Array directional drilling radar detection device and method

Abstract

The invention relates to an array directional drilling radar detection device and method, a plurality of drilling radar antennas are utilized to form an antenna array, and the array directional drilling radar detection device has a directional detection function and is used for directionally detecting a coal-rock interface and a geological anomalous body in a coal mine underground drill hole. The problems that distinguishing is difficult when a coal-rock interface is detected by an omnibearing drilling radar and the orientation of a geological anomalous body is difficult to position are solved. The four array directional drilling radar receiving antennas and the omni-directional transmitting antenna are arranged front and back, the detection requirement of small-size drill holes in an underground coal mine can be met, meanwhile, the metal shielding covers outside the four array directional drilling radar receiving antennas can improve the strength of the array directional drilling radar instrument, and long-distance drill hole detection in the underground coal mine is achieved.

Description

Technical Field

[0001] The present application relates to the field of radar detection technology, and in particular, to an array directional drilling radar detection device and method. Background Art

[0002] Intelligent mining is a new stage in the development of coal mining technology, and it is also an inevitable requirement for the technological revolution and transformation and upgrading of the coal industry. Coal intelligent mining technology has made significant technological progress in coal machine automation, working face straightening, video monitoring, etc., and has initially realized the intelligent mining mode based on "automatic following of hydraulic supports + memory cutting of coal mining machines + remote intervention control of video monitoring", that is, intelligent mining 2.0. Restricted by the technical difficulties of coal and rock identification, the current intelligent mining is generally carried out in working faces with simple geological conditions such as no faults, no collapse columns, stable coal thickness, and near-water coal flat layers. However, there are still many technical difficulties in intelligent mining under complex geological conditions. Due to the lack of accuracy in the exploration of geological conditions of coal seams and the unclear mechanism of coupling between coal and rock dynamic disasters, the adaptability of coal intelligent mining technology generally encounters some technical bottlenecks. In addition, the current intelligent mining mode also has problems such as frequent remote intervention control and insufficient adaptability of memory cutting.

[0003] In response to the above problems, many coal enterprises and research institutes have discussed and studied the new generation of intelligent mining 3.0 mode. Intelligent mining 3.0 requires the geological conditions of the mining face to be identified in advance, including the spatial morphology of the coal seam, geological structure (faults and collapse columns, etc.), physical properties of the coal and rock layers, and dynamic geological disaster bodies; then, based on the high-precision coal seam model of the coal mining face, the expected cutting curve of the coal mining machine is planned in advance by simulating the mining process, and the "memory cutting" of intelligent mining 2.0 is changed to the "expected cutting" of intelligent mining 3.0, and finally the goal of remote control by ground personnel and unmanned mining underground is achieved.

[0004] The accuracy of the coal seam model of the working face depends on the accuracy of the coal-rock interface detection and the accuracy of the geological anomaly detection. The detection methods for the coal-rock interface and geological anomaly include ground high-density full-digital three-dimensional seismic, slot wave exploration, real-time advance detection of seismic while digging, seismic technology while mining, ground high-density electrical method, mine DC electrical method advance detection, mine transient electromagnetic advance detection, mine ground penetrating radar, radio wave perspective, borehole transient electromagnetic advance detection, mine borehole radar detection, mine gamma logging technology, etc. At present, the detection accuracy is relatively high for borehole radar and mine gamma logging technology. For the detection of coal-rock interface and geological anomaly using borehole radar, the method of detecting coal-rock interface in coal mines involved in the prior art adopts omnidirectional borehole radar detection equipment and methods. The omnidirectional borehole radar detection device cannot perform directional detection of coal-rock interface and geological anomaly. It is difficult to distinguish the top and bottom interfaces of coal and rock during the detection process, and it is difficult to determine the orientation of the geological anomaly. The directional borehole radar antenna cannot be used in coal mines because of its large diameter. Summary of the invention

[0005] In order to overcome at least one deficiency in the prior art, the present application provides an array directional drilling radar detection device and method.

