature position and error.

In another embodiment, the axial distance between the indicators may be different. The controller is configured to set the second set of indicators when the displacement generated after the first set of indicator switching states is substantially equal to the axial distance of the first set of indicator indicating positions and the second set of indicator indicating positions The status update is the state of the first set of indicator switches, the axial distance being the projected pitch on the longitudinal axis of the positioning device. Specifically, the internal memory of the controller stores the distance between the marked position of the second group of indicators and the position indicated by one of the first group of indicators, and the corresponding state of the indicator. For the convenience of discussion, the position of the indicator light is set to the position below. For example, a1-a3 is the first group of indicators, and a4-a6 is the second group of indicators. The axial distance between a1 and a4 is X, the axial distance between a1 and a5 is 2.5X, and the axial distance between a1 and a6 is 4.5X. When the first group of indicator lights a1 is switched from off to on, the recording of the displacement of the positioning device is started and the state corresponding to the lamp a1 at this time is recorded. When the displacement of the surface of the measured medium is equal to X, at this time, The indicator a4 is updated in state, that is, the state of the indicator a4 is switched to the state of the original indicator a1; when the displacement is equal to 2.5X, the state of the indicator a5 is switched to the state of a1 in the recording. When the displacement amount is equal to 4.5X, the state of the indicator light a6 is switched to the state of a1 in the recording. Of course, the above-mentioned displacement amount switching condition may also be substantially equal to the correlation distance, that is, slightly larger or smaller than the line. At this time, only the switching time of the related indicator light is delayed or delayed, and a slight error is generated. Of course, in the above process, if the a1 state is switched to the extinguished state after a displacement, the displacement amount at which the positioning device starts at this time is also recorded and the state corresponding to the lamp a1 at this time is recorded, and the second group of indicators a4-a6 are simultaneously Perform a similar status update operation.

The width of the concealed feature 3 can be detected intuitively by the lighting state of the indicator lights a1-a6, and the position of the concealed feature under the surface of the measured medium can be displayed. At the same time, the positioning device can check at a fixed position after detecting the concealed feature, without determining the width of the concealing device by moving back and forth on the surface of the medium like the existing positioning device, and the positioning device can simultaneously locate more than one. The position and width of the blurred features allow the user to better observe and mark the position of the feature.

Preferably, the embodiment further includes a power module, which is used to turn off and provide power for the system of the positioning device to ensure normal operation of the positioning device.

In a preferred embodiment, the detection circuit 13 can be implemented using the AD7147 from Analog Devices. The controller 11 can be implemented by the controller CY8C21534 from Cypress Semiconductor. Additional positioning The apparatus also includes a display circuit that transmits signals from the controller 11 to the indicator 15 that can be executed using the MM74F1C164 shift register from Fairchild Semiconductor. The display circuit transmits a signal from the controller 11 to the indicator 15, which may include LEDs arranged in two parallel rows along the back of the upper housing, the indicator 15 further comprising a power controller, The power controller uses the MC33375 integrated circuit from On Semi.

Embodiment 3:

The present embodiment provides another apparatus for measuring a concealed feature under the surface of an object, comprising: a detecting module, wherein the detecting module is configured to detect a plurality of regions to generate a plurality of characteristic signals that are changed based on different locations from the concealed features. a controller coupled to the detection module, the controller configured to analyze a combined value of the plurality of characteristic signals to detect a concealment feature; a plurality of indicators coupled to the controller, the indicator capable of Switching between a first state and a second state; further comprising a displacement sensor coupled to the controller, the displacement sensor for detecting displacement data of the positioning device; the controller being configured to detect concealment When the displacement generated after the feature starting point is equal to or greater than the indicator set distance, the indicator is switched to the first state, and when the displacement generated after detecting the end point of the concealed feature is equal to or greater than the set distance of the indicator, The indicator switches to the second state.

Preferably, similar to the second embodiment, the detecting module of the embodiment also includes a sensor board 411 and a detecting circuit 412. Similarly, the manner in which the controller finds the concealed feature under the measured medium according to the characteristic signal generated by the detecting module based on the difference of the position of the concealed feature is similar to the principle in the first embodiment, and is not detailed here. Discussed.

