An electromagnetic prospecting device and method based on a car shell

Abstract

The application provides an electromagnetic prospecting device and method based on a vehicle shell, the device comprising: at least two electromagnetic signal collectors for collecting electromagnetic signals in at least two directions; a common mode signal suppression module for eliminating common mode signals caused by the environment and the vehicle in the electromagnetic signals, and generating differential mode signals caused by minerals; a vehicle-mounted dynamic interference suppression module for collecting interference source noise signals of the vehicle, and eliminating the interference source noise signals in the differential mode signals to obtain pure signals; a prospecting module for inputting the pure signals into a mineral identification model to obtain a mineral existence probability and a mineral type; and the mineral identification model is a deep learning model representing a mapping relationship between the pure signals and the mineral existence probability and the mineral type. The application uses the vehicle shell as an antenna, improves the prospecting efficiency, and improves the prospecting accuracy through the processing of the electromagnetic signals.

Description

Technical Field

[0001] This invention relates to the field of geological exploration technology, specifically to an electromagnetic prospecting device and method based on a car shell. Background Technology

[0002] In the field of geological exploration, finding underground mineral resources is a crucial and challenging task. Currently, traditional electromagnetic prospecting technology mainly relies on specialized antenna equipment. These specialized antennas are typically designed for receiving and transmitting specific electromagnetic signals, such as dipole antennas and helical antennas. During prospecting operations, these antennas need to be carefully deployed in the exploration area. By transmitting electromagnetic waves of specific frequencies and receiving signals reflected back from the underground medium, these signals are then analyzed to infer the presence of minerals underground and their approximate distribution.

[0003] However, existing prospecting technologies have many significant drawbacks. Firstly, specialized antenna equipment is bulky and heavy, making transportation extremely inconvenient. Specialized transport vehicles and a large workforce are required for handling and installation, increasing exploration costs and consuming considerable time and effort. Furthermore, in areas with complex terrain and poor transportation, such as mountains, jungles, and deserts, transporting and deploying specialized antenna equipment becomes virtually impossible, severely limiting the scope of exploration. Secondly, traditional exploration methods require fixed antenna placement within the exploration area, meaning each exploration can only cover a limited area. Exploring large areas necessitates constant antenna movement and repositioning, significantly extending the exploration cycle and reducing efficiency.

[0004] Therefore, there is an urgent need to provide an electromagnetic prospecting device and method based on a car shell, which can eliminate the technical problems of low exploration efficiency and limited coverage caused by the need for fixed antenna placement, and realize rapid and large-area geological exploration. Summary of the Invention

[0005] In view of this, it is necessary to provide an electromagnetic prospecting device and method based on a car body to solve the technical problems of low exploration efficiency and limited coverage caused by the need for fixed antenna placement in the prior art.

[0006] To solve the above-mentioned technical problems, in a first aspect, the present invention provides an electromagnetic prospecting device based on a car body, comprising: at least two electromagnetic signal acquisition devices disposed on the car body, a common-mode signal suppression module, a vehicle-mounted dynamic interference suppression module, and a prospecting module; The at least two electromagnetic signal acquisition devices are used to acquire electromagnetic signals in at least two directions; The common-mode signal suppression module is used to eliminate common-mode signals caused by the environment and vehicles in the electromagnetic signal and generate differential-mode signals characterizing minerals. The vehicle-mounted dynamic interference suppression module is used to collect the noise signals from the interference sources of the vehicle and remove the noise signals from the interference sources in the differential mode signal to obtain a clean signal. The prospecting module is used to input the pure signal into the mineral identification model to obtain the mineral presence probability and mineral type; the mineral identification model is a deep learning model that represents the mapping relationship between the pure signal and the mineral presence probability and mineral type.

[0007] In one possible implementation, the common-mode signal suppression module includes a characteristic impedance measurement unit and an active preamplifier; The characteristic impedance measurement unit is used to measure the characteristic impedance at the installation location of the electromagnetic signal acquisition device. The active preamplifier is used to take the characteristic impedance as the input impedance, determine the common-mode signal and differential-mode signal in the electromagnetic signal, remove the common-mode signal, and obtain the differential-mode signal.

[0008] In one possible implementation, the electromagnetic signal collector is installed at the front, rear, left roof, and right roof of the vehicle body.

