A method for magnetic induction through-the-ground positioning of rectangular transmitting coils in underground space

Abstract

The present disclosure proposes a method for magnetic induction through-the-ground positioning of a rectangular transmitting coil in an underground space, and relates to the technical field of through-the-ground positioning. The method comprises: obtaining in real time the induced voltage signals generated by the magnetic induction signal sent by the magnetic induction signal transmitter at both ends of the three-axis orthogonal induction magnetic core coil of the magnetic induction signal receiver; determining the first direction and the first signal strength corresponding to the horizontal component of the magnetic induction signal at the receiver, and the second direction and the second signal strength corresponding to the vertical component according to each induced voltage signal; and then controlling the magnetic induction signal receiver to move to the first position where the first signal strength is the minimum peak and the second signal strength is the maximum peak, the first position being the horizontal position of the magnetic induction signal transmitter; and determining the buried depth of the magnetic induction signal transmitter according to the maximum peak of the second signal strength. Thus, three-dimensional through-the-ground positioning of underground targets on the ground is realized, and the accuracy of through-the-ground positioning is improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of through-the-ground positioning, and in particular to a through-the-ground positioning method using a rectangular transmitting coil magnetic induction in an underground space. Background Art

[0002] Ground-penetrating positioning technology plays an important role in mine rescue, tunnel construction, underground navigation and other fields.

[0003] In related technologies, through-the-ground positioning can be achieved through electromagnetic wave technology. However, electromagnetic waves are easily affected by medium changes or obstacles. Significant attenuation and multipath phenomena occur when passing through media such as rocks or water, which can seriously affect the transmission distance and positioning accuracy of through-the-ground positioning signals.

[0004] Therefore, how to improve the accuracy of through-the-ground positioning has become a key research direction at present. Summary of the invention

[0005] The present disclosure aims to solve one of the technical problems in the related art at least to some extent.

[0006] The first aspect of the present disclosure provides a method for underground space rectangular transmitting coil magnetic induction through-the-ground positioning, including:

[0007] Real-time acquisition of induced voltage signals generated by the magnetic induction signal sent by the magnetic induction signal transmitter at both ends of the three-axis orthogonal induction magnetic core coil of the magnetic induction signal receiver, wherein the magnetic induction signal transmitter is a single-axis rectangular energized coil placed horizontally underground, and the magnetic induction signal receiver is a three-axis orthogonal induction magnetic core coil placed on the ground, wherein the first axis of the three-axis orthogonal induction magnetic core coil is perpendicular to the horizontal ground, and the second axis and the third axis are parallel to the horizontal ground;

[0008] Determine, according to each of the induced voltage signals, a first direction and a first signal strength corresponding to a horizontal component of the magnetic induction signal at the receiver, and a second direction and a second signal strength corresponding to a vertical component;

[0009] According to the first direction, the first signal strength, the second direction and the second signal strength, controlling the magnetic induction signal receiver to move to a first position where the first signal strength is a minimum peak and the second signal strength is a maximum peak, the first position being a horizontal position of the magnetic induction signal transmitter;

[0010] The buried depth of the magnetic induction signal transmitter is determined according to the maximum peak value of the second signal strength.

[0011] Optionally, controlling the magnetic induction signal receiver to move to a first position where the first signal strength is a minimum peak and the second signal strength is a maximum peak includes:

[0012] Controlling the magnetic induction signal receiver to move in a direction where the first signal strength increases and the second signal strength increases until reaching a second position where the first signal strength is a minimum peak value;

[0013] Based on the second position, the magnetic induction signal receiver is controlled to move in a direction where the first signal strength decreases and the second signal strength increases until it reaches the first position where the first signal strength is a minimum peak and the second signal strength is a maximum peak.

[0014] Optionally, determining the buried depth of the magnetic induction signal transmitter according to the maximum peak value of the second signal strength includes:

[0015] Obtaining the earth's electrical conductivity, the number of turns of the coil of the magnetic induction signal transmitter, the frequency of the magnetic induction signal, the vacuum magnetic permeability and the alternating current passed through the uniaxial rectangular energized coil;

[0016] The buried depth of the magnetic induction signal transmitter is determined according to the earth conductivity, the number of coil turns of the magnetic induction signal transmitter, the frequency of the magnetic induction signal, the vacuum magnetic permeability, the alternating current and the maximum peak value of the second signal strength.