[0006] In a first aspect, a radar detection signal processing method is provided, comprising:

[0007] Acquiring radar detection signals, where the radar detection signals include radar detection signals received by four directional receiving antennas;

[0008] The radar detection data of four directions under different instrument orientation angles are calculated based on the radar detection signals received by the four directional receiving antennas, using the following formula:

[0009] When 0°≤θ<90°,

[0010]

[0011] Among them, BHR North Radar detection data for the northern region, BHR east Radar detection data for the East Region, BHR south For the southern radar detection data, BHR west is the radar detection data of the western area; θ is the instrument heading angle; BHR c , BHR D , BHR E , BHR F The radar detection signals are received by four directional receiving antennas arranged in sequence from the drill bit along the direction of the drill pipe;

[0012] When 90°≤θ<180°

[0013]

[0014] When 180°≤θ<270°

[0015]

[0016] When 270°≤θ<360°

[0017]

[0018] In a second aspect, an array directional drilling radar detection device is provided, comprising: an array drilling radar instrument and a terminal; the array drilling radar instrument comprises an in-hole control short section and an in-hole array radar antenna, the in-hole control short section is installed in a metal drill rod, the in-hole array radar antenna is installed in a non-metallic drill rod, one end of the non-metallic drill rod is connected to the metal drill rod, and the other end of the non-metallic drill rod is connected to a drill bit; the terminal comprises a control unit and a data processing system;

[0019] The in-hole array radar antenna is used to transmit signals into the detection rock formation, receive radar detection signals, and send the radar detection signals to the in-hole control short section;

[0020] After receiving the command sent by the control unit, the in-hole control sub controls the in-hole array radar antenna to transmit a signal to the detection rock formation, and receives the radar detection signal; and sends the radar detection signal to the terminal;

[0021] The data processing system is used to perform partition processing on the radar detection signal to obtain radar detection data in four directions; the data processing system is used to implement the above-mentioned radar detection signal processing method.

[0022] In one embodiment, the in-hole array radar antenna includes an omnidirectional transmitting antenna and four directional receiving antennas, which are arranged in sequence from the drill bit along the direction of the drill pipe; the omnidirectional transmitting antenna includes a transmitting antenna, and a non-metallic shell is arranged on the outside of the transmitting antenna; each directional receiving antenna includes a receiving antenna, and a non-metallic shell is arranged on the outside of the receiving antenna, and a metal shielding cover is arranged on the outside of the non-metallic shell.

[0023] In one embodiment, the metal shielding cover of each directional receiving antenna can shield the signal of the 270° window, and the metal shielding covers of different directional receiving antennas shield the 270° windows at different positions.

[0024] In one embodiment, the center frequency of the omnidirectional transmitting antenna and each directional receiving antenna Among them, c is the propagation speed of electromagnetic waves in the air, H is the thickness of the detected rock layer, ε c To detect the relative dielectric constant of rock formations.

[0025] In one embodiment, the in-hole control sub includes a signal transmission system, a signal acquisition system, a CPU of an array borehole radar control center, an instrument attitude measurement system, a data storage system, and a communication system; the signal transmission system is connected to an omnidirectional transmitting antenna, and the signal acquisition system is connected to four directional receiving antennas;

[0026] The CPU of the array borehole radar control center is used to receive the instructions sent by the control unit, control the signal transmission system to transmit the signal, and transmit the signal to the omnidirectional transmitting antenna, so that the omnidirectional transmitting antenna transmits the signal to the detected rock formation; and receive the radar detection signal through the signal acquisition system;

[0027] The instrument attitude measurement system is used to measure the inclination angle, instrument azimuth angle and instrument face angle of the array borehole radar instrument at each measuring point in the borehole;

[0028] The data storage system is used to store radar detection signals, inclination angles, instrument azimuth angles and instrument roll angles;

[0029] The communication system is used to realize the communication connection between the array drilling radar instrument and the terminal.

[0030] In a third aspect, an array directional drilling radar detection method is provided, comprising:

[0031] Step 1: After the underground drilling construction of the coal mine is completed, an array drilling radar is installed;

[0032] Step 2, start the array borehole radar instrument, and the terminal is connected to the array borehole radar instrument; use the data processing system to set parameters and time synchronization for the array borehole radar instrument, and send a start-of-work instruction to the array borehole radar instrument;

[0033] Step 3: The rear end of the array borehole radar instrument is installed with metal drill rods in batches, and the array borehole radar instrument is pushed into the borehole by a drilling rig. The array borehole radar instrument starts to work, obtains radar detection signals and stores them; each time the metal drill rod is installed, a data processing system is used to perform depth marking, and the measurement depth and time of the array borehole radar instrument are recorded;

[0034] Step 4, when the array borehole radar instrument reaches the bottom of the hole, the array borehole radar instrument is lifted to the hole mouth by using a drilling rig;

[0035] Step 5, the terminal obtains the radar detection signal and controls the array drilling radar instrument to clear the stored radar detection signal;

[0036] Step 6: The data processing system partitions the radar detection signal to obtain radar detection data in four directions, and matches the timestamps of the radar detection data in the four directions with the timestamps of the recorded measurement depths to obtain radar detection data in the four directions that changes according to the measurement depth.