[0009] In one possible implementation, the vehicle-mounted dynamic interference suppression module includes an interference source noise signal acquisition unit and an interference source noise signal cancellation unit; The interference source noise signal acquisition unit is used to acquire the first interference source noise signal of the vehicle based on the sensor, and to acquire the second interference source noise signal of the vehicle based on the CAN bus message; The interference source noise signal cancellation unit is used to determine the filtering parameters of the adaptive noise cancellation filter, and perform adaptive filtering on the differential mode signal based on the filtering parameters to remove the interference source noise signal in the differential mode signal and obtain a clean signal.

[0010] In one possible implementation, the device further includes a filtering module; The filtering module is used to perform digital bandpass filtering on the clean signal.

[0011] In one possible implementation, the prospecting module includes a feature extraction unit and a mineral identification unit; The feature extraction unit is used to perform Fourier transform and wavelet transform on the clean signal respectively to obtain frequency domain features and time domain features accordingly; The mineral identification unit is used to input the frequency domain features and the time domain features into the mineral identification model to obtain the probability of the mineral's presence and the mineral type.

[0012] In one possible implementation, the device further includes a positioning module and an electromagnetic signal correction module; The positioning module is used to determine the real-time pose of the vehicle based on the inertial measurement unit and the real-time dynamic differential positioner. The real-time pose includes the vehicle's pitch angle, roll angle, heading angle, longitude, latitude and elevation. The electromagnetic signal correction module is used to correct the electromagnetic signal based on the real-time pose.

[0013] In one possible implementation, the device further includes a visualization module; The visualization module is used to determine geological anomalies based on the probability of the mineral's presence and the mineral type, and to display the geological anomalies on the electronic map in the vehicle's infotainment system based on the real-time pose.

[0014] In one possible implementation, the device further includes a self-test module, which is used to perform self-tests on the devices in the electromagnetic signal acquisition unit, common-mode signal suppression module, and vehicle dynamic interference suppression module in response to self-test commands.

[0015] Secondly, the present invention also provides an electromagnetic prospecting method based on a car body, applicable to the electromagnetic prospecting device based on a car body described in any of the above possible implementations, the method comprising: Collect electromagnetic signals from at least two directions; Eliminate common-mode signals caused by the environment and vehicles in the electromagnetic signal, and generate differential-mode signals characterizing the minerals; The interference source noise signal of the vehicle is collected, and the interference source noise signal in the differential mode signal is removed to obtain a clean signal; The pure signal is input into the mineral identification model to obtain the mineral presence probability and mineral type; the mineral identification model is a deep learning model that represents the mapping relationship between the pure signal and the mineral presence probability and mineral type.

[0016] The beneficial effects of this invention are as follows: The electromagnetic prospecting device based on a car shell provided by this invention uses the car shell as an antenna, eliminating the need to purchase expensive specialized antenna equipment, thus reducing prospecting costs. Furthermore, due to the excellent mobility of a car, it can travel quickly on the road, covering a large exploration area in a short time, avoiding the cumbersome process of equipment transportation and deployment in traditional exploration methods, significantly shortening the exploration cycle and improving prospecting efficiency. Simultaneously, considering the significant noise present in the electromagnetic signals obtained by using the car shell as an antenna, a common-mode signal suppression module can eliminate environmental electromagnetic noise and some noise caused by the vehicle, and an onboard dynamic interference suppression module can eliminate interference noise signals from the vehicle itself, ensuring the signal quality of the obtained pure signal and thus ensuring the accuracy of the prospecting results. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A schematic diagram of an embodiment of the electromagnetic prospecting device based on a car shell provided by the present invention; Figure 2 This is a schematic flowchart of an embodiment of the electromagnetic prospecting method based on a car shell provided by the present invention. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0020] It should be understood that the schematic drawings are not drawn to scale. The flowcharts used in this invention illustrate operations implemented according to some embodiments of the invention. It should be understood that the operations in the flowcharts may be implemented out of order, and steps without logical contextual relationships may be reversed or performed simultaneously. Furthermore, those skilled in the art, guided by the content of this invention, may add one or more other operations to the flowcharts, or remove one or more operations from the flowcharts. Some block diagrams shown in the drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities may be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0021] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0022] This invention provides an electromagnetic prospecting device and method based on a car body, which will be described below.