[0017] Optionally, also include:

[0018] A three-dimensional rectangular coordinate system is established with the center point of the single-axis rectangular energized coil as the coordinate origin, the Z axis of the three-dimensional rectangular coordinate system is perpendicular to the ground, the four sides of the rectangular energized coil are parallel to the X axis and Y axis of the three-dimensional rectangular coordinate system, and the calculation formula of the buried depth is:

[0019]

[0020] Among them, B P is the maximum peak value of the second signal strength, n is the number of turns of the coil, I is the alternating current, f is the frequency of the magnetic induction signal, μ0=4π×10 -7 H / m, is the vacuum magnetic permeability, δ is the earth electrical conductivity, z is the unit vector along the positive direction of the Z axis, z P is the burial depth, (x A ,y A ,0) are the coordinates of the vertices of the uniaxial rectangular energized coil in the three-dimensional rectangular coordinate system.

[0021] Optionally, the waveform of the alternating current is a sine wave, a triangle wave or a pulsed square wave.

[0022] Optionally, determining, according to each of the induced voltage signals, a first direction and a first signal strength corresponding to a horizontal component of the magnetic induction signal at the receiver, and a second direction and a second signal strength corresponding to a vertical component, includes:

[0023] Performing vector superposition on the induced voltage signals corresponding to the second axis and the third axis respectively, so as to obtain the horizontal component of the magnetic induction signal at the receiver, the first direction and the first signal strength;

[0024] The vertical component of the magnetic induction signal at the receiver, the second direction, and the second signal strength are determined according to the induced voltage signal corresponding to the first axis.

[0025] The second aspect of the present disclosure provides a magnetic induction through-the-ground positioning device for an underground rectangular transmitting coil, comprising:

[0026] An acquisition module is used to acquire in real time the induced voltage signals respectively generated at both ends of the three-axis orthogonal induction magnetic core coil of the magnetic induction signal receiver by the magnetic induction signal sent by the magnetic induction signal transmitter, wherein the magnetic induction signal transmitter is a single-axis rectangular energized coil horizontally placed underground, and the magnetic induction signal receiver is one of the three-axis orthogonal induction magnetic core coils placed on the ground, wherein the first axis of the three-axis orthogonal induction magnetic core coil is perpendicular to the horizontal ground, and the second axis and the third axis are parallel to the horizontal ground;

[0027] A first determination module is used to determine, according to each of the induced voltage signals, a first direction and a first signal strength corresponding to a horizontal component of the magnetic induction signal at the receiver, and a second direction and a second signal strength corresponding to a vertical component;

[0028] a processing module, configured to control the magnetic induction signal receiver to move to a first position where the first signal strength is a minimum peak and the second signal strength is a maximum peak according to the first direction, the first signal strength, the second direction and the second signal strength, wherein the first position is a horizontal position of the magnetic induction signal transmitter;

[0029] The second determination module is used to determine the buried depth of the magnetic induction signal transmitter according to the maximum peak value of the second signal strength.

[0030] Optionally, the processing module is specifically used to:

[0031] Controlling the magnetic induction signal receiver to move in a direction where the first signal strength increases and the second signal strength increases until reaching a second position where the first signal strength is a minimum peak value;

[0032] Based on the second position, the magnetic induction signal receiver is controlled to move in a direction where the first signal strength decreases and the second signal strength increases until it reaches the first position where the first signal strength is a minimum peak and the second signal strength is a maximum peak.

[0033] Optionally, the second determining module is further specifically configured to:

[0034] Obtaining the earth's electrical conductivity, the number of turns of the coil of the magnetic induction signal transmitter, the frequency of the magnetic induction signal, the vacuum magnetic permeability and the alternating current passed through the uniaxial rectangular energized coil;

[0035] The buried depth of the magnetic induction signal transmitter is determined according to the earth conductivity, the number of coil turns of the magnetic induction signal transmitter, the frequency of the magnetic induction signal, the vacuum magnetic permeability, the alternating current and the maximum peak value of the second signal strength.