The internal memory of the controller 11 stores an axial distance of the concealed feature at an initial position of the positioning device that can be detected by the positioning device to the indicator position of each indicator when the positioning device is moving, the axis The distance is the projection pitch on the longitudinal axis of the positioning device. That is, when the controller detects the starting point of the concealed feature, the indicator indicates the axial distance of the position from the starting point of the concealed feature.

When the positioning device moves on the surface of the measured medium, when detecting the starting point of the hidden feature, the controller starts recording the displacement amount of the positioning device, and when the controller finds that the displacement amount is equal to or greater than a certain indicator in the internal memory of the controller When the corresponding set distance is stored, the indicator is switched to the first state. The positioning device continues to move forward at the same time. When the end point of the concealed feature is detected, the controller starts to record the displacement amount of the positioning device at the same time. When the controller finds that the displacement amount is equal to or greater than a certain finger. The indicator is switched to the second state when the indicator is in the corresponding set distance stored in the internal memory of the controller. An indicator in the first state and a location identifying the concealed feature. The positioning device is displayed by the state of the plurality of indicators, and can be inspected at a fixed position after detecting the concealed feature, without determining the starting point of the concealing device by moving back and forth on the surface of the medium like the existing positioning device. The end point, in turn, determines its width, and the positioning device is capable of simultaneously locating the position and width of more than one fuzzy feature, thereby allowing the user to better observe and mark the position of the feature. At the same time, the positioning device of the embodiment is more flexible in the arrangement of the position of the indicator, and does not need to be corresponding to the detecting module as in the first embodiment, and the detection precision is good.

Preferably, the indicator setting distance is an axial distance between the indicator marking position and the starting point of the concealing feature when the controller detects the starting point of the concealed feature, the axial distance is in the positioning device The projection pitch on the axis. The setting of the set distance enables the indicators of the positioning device to switch to the edge of the hidden feature for a first time, so that the positioning accuracy of the positioning device is well ensured.

Preferably, the sensor board 411 is disposed adjacent to the front end and/or the rear end of the positioning device such that the positioning device accommodates a larger detection distance, enabling detection and width identification of wider concealed features.

Embodiment 4:

The present embodiment is a change on the basis of the second and third embodiments, and therefore the same or similar parts in the two embodiments are not repeatedly discussed, and only the different portions will be described in detail below.

As shown in FIG. 9, the positioning device of the embodiment includes indicators that are arranged in a row along the axis of the positioning device and are disposed on the housing of the positioning device. The distance between the indicators is S. The lights are electrically connected to the controller, respectively, and the controller can respectively control the lighting and closing of each indicator. The positioning device disclosed in this embodiment sets the indicator lights a1-a3, a6-a8 located at the front of the indicator queue as the first group of indicators, and the remaining indicators a4, a5, a8, and a9 are the second group of indicators. The sensor board 411 is disposed in the positioning device housing below the indicator lights a1, a2. The rest of the structure is basically similar to that of the first embodiment. The sensor board C1 is disposed under the indicator light a1, the sensor board C2 is disposed below the indicator light a3, the indicator light a2 is located above the middle of C1 and C2; the sensor board C3 is disposed under the indicator light a6, and the sensor board C4 is disposed at Below the indicator light a8, the indicator light a7 is located above the middle of C3 and C4. The C1, C2 are mounted in a housing of the positioning device.

In the embodiment, the displacement sensor 14 is composed of a roller mounted with a magnetic column and a Hall sensor, and the Hall sensor can output a signal according to the relative change of the position of the magnetic column. The roller is mounted on the bottom of the positioning device housing, and the roller portion The bottom surface of the exposed shell is in contact with the surface of the object to be tested. When the positioning device moves on the surface of the object, the roller is rotated to drive the magnetic column to rotate with the roller, and the Hall sensor can output a rotation angle signal according to the position of the magnetic column to the controller. The displacement angle signal and the circumference of the roller surface can be used to calculate the displacement distance of the positioning device. In some embodiments, the Hall sensor can employ a non-contact three-dimensional Hall sensor MLX90363 with an accurate output signal. The sliding friction that moves the existing positioning device on the surface of the object is converted into rolling friction, which also improves the movement comfort of the positioning device on the surface of the object to be tested.