[0037] Compared with the prior art, this application has the following beneficial effects:

[0038] 1. This application is easy to operate. During the measurement process, after the directional drilling radar instrument is set up using an explosion-proof mobile phone, the array directional drilling radar instrument automatically measures and stores data. In the subsequent drilling process, personnel do not need to perform any operations. Data transmission uses WIFI or Bluetooth communication, and there is no cable connection between instruments, which is convenient for on-site installation and operation.

[0039] 2. Convenient to transport and carry. Non-metallic drill rods and array directional drilling radar instruments are transported by mining transport vehicles, and explosion-proof mobile phones can be carried by personnel.

[0040] 3. When drilling along the coal seam in coal mines to detect the coal-rock interface, the reflected signals from the coal seam roof interface and the coal seam floor interface are automatically separated, solving the problem that the top and bottom interfaces of the coal seam are superimposed and cannot be separated when the omnidirectional drilling radar is drilling along the coal seam.

[0041] 4. When detecting in various boreholes in coal mines, the orientation of geological anomalies is located, which solves the problem that omnidirectional borehole radar cannot spatially locate geological anomalies when detecting geological anomalies in boreholes in coal mines.

[0042] 5. Four array directional drilling radar receiving antennas and one omnidirectional transmitting antenna are arranged in front and behind, which can meet the detection needs of small-sized boreholes in coal mines. At the same time, the metal shielding cover outside the four array directional drilling radar receiving antennas can improve the strength of the array directional drilling radar instrument and realize long-distance drilling detection in coal mines. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The present application may be better understood by referring to the following description given in conjunction with the accompanying drawings, which together with the following detailed description are included in this specification and form a part of this specification. In the drawings:

[0044] Figure 1 The schematic diagram of the structure of the array directional drilling radar detection device is shown;

[0045] Figure 2 A schematic cross-sectional view of an in-hole array radar antenna is shown;

[0046] Figure 3 A schematic cross-sectional view showing the relationship between the instrument's orientation angle of 0° and the directional receiving antenna C;

[0047] Figure 4 A schematic diagram of the partitioning of array directional drilling radar detection data is shown.

[0048] Reference numerals:

[0049] 1—in-hole array radar antenna, 2—in-hole control short section, 3—metal drill rod, 4—drill bit;

[0050] 1-1—receiving antenna, 1-2—non-metallic housing, 1-3—metal shielding cover, 1-4—transmitting antenna;

[0051] 5—facing angle measurement sensor, 5-1—facing angle reference 0° orientation;

[0052] 6-1—North area radar detection data, 6-2—East area radar detection data, 6-3—South area radar detection data, 6-4—West area radar detection data. DETAILED DESCRIPTION

[0053] The exemplary embodiments of the present application will be described below in conjunction with the accompanying drawings. For the sake of clarity and conciseness, not all features of the actual embodiments are described in the specification. However, it should be understood that many implementation-specific decisions can be made in the process of developing any such actual embodiments in order to achieve the specific goals of the developer, and these decisions may vary from embodiment to embodiment.

[0054] It is also necessary to explain here that, in order to avoid obscuring the present application due to unnecessary details, only the device structure closely related to the scheme according to the present application is shown in the drawings, while other details that are not closely related to the present application are omitted.

[0055] It should be understood that the present application is not limited to the described implementation forms due to the following description with reference to the accompanying drawings. In this article, where feasible, the embodiments can be combined with each other, features between different embodiments can be replaced or borrowed, and one or more features can be omitted in one embodiment.