[0036] Optionally, a three-dimensional rectangular coordinate system is established with the center point of the single-axis rectangular energized coil as the coordinate origin, the Z axis of the three-dimensional rectangular coordinate system is perpendicular to the ground, the four sides of the rectangular energized coil are parallel to the X axis and Y axis of the three-dimensional rectangular coordinate system, and the calculation formula of the buried depth is:

[0037]

[0038] Among them, B P is the maximum peak value of the second signal strength, n is the number of turns of the coil, I is the alternating current, f is the frequency of the magnetic induction signal, μ0=4π×10 -7 H / m, is the vacuum magnetic permeability, δ is the earth electrical conductivity, z is the unit vector along the positive direction of the Z axis, z P is the burial depth, (x A ,y A ,0) are the coordinates of the vertices of the uniaxial rectangular energized coil in the three-dimensional rectangular coordinate system.

[0039] Optionally, the waveform of the alternating current is a sine wave, a triangle wave or a pulsed square wave.

[0040] Optionally, the first determining module is specifically configured to:

[0041] Performing vector superposition on the induced voltage signals corresponding to the second axis and the third axis respectively, so as to obtain the horizontal component of the magnetic induction signal at the receiver, the first direction and the first signal strength;

[0042] The vertical component of the magnetic induction signal at the receiver, the second direction, and the second signal strength are determined according to the induced voltage signal corresponding to the first axis.

[0043] The third aspect of the present disclosure proposes an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the underground space rectangular transmitting coil magnetic induction penetration positioning method proposed in the first aspect of the present disclosure is implemented.

[0044] The fourth aspect of the present disclosure proposes a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, the method for magnetic induction through-the-ground positioning of a rectangular transmitting coil in an underground space as proposed in the first aspect of the present disclosure is implemented.

[0045] The fifth aspect of the present disclosure proposes a computer program product, including a computer program. When the computer program is executed by a processor, it implements the underground space rectangular transmitting coil magnetic induction penetration positioning method proposed in the first aspect of the present disclosure.

[0046] The underground space rectangular transmitting coil magnetic induction penetrating ground positioning method provided by the present disclosure has the following beneficial effects:

[0047] In the disclosed embodiment, the induced voltage signals generated by the magnetic induction signal sent by the magnetic induction signal transmitter at the two ends of the three-axis orthogonal induction magnetic core coil of the magnetic induction signal receiver are first obtained in real time, and then the first direction and the first signal strength corresponding to the horizontal component of the magnetic induction signal at the receiver and the second direction and the second signal strength corresponding to the vertical component are determined according to each induced voltage signal, and then the magnetic induction signal receiver is controlled to move to the first position where the first signal strength is the minimum peak and the second signal strength is the maximum peak, the first position is the horizontal position of the magnetic induction signal transmitter, and finally the buried depth of the magnetic induction signal transmitter is determined according to the maximum peak of the second signal strength. In this way, three-dimensional through-the-ground positioning of underground targets is realized on the ground, and the accuracy of through-the-ground positioning is improved.

[0048] Additional aspects and advantages of the present disclosure will be given in part in the following description and in part will be obvious from the following description or learned through practice of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] The above and / or additional aspects and advantages of the present disclosure will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0050] Figure 1 A schematic diagram of a flow chart of a method for magnetic induction through-the-ground positioning of a rectangular transmitting coil in an underground space provided by an embodiment of the present disclosure;

[0051] Figure 2 A schematic diagram of a magnetic induction signal transmitter and a magnetic induction signal receiver provided in an embodiment of the present disclosure;

[0052] Figure 3 A comparison diagram of path attenuation between a rectangular coil and a wake-up coil provided in an embodiment of the present disclosure;

[0053] Figure 4 A schematic diagram of a path attenuation law corresponding to a magnetic induction signal provided in an embodiment of the present disclosure;

[0054] Figure 5 A schematic diagram of a flow chart of a method for magnetic induction through-the-ground positioning of a rectangular transmitting coil in an underground space provided by an embodiment of the present disclosure

[0055] Figure 6 A schematic diagram of a three-dimensional rectangular coordinate system provided in an embodiment of the present disclosure;

[0056] Figure 7 A schematic diagram of the structure of a magnetic induction through-the-ground positioning device for an underground space rectangular transmitting coil provided in one embodiment of the present disclosure;

[0057] Figure 8 A block diagram of an exemplary electronic device suitable for implementing embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0058] Embodiments of the present disclosure are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present disclosure, and should not be construed as limiting the present disclosure.

[0059] It should be noted that extremely low frequency magnetic induction signals can significantly reduce the loss of the electromagnetic field by the conductive earth medium. The quasi-static magnetic field is a field-free field, and when it propagates in the earth, there will be no multipath phenomena such as reflection and scattering. Therefore, in the embodiments of the present disclosure, magnetic induction signals are used to achieve through-the-earth positioning.