As shown in Figure 9, the controller 11 is configured to switch the one or more indicator lights to a lighted state when one or more of the first set of indicators are above the concealed feature, otherwise switch to off a state, and updating the second set of indicator states based on the displacement data such that the indicator in the first state identifies the location of the concealed feature. The manner in which the sensor board 411 of the present embodiment detects the concealed features and the manner in which the controller 11 controls the first and second sets of indicators are substantially the same as those in the second embodiment, and the description thereof will not be repeated here.

In this embodiment, by using the distributed arrangement of the plurality of sensor boards 411 and the corresponding arrangement of the first and second sets of indicator lights 15, the detection range of the positioning device in a narrow space can be improved, as described in the first embodiment. Compared with the positioning device, in the narrow space where the displacement of more than one time of its own length cannot be completed, the positioning device described in this embodiment will have a larger detection range of concealed features, and is more suitable for obstacles in a narrow or four-sided obstacle. Use in a mobile environment. Similarly, the more sensor boards are used, the lower the requirements for the movable space.

Embodiment 5:

As shown in FIG. 10, the positioning device disclosed in this embodiment includes a metal detecting module 42, a displacement sensor 14, an indicator 15 and a controller 11, and the metal detecting module 42 generates a position based on a hidden feature that is different from the metal-containing substance. And a varying characteristic signal; a controller 11 coupled to the metal detection module 411, the controller being configured to analyze the feature signal to detect the concealment feature. The metal detection module 42 includes a metal sensor 421, an oscillator 422, a DC voltage converter 423, and a D/A module 424. The controller 11 sends a control signal to the D/A module to adjust the oscillator of the D/A module. 422 output The voltage is such that the oscillator 422 is in a suitable state, that is, the oscillator is started, that is, when the voltage output from the DC voltage converter 423 is approximately between 1/3 and 1/2 of the power supply voltage, the state calibration is selected. The digital-to-analog conversion device can be adjusted when no metal is present, so that the voltage output from the DC voltage conversion device is approximately between 1/3 and 1/2 of the power supply voltage, and the value of the digital-to-analog conversion device is recorded. When the coil is close to the metal object, due to the electromagnetic induction phenomenon, an eddy current is generated in the metal conductor, so that the energy loss in the oscillation circuit is increased, so that the oscillation is weakened or even stopped. The DC voltage converter 423 detects this change and outputs a different voltage value, that is, converts the oscillation strength of the oscillator into a voltage output. The controller 11 determines whether or not a metal object exists by detecting a voltage change output from the DC voltage converter 423. That is, the larger the metal object contained in the concealed feature, the closer the distance from the detector coil, the more the oscillation decreases, and the output voltage decreases.

In this embodiment, the metal sensor 421 can be implemented by a coil distributed on a circuit board. The oscillator 422 uses a feedback type LC oscillator with an oscillation frequency of about 200 kHz, and the oscillation strength can pass through the digital mode. The conversion device adjusts, and the intensity of the oscillation directly affects the sensitivity of the detection metal. That is to say, the sensitivity of the detection metal can be adjusted by adjusting the output voltage of the digital-to-analog conversion device. The D/A module 424 can be controlled by the controller 11, can be composed of a digital to analog conversion chip, or can be implemented by PWM. In this embodiment, the metal detecting module can adopt two metal sensors 421 and two oscillators 422 corresponding thereto, and the DC voltage converter 423 can output voltage values corresponding to the two oscillators 422, and the controller The position of the concealed feature can be determined by the difference between the two voltage values. Of course, more metal sensors 421 can be used to determine the position of the concealed features based on the combined values of the generated plurality of voltage values.

The controller 11 is configured to switch the one or more indicators to a lighting state when one or more of the first group of indicators 15 are located above a concealed feature containing a metal material, otherwise switch to a closed state And updating the second set of indicator states based on the displacement data such that the indicator in the first state identifies the location of the concealed feature. Or the positioning method in the third embodiment may be adopted, that is, the controller is configured to switch the indicator to the first state when the displacement generated after detecting the starting point of the concealed feature is equal to or greater than the indicator setting distance, when When the displacement generated after detecting the end point of the concealed feature is equal to or greater than the indicator set distance, the indicator is switched to the second state. The arrangement of the metal sensor 421 of the present embodiment in the positioning device and the capacitive sensor in the foregoing embodiments The boards are arranged in the same way. The manner in which the metal detecting module 411 detects the concealed features of the metal-containing material and the manner in which the controller 11 controls the first and second sets of indicators are in the second or third embodiment, and will not be repeatedly described herein.