[0056] The present application embodiment provides an array directional drilling radar detection device, Figure 1 The schematic diagram of the structure of the array directional drilling radar detection device is shown in FIG. Figure 1 The device includes: an array borehole radar instrument and a terminal; the array borehole radar instrument includes a borehole control short section 2 and a borehole array radar antenna 1, the borehole control short section 2 is installed in a metal drill rod 3, the borehole array radar antenna 1 is installed in a non-metal drill rod, one end of the non-metal drill rod is connected to the metal drill rod 3, and the other end of the non-metal drill rod is connected to a drill bit 4; the terminal includes a control unit and a data processing system. The terminal can be a borehole explosion-proof mobile phone.

[0057] The in-hole array radar antenna 1 is used to transmit signals into the detection rock formation, receive radar detection signals, and send the radar detection signals to the in-hole control short section 2;

[0058] After receiving the instruction sent by the control unit, the in-hole control sub 2 controls the in-hole array radar antenna 1 to transmit a signal to the detection rock layer, and receives the radar detection signal; and sends the radar detection signal to the terminal;

[0059] The data processing system is used to perform partition processing on the radar detection signal to obtain radar detection data in four directions. The specific implementation process can be found in the subsequent embodiments.

[0060] It should be noted that the array directional drilling radar detection device of this embodiment can perform directional detection of coal-rock interfaces and geological anomalies in the layer holes in coal mines, can perform high-precision detection of coal-rock interfaces, and can locate geological anomalies. It can also perform directional detection on other rock layer interfaces and directional detection of geological anomalies.

[0061] Specifically, Figure 2 A schematic diagram showing a cross section of an in-hole array radar antenna is shown in FIG. Figure 2 The borehole array radar antenna 1 includes an omnidirectional transmitting antenna and four directional receiving antennas, which are arranged in sequence from the drill bit along the direction of the drill pipe; the omnidirectional transmitting antenna includes a transmitting antenna 1-4, and a non-metallic shell 1-2 is arranged outside the transmitting antenna 1-4; each directional receiving antenna includes a receiving antenna 1-1, and a non-metallic shell 1-2 is arranged outside the receiving antenna 1-1, and a metal shielding cover 1-3 is arranged outside the non-metallic shell 1-2. Figure 1 , the omnidirectional transmitting antenna and the four directional receiving antennas are represented by B, C, D, E and F respectively.

[0062] Here, the metal shielding cover of each directional receiving antenna can shield the signal of the 270° window, and the metal shielding covers of different directional receiving antennas shield the 270° windows at different positions. Figure 2 Directional receiving antenna C can shield the signals of the 270° windows in the second, third and fourth quadrants, and receive the signals of the 90° window in the first quadrant. Directional receiving antenna D can shield the signals of the 270° windows in the first, second and third quadrants, and receive the signals of the 90° window in the fourth quadrant. Directional receiving antenna E can shield the signals of the 270° windows in the first, second and fourth quadrants, and receive the signals of the 90° window in the third quadrant. Directional receiving antenna F can shield the signals of the 270° windows in the first, third and fourth quadrants, and receive the signals of the 90° window in the second quadrant.

[0063] Specifically, the length of an omnidirectional transmitting antenna and four directional receiving antennas is related to the center frequency of the antenna and the properties of the target stratum to be measured, and the center frequency of the antenna is related to its detection radius. The center frequency of the antenna can be determined based on the thickness of the detected coal seam. cIt is related to the coal seam thickness H. Since the higher the antenna center frequency, the lower the detection radius, in order to detect the interface between the coal seam and the surrounding rock, when the thickness of the target coal seam is known, the center frequency of the omnidirectional transmitting antenna and each directional receiving antenna meets Where c is the propagation speed of electromagnetic waves in air, c = 3 × 10 8 m / s, H is the thickness of the detected rock layer, ε c is the relative dielectric constant of the rock formation, dimensionless. Just take the minimum center frequency that meets the conditions.

[0064] In one embodiment, the in-hole control sub 2 includes a signal transmission system, a signal acquisition system, an array drilling radar control center CPU, an instrument attitude measurement system, a data storage system, and a communication system; the signal transmission system is connected to an omnidirectional transmitting antenna, and the signal acquisition system is connected to four directional receiving antennas;

[0065] The CPU of the array borehole radar control center is used to receive the instructions sent by the control unit, control the signal transmission system to transmit the signal, and transmit the signal to the omnidirectional transmitting antenna, so that the omnidirectional transmitting antenna transmits the signal to the detected rock formation; and receive the radar detection signal through the signal acquisition system;

[0066] The instrument attitude measurement system is used to measure the inclination angle, instrument azimuth angle and instrument facing angle of each measuring point of the array borehole radar instrument in the borehole. Here, the instrument attitude measurement system includes a facing angle measurement sensor 5-1, which is used to measure the instrument facing angle.