[0060] The following describes the underground space rectangular transmitting coil magnetic induction through-the-ground positioning method of the present disclosure embodiment with reference to the accompanying drawings.

[0061] Figure 1A schematic flow chart of the underground space rectangular transmitting coil magnetic induction penetrating ground positioning method provided in the embodiment of the present disclosure.

[0062] The embodiment of the present disclosure takes the underground space rectangular transmitting coil magnetic induction through-the-earth positioning method as an example in which the underground space rectangular transmitting coil magnetic induction through-the-earth positioning device is configured. The underground space rectangular transmitting coil magnetic induction through-the-earth positioning device can be applied to any electronic device so that the electronic device can perform the underground space rectangular transmitting coil magnetic induction through-the-earth positioning function.

[0063] Among them, the electronic device can be a personal computer (PC), a cloud device, a mobile device, etc. The mobile device can be, for example, a mobile phone, a tablet computer, a personal digital assistant, a wearable device, a car device, etc., which are hardware devices with various operating systems, touch screens and / or display screens.

[0064] like Figure 1 As shown, the underground space rectangular transmitting coil magnetic induction through-the-ground positioning method may include the following steps:

[0065] Step 101 , obtaining in real time the induced voltage signals generated by the magnetic induction signal sent by the magnetic induction signal transmitter at both ends of the three-axis orthogonal induction magnetic core coil of the magnetic induction signal receiver.

[0066] Figure 2 A schematic diagram of a magnetic induction signal transmitter and a magnetic induction signal receiver provided by an embodiment of the present disclosure. Figure 2 As shown, the magnetic induction signal transmitter is a single-axis rectangular energized coil placed horizontally underground, and the magnetic induction signal receiver is a three-axis orthogonal induction magnetic core coil placed on the ground, the first axis of the three-axis orthogonal induction magnetic core coil is perpendicular to the horizontal ground, and the second axis and the third axis are parallel to the horizontal ground. An alternating current of a preset frequency is passed through the single-axis rectangular energized coil, thereby exciting a quasi-static magnetic field, and then the magnetic induction signal can be sent to the magnetic induction signal receiver through the earth medium. The magnetic induction signal transmitter can be placed in an underground tunnel.

[0067] The preset frequency may be 10 Hz, 15 Hz, etc., which is not limited in the present disclosure.

[0068] Optionally, the waveform of the alternating current is a sine wave, a triangle wave, or a pulse square wave, which is not limited in the present disclosure.

[0069] Figure 3 A path attenuation comparison diagram of a rectangular coil and a wake-up coil provided in an embodiment of the present disclosure, such as Figure 3As shown in the figure, under the conditions of the same transmitter power and transmitter antenna length, the signal strength of the rectangular coil transmitter is about twice that of the circular coil transmitter. Therefore, the rectangular coil transmitter can obtain a stronger signal strength and a longer underground transmission distance than the circular coil transmitter. In addition, the rectangular coil transmitter makes full use of the narrow and long underground tunnel space, effectively improving the signal transmission capability of the transmitter.

[0070] Step 102: Determine, based on each induced voltage signal, a first direction and a first signal strength corresponding to a horizontal component of the magnetic induction signal at a receiver, and a second direction and a second signal strength corresponding to a vertical component.

[0071] Optionally, the induced voltage signals corresponding to the second axis and the third axis can be vector superimposed to obtain the horizontal component, the first direction and the first signal strength of the magnetic induction signal at the receiver, and the vertical component, the second direction and the second signal strength of the magnetic induction signal at the receiver can be determined according to the induced voltage signal corresponding to the first axis.

[0072] Step 103, according to the first direction, the first signal strength, the second direction and the second signal strength, control the magnetic induction signal receiver to move to a first position where the first signal strength is the minimum peak and the second signal strength is the maximum peak, the first position being the horizontal position of the magnetic induction signal transmitter.

[0073] Optionally, the magnetic induction signal receiver is controlled to move in a direction where the first signal strength increases and the second signal strength increases until it reaches a second position where the first signal strength is a minimum peak, and then based on the second position, the magnetic induction signal receiver is controlled to move in a direction where the first signal strength decreases and the second signal strength increases until it reaches the first position where the first signal strength is a minimum peak and the second signal strength is a maximum peak.