In another specific embodiment, the detecting module 411 of the positioning device can adopt an alternating current sensor, and can generate a characteristic signal that changes according to the position of the concealed feature containing the alternating current. The alternating current sensor is prior art, and is not here. More specifically described.

In the detecting module used in the positioning device disclosed in the above various embodiments, whether it is a metal sensor, a capacitive sensor or an alternating current measuring sensor, the signal sent back by the feedback object or the detected object is converted into a detected signal of the controller. For example, the voltage level, the amplitude or phase of the AC signal, or digital data, etc., regarding the judgment of the existence of the measured object, the judging method is similar to the positioning device using the capacitive sensor in the previous embodiments, but the size of the capacitor is changed. The size of other signals, such as voltage and so on. The principle of the above embodiment is to generate a characteristic signal that is changed based on the position of the hidden feature by the detecting module, and determine the starting point and the ending point of the measured object, the displacement sensor records the displacement information of the measured object, and records the position information of the measured object, and passes the The indicator indicates the width and position information of the concealed feature.

Example 6:

The embodiment further discloses a positioning device, comprising: a detecting module, the detecting module detecting a plurality of regions to generate a plurality of characteristic signals that are changed based on different positions of the concealed features; and a controller coupled to the detecting module The controller is configured to analyze a combined value of the plurality of characteristic signals to detect a concealed feature; a plurality of indicators coupled to the controller, the indicator being switchable between a first state and a second state; coupling a displacement sensor to the controller, the displacement sensor for detecting displacement data of the positioning device; the controller being configured to determine a position of the concealed feature under the positioning device based on the displacement data, and One or more of the indicators switch to a first state such that an indicator in the first state identifies the location of the concealed feature.

As shown in FIG. 11 , in the embodiment, the detecting module includes a capacitor detecting module, a metal detecting module 42 and an alternating current detecting module 43 . The capacitor detecting module includes a detecting circuit 412 and a sensor board 411 , and the specific connecting manner and the embodiment thereof Similarly, the metal detection module 42 includes a DC voltage converter, an oscillator, a metal sensor, and a D/A module, and its specific connection mode and other modules such as a displacement sensor. The working mode is basically similar to the foregoing embodiments, and will not be discussed here.

The sensor board of the capacitance detecting module, the metal sensor of the metal detecting module 42 and the sensing part of the alternating current detecting module 43 may be arranged in parallel along the axial direction of the positioning device with the first group of sensor areas in the indicator 15, each The detection module can be operated separately under the operating state to generate a characteristic signal that varies based on the position of the concealed feature corresponding to its corresponding detection type, so that the controller 11 can detect the concealed feature by analyzing the characteristic signal and when the first set of indicators The one or more indicators are switched to the first state when one or more are located above the concealed feature. In this embodiment, the controller 11 can configure each of the detection modules to be sequentially converted in time series, that is, time-sharing operation. The preferred controller 11 can rely on the internal timer to read the capacitance of the capacitance detection module by using 20 ms. The value data, the metal measurement value data of the metal detection module 42 is read in the next 10 ms, and the AC measurement data of the AC detection module 43 is read in the next 10 ms, and the loops are sequentially cycled to detect various types of concealed features to realize the detection type range. Maximization solves the problem that the positioning devices of various different types of detection concealment features of the prior art are separate devices.

In another preferred embodiment, the positioning device further includes a mode selection module 17, and the mode selection module 17 is connected to the controller 11 for selecting a detection module used by the positioning device according to a user's selection, and the controller 11 One or more of the capacitance detecting module, the metal detecting module or the alternating current detecting module may be selected according to the selection signal input by the mode selection module. That is, the user can select the detection function of the positioning device through the button of the mode selection module, for example, can be grouped by a button, such as alternating current detection and metal detection as a group, and the capacitance detection is used as a group, and the group is selected according to the state of the button. The modules in each group work according to time sharing.

In this embodiment, by using the joint work of different detection modules, the detection and recognition capability of the positioning device for various concealed features is greatly improved, and the mode selection method can select different detection modules and combinations thereof for detection at any time during the detection process, according to different The feedback of the detection module to the hidden medium can accurately determine the type of concealed features under the medium to facilitate subsequent construction.