[0067] Here, the 0° orientation of the facing angle reference is the direction when the normal direction of the tangent line at the center position of the outer diameter of the non-metallic shell of the first directional receiving antenna C with a shielding cover near the bottom of the hole is due north. Figure 3 A cross-sectional schematic diagram showing the relationship between the instrument's orientation angle of 0° and the directional receiving antenna C is shown.

[0068] The data storage system is used to store radar detection signals, inclination angles, instrument azimuth angles and instrument roll angles by means of time stamps;

[0069] The communication system is used to realize the communication connection between the array borehole radar and the terminal. Here, the communication system can provide two communication methods, Bluetooth and WIFI, to establish a connection with the hole mouth explosion-proof mobile phone. The communication system is connected to the array borehole radar control center CPU, which supplies power to it and controls it. The communication system provides a source of Bluetooth or WIFI. After the hole mouth explosion-proof mobile phone establishes a connection through the mobile phone WIFI or Bluetooth, the array borehole radar and the hole mouth explosion-proof mobile phone can realize wireless communication.

[0070] Specifically, the hole mouth explosion-proof mobile phone is a handheld terminal with a data processing system installed on it. The operator synchronizes the time for the array drilling radar before measurement and sends the instrument parameters required by the array drilling radar. During the measurement of the array drilling radar, each drill rod is marked, and the depth and time of the drill rod are recorded to form the hole depth data. The radar detection signal is obtained at the end of data collection. The data processing system processes the radar detection signal to obtain radar detection data that changes according to the measurement depth. On the APP of the hole mouth explosion-proof mobile phone, the overall display of the array drilling radar data, the single-channel data display of a single receiving antenna of the array radar, and the drilling trajectory display can be performed.

[0071] The embodiment of the present application also provides a radar detection signal processing method, which is applied to a data processing system, including:

[0072] Acquiring radar detection signals, where the radar detection signals include radar detection signals received by four directional receiving antennas;

[0073] The radar detection data of four directions under different instrument orientation angles are calculated based on the radar detection signals received by the four directional receiving antennas, using the following formula:

[0074] When 0°≤θ<90°,

[0075]

[0076] Among them, BHR North Radar detection data for the northern region, BHR east Radar detection data for the East Region, BHR south For the southern radar detection data, BHR west is the radar detection data of the western area; θ is the instrument heading angle, in degrees; BHR c , BHR D , BHR E , BHR F The radar detection signals are received by four directional receiving antennas arranged in sequence from the drill bit along the direction of the drill pipe;

[0077] When 90°≤θ<180°

[0078]

[0079]

[0080] When 180°≤θ<270°

[0081]

[0082] When 270°≤θ<360°

[0083]

[0084] Figure 4 A schematic diagram of the zoning of array directional drilling radar detection data is shown, wherein 6-1 represents the radar detection data of the north zone, 6-2 represents the radar detection data of the east zone, 6-3 represents the radar detection data of the south zone, and 6-4 represents the radar detection data of the west zone.

[0085] The present application also provides an array directional drilling radar detection method, including:

[0086] Step 1: After the underground drilling construction in the coal mine is completed, install the array drilling radar.

[0087] Here, the in-hole array radar antenna is installed in the non-metallic drill rod, the in-hole control short section is installed in the metal drill rod, one end of the non-metallic drill rod is connected to the metal drill rod, and the other end (bottom end) of the non-metallic drill rod is connected to the drill bit through the ordinary metal drill rod.