[0074] Figure 4 A schematic diagram of a path attenuation law corresponding to a magnetic induction signal provided by an embodiment of the present disclosure. Figure 4 As shown, as the distance between the transmitter and the receiver gets closer, the signal strength of the horizontal component gradually increases, and after reaching the peak, it will decay sharply; the signal strength of the vertical component first gradually increases, then drops sharply, and then continues to increase.

[0075] Therefore, first control the movement of the magnetic induction signal receiver to search for magnetic induction signals. When the magnetic induction signal receiver is far away from the magnetic induction signal transmitter, control the magnetic induction signal receiver to move in the direction where the first signal strength increases and the second signal strength increases. During the movement, there are fluctuations in the second signal strength value of the vertical component, which can be ignored. Then control the magnetic induction signal receiver to move in the direction where the first signal strength rapidly decays and the second signal strength increases, until it reaches the first position where the first signal strength decreases to nearly disappear, that is, the minimum peak and the second signal strength is the maximum peak. Directly below the first position is the horizontal position of the magnetic induction signal transmitter. At this point, horizontal positioning is completed.

[0076] Step 104, determining the buried depth of the magnetic induction signal transmitter according to the maximum peak value of the second signal strength.

[0077] It is understandable that after determining the maximum peak value of the second signal strength, the depth mapping table can be queried based on the maximum peak value of the second signal strength to obtain the buried depth of the magnetic induction signal transmitter. The depth mapping table contains the mapping relationship between the signal strength of the vertical component directly above the transmitter and the buried depth. The mapping relationship between the signal strength of the vertical component directly above the transmitter and the buried depth can be pre-acquired and stored in a database. The present disclosure does not limit this.

[0078] In the disclosed embodiment, the induced voltage signals generated by the magnetic induction signal sent by the magnetic induction signal transmitter at the two ends of the three-axis orthogonal induction magnetic core coil of the magnetic induction signal receiver are first obtained in real time, and then the first direction and the first signal strength corresponding to the horizontal component of the magnetic induction signal at the receiver and the second direction and the second signal strength corresponding to the vertical component are determined according to each induced voltage signal, and then the magnetic induction signal receiver is controlled to move to the first position where the first signal strength is the minimum peak and the second signal strength is the maximum peak, the first position is the horizontal position of the magnetic induction signal transmitter, and finally the buried depth of the magnetic induction signal transmitter is determined according to the maximum peak of the second signal strength. In this way, three-dimensional through-the-ground positioning of underground targets is realized on the ground, and the accuracy of through-the-ground positioning is improved.

[0079] Figure 5 This is a flow chart of a method for magnetic induction through-the-ground positioning of an underground space rectangular transmitting coil provided by an embodiment of the present disclosure, as shown in FIG. Figure 5 As shown, the underground space rectangular transmitting coil magnetic induction through-the-ground positioning method may include the following steps:

[0080] Step 501, acquiring in real time the induced voltage signals generated by the magnetic induction signal sent by the magnetic induction signal transmitter at the two ends of the three-axis orthogonal induction magnetic core coil of the magnetic induction signal receiver.

[0081] Step 502: Determine, based on each induced voltage signal, a first direction and a first signal strength corresponding to a horizontal component of the magnetic induction signal at a receiver, and a second direction and a second signal strength corresponding to a vertical component.

[0082] Step 503, according to the first direction, the first signal strength, the second direction and the second signal strength, control the magnetic induction signal receiver to move to a first position where the first signal strength is the minimum peak and the second signal strength is the maximum peak, the first position being the horizontal position of the magnetic induction signal transmitter.

[0083] The specific implementation forms of steps 501 to 503 can refer to the detailed descriptions in other embodiments of the present disclosure, and will not be described in detail here.

[0084] Step 504, obtaining the earth conductivity, the number of turns of the coil of the magnetic induction signal transmitter, the frequency of the magnetic induction signal, the vacuum permeability and the alternating current passed through the uniaxial rectangular energized coil.

[0085] Step 505, determining the buried depth of the magnetic induction signal transmitter according to the earth conductivity, the number of turns of the coil of the magnetic induction signal transmitter, the frequency of the magnetic induction signal, the vacuum magnetic permeability, the alternating current and the maximum peak value of the second signal strength.