[0023] Figure 1 This is a schematic flowchart of an embodiment of the electromagnetic prospecting device based on a car body provided by the present invention, as shown below. Figure 1 As shown, the electromagnetic prospecting device 10 based on the car body includes: at least two electromagnetic signal acquisition units 100, a common-mode signal suppression module 200, an on-board dynamic interference suppression module 300, and a prospecting module 400, all mounted on the car body. At least two electromagnetic signal acquisition units 100 are used to acquire electromagnetic signals in at least two directions.

[0024] Specifically, by using electromagnetic signal acquisition devices 100 installed at different locations on the car body, electromagnetic signals from different directions can be received, thereby providing a data basis for the subsequent determination of differential mode signals.

[0025] The electromagnetic signal acquisition unit 100 can employ a capacitively coupled probe for non-destructive installation or a low-impedance connector with beryllium copper springs fixed by drilling to ensure good electrical contact with the vehicle body. Specifically, the contact resistance is less than 0.1 ohms.

[0026] It should be understood that the car body is made of metal because it needs to receive and transmit electromagnetic signals.

[0027] In a specific embodiment of the present invention, there are four electromagnetic signal acquisition units 100, which are respectively installed at the front, rear, left roof, and right roof of the car body. This enables the simultaneous sensing of electromagnetic field gradients in the front-rear and left-right directions, thereby improving the accuracy of differential signal extraction.

[0028] The common-mode signal suppression module 200 is used to eliminate common-mode signals caused by the environment and vehicles in electromagnetic signals and generate differential-mode signals that characterize minerals.

[0029] The common-mode signal suppression module 200 eliminates common-mode signals based on the following principle: When electromagnetic signals caused by the environment and vehicles reach different electromagnetic signal acquisition units 100, their phases and amplitudes are basically consistent. In this embodiment, the signal whose phase and amplitude do not change with the receiving position is called a common-mode signal. However, electromagnetic signals caused by minerals exhibit gradient differences along the length or width of the vehicle. In this embodiment, the signal whose phase and amplitude change with the receiving position is generated as a differential-mode signal. Based on this characteristic, common-mode and differential-mode signals in the electromagnetic signals acquired by different electromagnetic signal acquisition units 100 can be identified, thereby eliminating common-mode signals.

[0030] In a specific embodiment of the present invention, when the electromagnetic signal acquisition device 100 is respectively installed at the front, rear, left roof and right roof of the car body, two sets of differential pairs can be obtained, namely front-rear and left roof-right roof. For these two sets of differential pairs, the left and right target differential pairs with greater difference can be selected, or the two sets of differential pairs can be selected by weighting to jointly achieve the elimination of common mode signals.

[0031] The vehicle-mounted dynamic interference suppression module 300 is used to collect the noise signals from the interference sources of the vehicle and remove the noise signals from the differential mode signals to obtain a clean signal.

[0032] Although the interference sources in a car, such as engine ignition, alternator, ECU, windshield wipers, window motors, and entertainment systems, are complex, their operating status is knowable. Therefore, in order to further improve the accuracy of the prospecting results, this embodiment of the invention can improve the quality of the clean signal by collecting and eliminating the noise signals from the interference sources.

[0033] The prospecting module 400 is used to input the pure signal into the mineral identification model to obtain the mineral presence probability and mineral type; the mineral identification model is a deep learning model that represents the mapping relationship between the pure signal and the mineral presence probability and mineral type.

[0034] It should be understood that before a mineral identification model is used, it needs to be trained, tested, and validated based on a sample set to ensure the accuracy of the mineral identification results, namely the probability of mineral presence and the mineral type.

[0035] Since the computing power of current automotive infotainment systems is insufficient to support complex real-time algorithms, some embodiments of this invention require the addition of a dedicated digital signal processor (DSP) or FPGA to perform high-intensity real-time calculations for each module in the electromagnetic prospecting device 10 based on the vehicle's exterior. The vehicle's own infotainment system is primarily responsible for upper-level applications, data management, and user interaction. In other words, embodiments of this invention employ a hybrid architecture of a dedicated coprocessor and the infotainment system to achieve fast and accurate prospecting.

