Underground pipeline positioning device, method and equipment

The invention discloses an underground pipeline positioning device, method and equipment. The device comprises a pipeline instrument, a fixed bracket, a movable carrier, a rotating motor, a laser ranging mechanism, a tilt angle sensor, an electromagnetic data acquisition mechanism and a calculation unit, the laser ranging mechanism is arranged on the rotating motor and is used for acquiring position data; the electromagnetic data acquisition mechanism is arranged at the first end of the pipeline instrument, the pipeline instrument is rotationally connected with the rotating motor, and the electromagnetic data acquisition mechanism is used for acquiring magnetic induction intensity when a target point meets a preset vertical condition; the tilt angle sensors are arranged at the second ends of the pipeline instruments and are used for collecting included angle data; the calculation unit is used for obtaining and determining an underground pipeline burial depth value based on the position data and the included a