Example 7:

This embodiment discloses a method of locating a concealed feature. The method employs a positioning device having a plurality of characteristic signals that are changed based on different locations from the concealed features according to the plurality of detection regions. As shown in FIG. 12, the specific steps include:

A sensed characteristic signal in a plurality of adjacent regions is measured, the region surrounding an area of the detection module.

The area is the detection area of the detection module of the positioning device.

Determining a position of the concealed feature in the plurality of adjacent measurement regions based on the measured combined values of the plurality of regional feature signals, and one or more corresponding to the positions of the plurality of adjacent measurement regions and the concealment features The indicator switches from the second state to the first state;

The indicator of the first state identifies the location between the concealed features.

For the specific process of the above method, refer to the working process of the positioning device in the first embodiment, and the description will not be repeated. By measuring a plurality of adjacent detection areas at the same time, the obtained characteristic signals are judged by taking their difference or other combined values, which can effectively solve the problem that the existing detection method does not encounter force during the movement of the surface of the medium to be tested. When the medium or the medium is soft, the distance between the instrument and the surface of the medium changes, which causes the detection value of the sensor to change and affects the detection accuracy. In addition, since the positioning signals generated by the sensors have the same change value when the positioning device is lifted off or close to the surface of the medium, taking the difference value or the combined value can effectively eliminate the error variation values, so that the positioning device can distinguish the distance from the deviation. And the process of approaching the surface of the medium does not work, and overcomes the problem that some existing positioning devices can only be opened normally when placed on the surface of the medium.

In another preferred embodiment, as shown in Figure 13, the positioning device used in the method further includes an indicator that is switchable between the first and second states. The steps also include:

Amount of displacement of the positioning device on the surface of the measured medium is analyzed. When the displacement amount is greater than the set value, the remaining indicator states that do not correspond to the detection module area are updated, and the remaining indicator update status is the moving direction of the positioning device. Indicator status.

The specific method application can be seen in the second embodiment, and it will not be repeated again. It transmits the indicator state through the displacement data to maintain the continuous display of the hidden feature position that has been found. This eliminates the need to determine the width of the concealing device by moving back and forth over the surface of the media as is the case with existing positioning devices, thereby allowing the user to better view and mark the position of the feature.

In another preferred embodiment, as shown in Figure 14, the positioning device used in the method includes an indicator that is switchable between the first and second states. The steps may also include:

Amplifying the displacement of the positioning device on the surface of the measured medium, and determining the relative position of the concealed feature and the positioning device according to the displacement, and stacking the position of the positioning device with the concealed feature The corresponding one or more indicators are switched from the second state to the first state.

For the specific method application, reference may be made to the third embodiment, which is not repeatedly discussed. The displacement data is used to identify the relative position of the concealed feature under the positioning device, thereby controlling the indicator corresponding to the position to switch to the first state. This method eliminates the need to determine the width of the concealing device by moving back and forth over the surface of the media as in prior art positioning devices, thereby allowing the user to better view and mark the position of the feature.

For the convenience of description, the above devices are described separately by function into various units. Of course, the functions of the various units may be implemented in one or more software and/or hardware in the practice of the invention.

The various embodiments in the specification are described in a progressive manner, and the same or similar parts between the various embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the description of the method embodiment. The system embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, ie may be located A place, or it can be distributed to multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the embodiment. Those of ordinary skill in the art can understand and implement without any creative effort.

The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments are obvious to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but the scope of the invention is to be accorded

Claims (17)