[0036] Compared with existing technologies, the electromagnetic prospecting device 10 based on a car shell provided in this embodiment of the invention reduces prospecting costs by using the car shell as an antenna, eliminating the need for additional expensive specialized antenna equipment. Furthermore, due to the excellent mobility of a car, it can travel quickly on the road, covering a large exploration area in a short time, avoiding the cumbersome process of equipment transportation and deployment in traditional exploration methods, significantly shortening the exploration cycle and improving prospecting efficiency. Simultaneously, considering the significant noise present in the electromagnetic signals obtained using the car shell as an antenna, a common-mode signal suppression module 200 can eliminate environmental electromagnetic noise and some noise caused by the vehicle, and an onboard dynamic interference suppression module 300 can eliminate interference noise signals from the vehicle itself, ensuring the signal quality of the obtained pure signal and thus ensuring the accuracy of the prospecting results.

[0037] Because the impedance of a car body is unknown and varies at different frequencies, traditional fixed impedance matching networks cannot achieve perfect matching across all frequency bands, resulting in signal power reflection and a decrease in the sensitivity of the electromagnetic prospecting device 10 based on the car body. To solve this technical problem, in some embodiments of the present invention, such as... Figure 1 As shown, the common-mode signal suppression module 200 includes a characteristic impedance measurement unit 210 and an active preamplifier 220; The characteristic impedance measurement unit 210 is used to measure the characteristic impedance at the installation location of the electromagnetic signal acquisition unit 100.

[0038] The active preamplifier 220 is used to take the characteristic impedance as the input impedance and determine the common-mode signal and differential-mode signal in the electromagnetic signal, remove the common-mode signal and obtain the differential-mode signal.

[0039] Specifically, the active preamplifier 220 is the Analog Devices AD8429 or an instrumentation amplifier of equivalent performance, with an input noise density ≤1nV / Common-mode rejection ratio (CMRR) ≥120dB@1 kHz, gain programmable.

[0040] Specifically, the active preamplifier 220 is directly connected to the signals from the two electromagnetic signal acquisition units 100, performs differential amplification, and outputs one signal.

[0041] In this embodiment of the invention, by setting the input impedance of the active preamplifier 220 to no longer a passively fixed setting, but determined according to the measured characteristic impedance, the input impedance of the active preamplifier 220 can be dynamically matched with the original impedance of the car body at the location of the electromagnetic signal acquisition device 100 to achieve maximum power transmission, transferring as much signal power as possible from the car body to the active preamplifier 220, while minimizing signal reflection, thereby improving the prospecting sensitivity of the electromagnetic prospecting device 10 based on the car body.

[0042] Specifically, a common-mode signal suppression module 200 can achieve a common-mode rejection ratio of 80dB-120dB. This means that by using differential acquisition alone, common-mode noise can be suppressed by 10,000-1,000,000 times, greatly improving the quality of differential signals.

[0043] In some embodiments of the present invention, such as Figure 1 As shown, the vehicle-mounted dynamic interference suppression module 300 includes an interference source noise signal acquisition unit 310 and an interference source noise signal cancellation unit 320. The interference source noise signal acquisition unit 310 is used to acquire the first interference source noise signal of the car based on the sensor and to acquire the second interference source noise signal of the car based on the CAN bus message.

[0044] The first interference source noise signal includes engine ignition noise and alternator / AC motor noise. The sensors include a small induction coil probe installed near the engine ignition coil and an open-loop Hall current sensor installed on the alternator's main output cable. The induction coil probe is used to pick up high-frequency pulse noise generated by the ignition system. The open-loop Hall current sensor is used to measure harmonic noise generated by fluctuations in the charging current.

[0045] The second interference source signals include engine speed, throttle opening, vehicle speed, and electrical load status (such as whether the air conditioner and headlights are on). These types of signals can be obtained through CAN bus messages, and the second interference source noise signals can be obtained based on the CAN bus messages.

[0046] The interference source noise signal cancellation unit 320 is used to determine the filtering parameters of the adaptive noise cancellation filter, and to perform adaptive filtering on the differential mode signal based on the filtering parameters to remove the interference source noise signal in the differential mode signal and obtain a clean signal.

[0047] Specifically, the working principle of the interference source noise signal cancellation unit 320 is as follows: First, the main signal and reference signal are acquired synchronously. The main signal is a differential signal, which includes the desired clean signal and the interference source noise signal that needs to be eliminated. The reference signal is a signal provided by one or more reference sensors placed near the noise source that contains only the interference source noise signal.

[0048] Second, the reference signal is input to an adaptive noise cancellation filter, which has a set of adjustable coefficients. The adaptive noise cancellation filter processes the reference signal and outputs an estimate. This estimate is the filter's best estimate of the noise components in the main channel.