[0086] Optionally, a three-dimensional rectangular coordinate system is established with the center point of the single-axis rectangular energized coil as the coordinate origin, the Z axis of the three-dimensional rectangular coordinate system is perpendicular to the ground, the four sides of the rectangular energized coil are parallel to the X axis and Y axis of the three-dimensional rectangular coordinate system, and the calculation formula for the buried depth is:

[0087]

[0088] Among them, B P is the maximum peak value of the second signal strength, n is the number of coil turns, I is the alternating current, f is the frequency of the magnetic induction signal, μ0=4π×10 -7 H / m, is the vacuum magnetic permeability, δ is the earth's electrical conductivity, z is the unit vector along the positive direction of the Z axis, z P is the burial depth, (x A ,y A ,0) are the coordinates of the vertices of the uniaxial rectangular energized coil in the three-dimensional rectangular coordinate system.

[0089] Therefore, after determining the maximum peak value of the second signal strength, the burial depth of the magnetic induction signal transmitter can be determined according to the calculation formula of the burial depth.

[0090] In the embodiment of the present disclosure, the specific derivation process of the calculation formula of the buried depth can be:

[0091] Figure 6A schematic diagram of a three-dimensional rectangular coordinate system provided in an embodiment of the present disclosure is shown in FIG. Figure 6 As shown, in the three-dimensional rectangular coordinate system with point O as the origin, the center point of the uniaxial rectangular energized coil is the coordinate origin O. Figure 6 The dotted box ABCD in the figure represents a single-axis rectangular energized coil in the underground tunnel. The coordinates of point A are (x A ,y A ,0), points B, C and D are symmetrical with point A along the X-axis, the origin O and the Y-axis respectively. P ,y P ,z P ) is located on the horizontal ground, P1(0,0,z P ) is the intersection of the central axis of the uniaxial rectangular coil and the horizontal ground. l1··l4 are the microelements of the four sides of the uniaxial rectangular coil. The expression of the magnetic induction signal generated by each microelement at the receiver P is:

[0092]

[0093] Where n is the number of coil turns, I is the alternating current, f is the frequency of the magnetic induction signal, μ0 = 4π × 10 -7 H / m, is the vacuum magnetic permeability, δ is the earth's electrical conductivity, dl i is the infinitesimal element of a uniaxial rectangular coil, r iP (r iP =|r iP |) represents the coil element dl i The distance vector between it and the magnetic induction signal receiver P, i=1,··,4.

[0094] exist Figure 6 Integrate equation (1) in the three-dimensional rectangular coordinate system, and obtain the magnetic induction signal vectors of the i-th side of the single-axis rectangular energized coil at the magnetic induction signal receiver point P:

[0095]

[0096] Among them, P(x P ,y P ,z P ) is the receiver coordinate, (x A ,y A ,0) are the coordinates of the vertex of the transmitter coil, and x, y, and z are unit vectors along the positive directions of the coordinate axes x, y, and z, respectively.

[0097] Then the magnetic induction signal sum vector of the single-axis rectangular energized coil at point P of the magnetic induction signal receiver is:

[0098] B P =B 1P +··+BiP (3)

[0099] From formula (2), we can see that B P There are components in the X-axis, Y-axis and Z-axis directions. The Z-axis component is Figure 2 It is represented as the vertical component B V , the vector of the X-axis and Y-axis is expressed as the horizontal component B H .like Figure 2 As shown, after the magnetic induction signal receiver moves from point P to point P1, the ground-penetrating signal vector of equation (2) can be simplified to

[0100]

[0101] In the disclosed embodiment, the induced voltage signals generated by the magnetic induction signal sent by the magnetic induction signal transmitter at the two ends of the three-axis orthogonal induction magnetic core coil of the magnetic induction signal receiver are first obtained in real time, and then the first direction and the first signal strength corresponding to the horizontal component of the magnetic induction signal at the receiver and the second direction and the second signal strength corresponding to the vertical component are determined according to each induced voltage signal, and then the magnetic induction signal receiver is controlled to move to the first position where the first signal strength is the minimum peak and the second signal strength is the maximum peak, and the first position is the horizontal position of the magnetic induction signal transmitter, and finally the buried depth of the magnetic induction signal transmitter is determined according to the earth conductivity, the number of coil turns of the magnetic induction signal transmitter, the frequency of the magnetic induction signal, the vacuum magnetic permeability, the alternating current and the maximum peak of the second signal strength. Thus, by establishing a one-to-one correspondence between the signal strength directly above the transmitter and the buried depth, three-dimensional through-the-ground positioning of underground targets on the ground is realized, and the accuracy of through-the-ground positioning is further improved.