An apparatus for locating a concealed feature, comprising: The detecting module detects a plurality of regions to generate a plurality of characteristic signals that are changed based on different locations from the concealed features; a controller coupled to the detection module, the controller configured to analyze a combined value of the plurality of characteristic signals to detect a concealment feature; One or more indicators coupled to the controller, the indicators being switchable between a first state and a second state; The controller is configured to switch the one or more indicators to a first state when the marked position of the one or more indicators is above the concealed feature, or to switch to a second state, such that A status indicator identifies the location of the concealed feature. The apparatus for positioning according to claim 1, wherein said detecting module simultaneously detects two regions and generates two characteristic signals that vary based on a position different from the concealed feature; said controller is configured to analyze said Two characteristic signal differences are used to detect the concealment feature. The device for positioning according to claim 2, wherein said plurality of detected regions are axially adjacent to said positioning device. A device for positioning according to any of claims 1 to 4, further comprising a displacement sensor coupled to said controller, said displacement sensor for detecting displacement data of said positioning device; The plurality of indicators, the controller being configured to switch the one or more indicators to a first state when the marked position of the one or more first set of indicators is above the concealed feature, otherwise Switching to the second state and updating the second set of indicator states based on the displacement data such that the indicator in the first state identifies the location of the concealed feature. The apparatus of claim 4, wherein the controller is configured to detect displacement data and update the second set of indicator states when the displacement data is greater than or equal to the set value. The apparatus for positioning according to claim 5, wherein the displacement generated after the first set of indicator switching states is substantially the same as the axial distance of the first set of indicator indicating positions and the second set of indicator indicating positions Updating the second set of indicator states to the first set of indicator switches when equal State, the axial distance is the projected pitch on the longitudinal axis of the positioning device. The locating device of claim 6 wherein said plurality of indicators are axially disposed back and forth along the positioning device, at least one of said head and tail indicators being a first set of indicators. The positioning device of claim 7 wherein said plurality of indicators have substantially equal axial distances. The apparatus of claim 1 further comprising a displacement sensor coupled to said controller, said displacement sensor for detecting displacement data of said positioning device; The indicator is a plurality of indicators, and the controller is configured to switch the indicator to the first state when the displacement generated after detecting the start of the concealed feature is equal to or greater than the indicator set distance, when detecting The indicator is switched to the second state when the displacement generated after the end of the concealed feature is equal to or greater than the indicator set distance. The apparatus according to claim 9, wherein said indicator setting distance is an axial distance between said indicator indicating position and said hidden feature starting point when said controller detects a starting point of said hidden feature The axial distance is the projected pitch on the longitudinal axis of the positioning device. The apparatus according to any one of claims 1 to 10, wherein the detecting module comprises a capacitance detecting module, the capacitance detecting module comprising: at least two adjacently arranged sensor boards, each of the sensor boards having Capacitance that varies based on: (a) proximity of the sensor board to one or more surrounding objects, (b) dielectric constant of surrounding objects, detection circuitry coupled to the sensor board, the detection circuit is Configuring to measure capacitance of each of the sensor boards; The controller is configured to analyze a capacitance value of the detection circuit to detect a concealment feature. A device for positioning according to any of claims 1-10, wherein the detection module comprises a metal detection module that generates a characteristic signal that varies based on a location of a concealed feature having a metallic substance. The apparatus according to any one of claims 1 to 10, wherein the detecting module comprises an alternating current detecting module, and the alternating current detecting module generates a characteristic signal that is changed based on a position different from a hidden feature having alternating current. The apparatus according to claim 11, wherein the detecting module further comprises: generating a metal detecting module based on a characteristic signal that is different from a position of a concealed feature having a metal substance, generating a concealment based on having an alternating current An alternating current detecting module for a characteristic signal whose characteristic position changes; The positioning device further includes a mode selection module, configured to set a controller to select a characteristic signal generated by one or more of the analysis capacitance detection module, the metal detection module, and the alternating current detection module to detect the concealment feature. A method for locating a concealed feature, the method employing a locating device having a plurality of eigen-signals that vary based on a location of a concealed feature based on a plurality of detection regions, wherein: Measuring a sensed characteristic signal in a plurality of adjacent regions, the region surrounding an area of the detection module; Determining a position of the concealed feature in the plurality of adjacent measurement regions based on the measured combined values of the plurality of regional feature signals, and one or more corresponding to the positions of the plurality of adjacent measurement regions and the concealment features The indicator switches from the second state to the first state; The indicator of the first state identifies the location between the concealed features. The method of claim 15 further comprising: Amplifying a displacement of the positioning device on the surface of the measured medium, and updating an indicator state that is not corresponding to the detection module area when the displacement is greater than or equal to the set value, the indicator update status being before the moving direction of the positioning device A specific indicator status. The method of claim 15 further comprising: Amplifying a displacement of the positioning device on the surface of the measured medium, and determining a relative position of the concealed feature and the positioning device according to the displacement, and one or more corresponding to the position where the positioning device is located and the concealed feature are stacked The indicator switches from the second state to the first state.

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