[0088] Step 2, start the array borehole radar instrument, and the terminal is connected to the array borehole radar instrument; use the data processing system to set parameters and time synchronization for the array borehole radar instrument, and send a start-of-work instruction to the array borehole radar instrument;

[0089] Step 3: The rear end of the array borehole radar instrument is installed with metal drill rods in batches, and the array borehole radar instrument is pushed into the borehole by a drilling rig. The array borehole radar instrument starts to work, obtains radar detection signals and stores them; each time the metal drill rod is installed, a data processing system is used to perform depth marking, and the measurement depth and time of the array borehole radar instrument are recorded;

[0090] Step 4, when the array borehole radar instrument reaches the bottom of the hole, the array borehole radar instrument is lifted to the hole mouth by using a drilling rig;

[0091] Step 5: The terminal obtains the radar detection signal and controls the array borehole radar instrument to clear the stored radar detection signal to free up data storage space for the next array directional borehole radar instrument measurement;

[0092] Step 6: The data processing system partitions the radar detection signal to obtain radar detection data in four directions, and matches the timestamps of the radar detection data in the four directions with the timestamps of the recorded measurement depths to obtain radar detection data in the four directions that changes according to the measurement depth.

[0093] In this embodiment, after obtaining radar detection data in four directions according to the change of measurement depth, at the underground coal mine site, the two-dimensional variable density map of the array directional drilling radar in four directions displayed by the array drilling radar data acquisition and processing system on the hole mouth is used to understand the geological characteristics within the range of 0-10m in four directions around the borehole, and the position of the coal-rock interface around the borehole, whether there are water bodies around the borehole, whether there are seamless holes around the borehole, whether there are faults around the borehole, etc. can be understood.

[0094] In addition, the data processing system processes the radar detection data in four directions. In the borehole along the coal seam, the data of the northward detection is used to analyze the interface position of the coal seam roof, the data of the southward detection is used to analyze the interface position of the coal seam floor, and the data of the eastward and westward detection are used to analyze whether there are geological anomalies beside the borehole. In the boreholes at other rock formation interfaces, the data of the four directions are analyzed respectively to determine the location of the geological anomalies. The southward data is used to analyze the distance between the borehole and the interface of the formation below the formation, and the northward data is used to analyze the distance between the borehole and the ground of the formation above the formation.

[0095] In summary, this application has the following technical effects:

[0096] 1. This application is easy to operate. During the measurement process, after the directional drilling radar instrument is set up using an explosion-proof mobile phone, the array directional drilling radar instrument automatically measures and stores data. In the subsequent drilling process, personnel do not need to perform any operations. Data transmission uses WIFI or Bluetooth communication, and there is no cable connection between instruments, which is convenient for on-site installation and operation.

[0097] 2. Convenient to transport and carry. Non-metallic drill rods and array directional drilling radar instruments are transported by mining transport vehicles, and explosion-proof mobile phones can be carried by personnel.

[0098] 3. When drilling along the coal seam in coal mines to detect the coal-rock interface, the reflected signals from the coal seam roof interface and the coal seam floor interface are automatically separated, solving the problem that the top and bottom interfaces of the coal seam are superimposed and cannot be separated when the omnidirectional drilling radar is drilling along the coal seam.

[0099] 4. When detecting in various boreholes in coal mines, the orientation of geological anomalies is located, which solves the problem that omnidirectional borehole radar cannot spatially locate geological anomalies when detecting geological anomalies in boreholes in coal mines.

[0100] 5. Four array directional drilling radar receiving antennas and one omnidirectional transmitting antenna are arranged in front and behind, which can meet the detection needs of small-sized boreholes in coal mines. At the same time, the metal shielding cover outside the four array directional drilling radar receiving antennas can improve the strength of the array directional drilling radar instrument and realize long-distance drilling detection in coal mines.

[0101] The above are only various implementations of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A radar detection signal processing method, characterized in that: include: Acquiring radar detection signals, wherein the radar detection signals include radar detection signals received by four directional receiving antennas; The radar detection data of four directions under different instrument orientation angles are calculated according to the radar detection signals received by the four directional receiving antennas, using the following formula: When 0°≤θ<90°, Among them, BHR North Radar detection data for the northern region, BHR east Radar detection data for the East Region, BHR south For the southern radar detection data, BHR west is the radar detection data of the western area; θ is the instrument heading angle; BHR c , BHR D , BHR E , BHR F The radar detection signals are received by four directional receiving antennas arranged in sequence from the drill bit along the direction of the drill pipe; When 90°≤θ<180° When 180°≤θ<270° When 270°≤θ<360° 2. An array directional drilling radar detection device, characterized in that: include: An array borehole radar instrument and a terminal; the array borehole radar instrument comprises an in-hole control subsection (2) and an in-hole array radar antenna (1); the in-hole control subsection (2) is installed in a metal drill rod (3); the in-hole array radar antenna (1) is installed in a non-metal drill rod; one end of the non-metal drill rod is connected to the metal drill rod (3); and the other end of the non-metal drill rod is connected to a drill bit (4); the terminal comprises a control unit and a data processing system; The in-hole array radar antenna (1) is used to transmit signals into the detected rock formation, receive radar detection signals, and send the radar detection signals to the in-hole control short section; After receiving the instruction sent by the control unit, the in-hole control sub (2) controls the in-hole array radar antenna (1) to transmit a signal to the detection rock layer, and receives the radar detection signal; and sends the radar detection signal to the terminal; The data processing system is used to perform partition processing on the radar detection signal to obtain radar detection data in four directions; the data processing system is used to implement the radar detection signal processing method described in claim 1.