[0049] Step 3: Subtract the estimated value generated by the adaptive filter from the main signal to obtain the error signal.

[0050] Step 4: The error signal is fed back to the adaptive algorithm (such as the most commonly used Least Mean Square algorithm or its variant NLMS). The adaptive algorithm automatically adjusts the filter coefficients based on the values ​​of the error signal and the reference signal, with the goal of minimizing the mean square value of the error signal.

[0051] Step 5: Through continuous iteration (steps 2 to 4), the algorithm gradually reduces the mean square value of the error signal. When convergence occurs, it means that the filter output is infinitely close to the noise in the main channel, that is, the error signal is infinitely close to the desired target signal.

[0052] At this point, the output of the adaptive noise cancellation filter becomes a clean signal.

[0053] In this embodiment of the invention, the interference source noise signal acquisition unit 310 can acquire and remove the interference source signals of the vehicle, thereby improving the signal quality of the generated pure signal and further ensuring the accuracy of mineral exploration.

[0054] Specifically, the adaptive noise cancellation filter provides an additional 20dB-50dB of noise suppression for specific, strongly correlated noise sources. Combined with the noise suppression of differential-mode signals, the total noise suppression capability exceeds 100dB, making it possible to obtain high-quality, clean signals from electromagnetic signals.

[0055] To further improve the accuracy of mineral exploration, in some embodiments of the present invention, such as Figure 1 As shown, the electromagnetic prospecting device 10 based on the car body also includes a filter module 500. The filtering module 500 is used to perform digital bandpass filtering on clean signals.

[0056] Specifically, a high-order (e.g., 128th order) FIR bandpass filter is used to digitally bandpass filter the clean signal, accurately preserving the target frequency band for geological exploration in the range of, for example, 0.1kHz-10kHz.

[0057] To improve the accuracy of exploration results, more features need to be input into the mineral identification model. Therefore, in some embodiments of the present invention, such as... Figure 1 As shown, the prospecting module 400 includes a feature extraction unit 410 and a mineral identification unit 420; The feature extraction unit 410 is used to perform Fourier transform and wavelet transform on the clean signal respectively to obtain frequency domain features and time domain features.

[0058] Specifically, the Fourier transform can be the Fast Fourier Transform, and the wavelet transform can be the Morlet wavelet.

[0059] The mineral identification unit 420 is used to input frequency domain features and time domain features into the mineral identification model to obtain the probability of mineral presence and mineral type.

[0060] The embodiments of the present invention can simultaneously obtain frequency domain features and time domain features by performing Fourier transform and wavelet transform on the pure signal, thereby improving the diversity and comprehensiveness of features and thus improving the accuracy of the obtained mineral existence probability and mineral type.

[0061] As a vehicle moves, it constantly bumps (pitch), turns (tilt), and goes up and down slopes (pitch). These actions change the relative geometric relationship between the antenna array under the vehicle and the underground anomaly, thus altering the received signal strength. For example, the signal strength measured when a vehicle passes over the same ore body horizontally will differ from that when it passes at an angle. This change is unrelated to the properties of the underground environment itself; it is entirely due to noise generated by the vehicle's movement. To address this technical problem, in some embodiments of the present invention, such as... Figure 1 As shown, the electromagnetic prospecting device 10 based on the car body also includes a positioning module 600 and an electromagnetic signal correction module 700. The positioning module 600 is used to determine the real-time pose of the vehicle based on the inertial measurement unit and the real-time dynamic (RTK) differential positioner. The real-time pose includes the vehicle's pitch angle, roll angle, heading angle, longitude, latitude and elevation.

[0062] Specifically, the real-time dynamic differential positioner is a dual-frequency GNSS unit supporting RTK functionality, and the inertial measurement unit (IMU) is an industrial-grade IMU, including a three-axis gyroscope and a three-axis accelerometer. An extended Kalman filter algorithm is used to tightly couple and fuse the low-frequency, high-precision position information of the real-time dynamic differential positioner with the high-frequency attitude information (pitch, roll, and heading) of the IMU, outputting a precise spatiotemporal attitude with a frequency up to 100Hz, including longitude, latitude, elevation, pitch angle, roll angle, and heading angle. This spatiotemporal attitude is strictly aligned with each frame of electromagnetic data using timestamps.

[0063] The electromagnetic signal correction module 700 is used to correct electromagnetic signals based on real-time pose.