3. The device according to claim 2, characterized in that The in-hole array radar antenna (1) comprises an omnidirectional transmitting antenna and four directional receiving antennas, wherein the omnidirectional transmitting antenna and the four directional receiving antennas are arranged in sequence from the drill bit along the direction of the drill pipe; the omnidirectional transmitting antenna comprises a transmitting antenna (1-4), wherein a non-metallic shell (1-2) is arranged outside the transmitting antenna (1-4); each of the directional receiving antennas comprises a receiving antenna (1-1), wherein a non-metallic shell (1-2) is arranged outside the receiving antenna (1-1), and a metal shielding cover (1-3) is arranged outside the non-metallic shell (1-2).

4. The device according to claim 3, characterized in that The metal shielding cover (1-3) of each directional receiving antenna can shield the signal of the 270° window, and the metal shielding covers (1-3) of different directional receiving antennas shield the 270° windows at different positions.

5. The device according to claim 3, characterized in that The center frequency of the omnidirectional transmitting antenna and each of the directional receiving antennas Among them, c is the propagation speed of electromagnetic waves in the air, H is the thickness of the detected rock layer, ε c To detect the relative dielectric constant of rock formations.

6. The device according to claim 2, characterized in that The in-hole control sub (2) comprises a signal transmission system, a signal collection system, a CPU of an array borehole radar control center, an instrument attitude measurement system, a data storage system, and a communication system; the signal transmission system is connected to an omnidirectional transmission antenna, and the signal collection system is connected to four directional receiving antennas; The array borehole radar control center CPU is used to receive instructions sent by the control unit, control the signal transmission system to transmit signals, and transmit the signals to the omnidirectional transmitting antenna, so that the omnidirectional transmitting antenna transmits signals to the detected rock formation; and receive the radar detection signals through the signal acquisition system; The instrument attitude measurement system is used to measure the inclination angle, instrument azimuth angle and instrument orientation angle of the array borehole radar instrument at each measuring point in the borehole; The data storage system is used to store the radar detection signal, the inclination angle, the instrument azimuth angle and the instrument roll angle; The communication system is used to realize the communication connection between the array drilling radar instrument and the terminal.

7. An array directional drilling radar detection method, characterized in that: include: Step 1: After the underground drilling construction of the coal mine is completed, an array drilling radar is installed; Step 2, starting the array borehole radar instrument, connecting the terminal to the array borehole radar instrument; using a data processing system to set parameters and synchronize time for the array borehole radar instrument, and sending a start-of-work instruction to the array borehole radar instrument; Step 3: metal drill rods are installed at the rear end of the array borehole radar instrument in batches, and the array borehole radar instrument is pushed into the borehole by a drilling rig. The array borehole radar instrument starts to work, obtains radar detection signals and stores them; Each time a metal drill rod is installed, the data processing system is used to perform depth marking and record the measurement depth and time of the array borehole radar instrument; Step 4, when the array borehole radar instrument reaches the bottom of the hole, the array borehole radar instrument is lifted to the hole mouth by using a drilling rig; Step 5, the terminal acquires the radar detection signal, and controls the array drilling radar instrument to clear the stored radar detection signal; Step 6, the data processing system partitions the radar detection signal to obtain radar detection data in four directions, and matches the timestamps of the radar detection data in the four directions with the timestamps of the recorded measurement depths to obtain radar detection data in the four directions that changes according to the measurement depths.

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