[0064] In this embodiment of the invention, the positioning module 600 obtains the real-time pose, and then the electromagnetic signal is corrected based on the real-time pose to eliminate the modulation effect caused by differences in time, location, and pose, thereby improving the accuracy of the electromagnetic signal used in subsequent processing.

[0065] It should be noted that the electromagnetic signal correction module 700 can also be used as a sample set construction process during the training of the mineral recognition model, i.e., to train the mineral recognition model to learn accurate recognition results under specific driving conditions and geographical locations. The mineral recognition model identifies the vehicle's pose and provides accurate recognition results.

[0066] To visualize the mineral identification results, in some embodiments of the present invention, such as... Figure 1 As shown, the electromagnetic prospecting device 10 based on the car body also includes a visualization module 800; The visualization module 800 is used to determine geological anomalies based on the probability of mineral presence and mineral type, and to display the geological anomalies on the electronic map in the vehicle's infotainment system based on real-time pose.

[0067] Specifically, when the probability of the target mineral type being present is greater than a preset probability, such as 0.8, this point is designated as a geological anomaly and displayed.

[0068] In some other embodiments, the probability of mineral presence and mineral type can be displayed in different colors and different charts. When the probability of mineral presence is greater than a preset probability, the vehicle system will issue an audio or visual prompt.

[0069] To avoid malfunctions in the electromagnetic prospecting device 10 based on the car body, which could lead to abnormal identification results, in some embodiments of the present invention, such as... Figure 1 As shown, the electromagnetic prospecting device 10 based on the car shell also includes a self-test module 900. The self-test module 900 is used to perform self-tests on the devices in the electromagnetic signal acquisition unit 100, the common-mode signal suppression module 200, and the vehicle dynamic interference suppression module 300 in response to self-test commands.

[0070] Specifically, it confirms whether the active preamplifier 220, reference sensor, and CAN bus connection are normal, so as to avoid technical problems caused by the electromagnetic prospecting device 10 based on the car body being inaccurate in prospecting results, and improve the reliability and accuracy of prospecting results.

[0071] For example, when the self-check is completed and there are no abnormalities, the vehicle's infotainment system displays a message that reads "System ready, exploration can begin," indicating that staff can begin prospecting.

[0072] In summary, the electromagnetic prospecting device based on a car shell proposed in this invention: 1. Utilizes the existing metal shell of the car as an antenna, eliminating the need for expensive specialized antenna equipment. Simultaneously, it leverages the vehicle's infotainment system and RTK to achieve signal processing and positioning functions, significantly reducing equipment procurement and maintenance costs. 2. The car can reach areas with complex terrain or inconvenient transportation, expanding the exploration range and improving the flexibility and adaptability of exploration. 3. Through precise analysis by the common-mode signal suppression module 200 and the vehicle-mounted dynamic interference suppression module 300, signal quality and the accuracy of exploration results are guaranteed. Furthermore, the accurate location information provided by the positioning module 600 enhances the reliability and practicality of the exploration results.

[0073] On the other hand, embodiments of the present invention also provide an electromagnetic prospecting method based on a car body, such as... Figure 2 As shown, the electromagnetic prospecting method based on the car body includes: S201. Collect electromagnetic signals from at least two directions; S202. Eliminate common-mode signals caused by the environment and vehicles in electromagnetic signals, and generate differential-mode signals that characterize minerals; S203. Collect the noise signal from the vehicle's interference sources and remove the noise signal from the differential mode signal to obtain a clean signal; S204. Input the pure signal into the mineral identification model to obtain the mineral presence probability and mineral type; the mineral identification model is a deep learning model that represents the mapping relationship between the pure signal and the mineral presence probability and mineral type.

[0074] The electromagnetic prospecting method based on a car shell provided in the above embodiments can realize the technical solutions described in the above electromagnetic prospecting device embodiments based on a car shell. The specific implementation principles of each module or unit can be found in the corresponding content in the above electromagnetic prospecting device embodiments based on a car shell, and will not be repeated here.

[0075] The present invention provides a detailed description of an electromagnetic prospecting device and method based on a car shell. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. An electromagnetic prospecting device based on a car shell, characterized in that, include: At least two electromagnetic signal acquisition devices, a common-mode signal suppression module, an on-board dynamic interference suppression module, and a mineral exploration module are installed on the vehicle body; the vehicle body is used as an antenna. The at least two electromagnetic signal collectors are used to collect electromagnetic signals in at least two directions; the electromagnetic signal collectors form electrical contact with the vehicle body. The common-mode signal suppression module is used to eliminate common-mode signals caused by the environment and vehicles in the electromagnetic signal and generate differential-mode signals characterizing minerals. The vehicle-mounted dynamic interference suppression module is used to collect the noise signals from the interference sources of the vehicle and remove the noise signals from the interference sources in the differential mode signal to obtain a clean signal. The prospecting module is used to input the pure signal into the mineral identification model to obtain the mineral presence probability and mineral type; the mineral identification model is a deep learning model that represents the mapping relationship between the pure signal and the mineral presence probability and mineral type.

2. The electromagnetic prospecting device based on a car shell according to claim 1, characterized in that, The common-mode signal suppression module includes a characteristic impedance measurement unit and an active preamplifier; The characteristic impedance measurement unit is used to measure the characteristic impedance at the installation location of the electromagnetic signal acquisition device. The active preamplifier is used to take the characteristic impedance as the input impedance, determine the common-mode signal and differential-mode signal in the electromagnetic signal, remove the common-mode signal, and obtain the differential-mode signal.

3. The electromagnetic prospecting device based on a car shell according to claim 2, characterized in that, The electromagnetic signal acquisition devices are respectively installed at the front, rear, left side of the roof, and right side of the vehicle body.

4. The electromagnetic prospecting device based on a car shell according to claim 1, characterized in that, The vehicle-mounted dynamic interference suppression module includes an interference source noise signal acquisition unit and an interference source noise signal cancellation unit. The interference source noise signal acquisition unit is used to acquire the first interference source noise signal of the vehicle based on the sensor, and to acquire the second interference source noise signal of the vehicle based on the CAN bus message; The interference source noise signal cancellation unit is used to determine the filtering parameters of the adaptive noise cancellation filter, and perform adaptive filtering on the differential mode signal based on the filtering parameters to remove the interference source noise signal in the differential mode signal and obtain a clean signal.

5. The electromagnetic prospecting device based on a car shell according to claim 1, characterized in that, The device also includes a filtering module; The filtering module is used to perform digital bandpass filtering on the clean signal.

6. The electromagnetic prospecting device based on a car shell according to claim 1, characterized in that, The prospecting module includes a feature extraction unit and a mineral identification unit; The feature extraction unit is used to perform Fourier transform and wavelet transform on the clean signal respectively to obtain frequency domain features and time domain features accordingly; The mineral identification unit is used to input the frequency domain features and the time domain features into the mineral identification model to obtain the probability of the mineral's presence and the mineral type.

7. The electromagnetic prospecting device based on a car shell according to claim 1, characterized in that, The device also includes a positioning module and an electromagnetic signal correction module; The positioning module is used to determine the real-time pose of the vehicle based on the inertial measurement unit and the real-time dynamic differential positioner. The real-time pose includes the vehicle's pitch angle, roll angle, heading angle, longitude, latitude and elevation. The electromagnetic signal correction module is used to correct the electromagnetic signal based on the real-time pose.

8. The electromagnetic prospecting device based on a car shell according to claim 7, characterized in that, The device also includes a visualization module; The visualization module is used to determine geological anomalies based on the probability of the mineral's presence and the mineral type, and to display the geological anomalies on the electronic map in the vehicle's infotainment system based on the real-time pose.

9. The electromagnetic prospecting device based on a car shell according to claim 1, characterized in that, The device also includes a self-test module, which is used to perform self-tests on the devices in the electromagnetic signal acquisition unit, common-mode signal suppression module, and vehicle dynamic interference suppression module in response to self-test commands.

10. An electromagnetic prospecting method based on a car body, characterized in that, The method, applicable to the electromagnetic prospecting device based on a vehicle shell as described in any one of claims 1-9, comprises: Collect electromagnetic signals from at least two directions; Eliminate common-mode signals caused by the environment and vehicles in the electromagnetic signal, and generate differential-mode signals characterizing the minerals; The interference source noise signal of the vehicle is collected, and the interference source noise signal in the differential mode signal is removed to obtain a clean signal; The pure signal is input into the mineral identification model to obtain the mineral presence probability and mineral type; the mineral identification model is a deep learning model that represents the mapping relationship between the pure signal and the mineral presence probability and mineral type.

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