[0102] In order to implement the above-mentioned embodiments, the present disclosure also proposes a magnetic induction through-the-ground positioning device for an underground space rectangular transmitting coil.

[0103] Figure 7 This is a schematic diagram of the structure of the underground space rectangular transmitting coil magnetic induction through-the-ground positioning device provided in an embodiment of the present disclosure.

[0104] like Figure 7 As shown, the underground space rectangular transmitting coil magnetic induction penetrating ground positioning device 700 may include: an acquisition module 710, a first determination module 720, a processing module 730, and a second determination module 740.

[0105] The acquisition module 710 is used to acquire in real time the induced voltage signals generated by the magnetic induction signal sent by the magnetic induction signal transmitter at both ends of the three-axis orthogonal induction magnetic core coil of the magnetic induction signal receiver, wherein the magnetic induction signal transmitter is a single-axis rectangular energized coil placed horizontally underground, and the magnetic induction signal receiver is a three-axis orthogonal induction magnetic core coil placed on the ground, wherein the first axis of the three-axis orthogonal induction magnetic core coil is perpendicular to the horizontal ground, and the second axis and the third axis are parallel to the horizontal ground;

[0106] A first determination module 720, configured to determine, according to each induced voltage signal, a first direction and a first signal strength corresponding to a horizontal component of the magnetic induction signal at a receiver, and a second direction and a second signal strength corresponding to a vertical component;

[0107] The processing module 730 is used to control the magnetic induction signal receiver to move to a first position where the first signal strength is a minimum peak and the second signal strength is a maximum peak according to the first direction, the first signal strength, the second direction and the second signal strength, wherein the first position is a horizontal position of the magnetic induction signal transmitter;

[0108] The second determination module 740 is used to determine the buried depth of the magnetic induction signal transmitter according to the maximum peak value of the second signal strength.

[0109] Optionally, the processing module 730 is specifically configured to:

[0110] Controlling the magnetic induction signal receiver to move in a direction where the first signal strength increases and the second signal strength increases until reaching a second position where the first signal strength is a minimum peak value;

[0111] Based on the second position, the magnetic induction signal receiver is controlled to move in a direction where the first signal strength decreases and the second signal strength increases until it reaches the first position where the first signal strength is the minimum peak and the second signal strength is the maximum peak.

[0112] Optionally, the second determining module 740 is further specifically configured to:

[0113] Obtaining the earth conductivity, the number of turns of the coil of the magnetic induction signal transmitter, the frequency of the magnetic induction signal, the vacuum magnetic permeability and the alternating current passed through the uniaxial rectangular energized coil;

[0114] The buried depth of the magnetic induction signal transmitter is determined according to the earth conductivity, the number of turns of the coil of the magnetic induction signal transmitter, the frequency of the magnetic induction signal, the vacuum magnetic permeability, the alternating current and the maximum peak value of the second signal strength.

[0115] Optionally, a three-dimensional rectangular coordinate system is established with the center point of the single-axis rectangular energized coil as the coordinate origin, the Z axis of the three-dimensional rectangular coordinate system is perpendicular to the ground, the four sides of the rectangular energized coil are parallel to the X axis and Y axis of the three-dimensional rectangular coordinate system, and the calculation formula for the buried depth is:

[0116]

[0117] Among them, B P is the maximum peak value of the second signal strength, n is the number of coil turns, I is the alternating current, f is the frequency of the magnetic induction signal, μ0=4π×10 -7 H / m, is the vacuum magnetic permeability, δ is the earth's electrical conductivity, z is the unit vector along the positive direction of the Z axis, z P is the burial depth, (x A ,y A ,0) are the coordinates of the vertices of the uniaxial rectangular energized coil in the three-dimensional rectangular coordinate system.

[0118] Optionally, the waveform of the alternating current is a sine wave, a triangle wave or a pulse square wave.

[0119] Optionally, the first determining module 720 is specifically configured to:

[0120] Performing vector superposition on the induced voltage signals corresponding to the second axis and the third axis respectively, so as to obtain the horizontal component, the first direction and the first signal strength of the magnetic induction signal at the receiver;

[0121] The vertical component, the second direction and the second signal strength of the magnetic induction signal at the receiver are determined according to the induced voltage signal corresponding to the first axis.

[0122] The functions and specific implementation principles of the above modules in the embodiments of the present disclosure can be referred to the above method embodiments, and will not be repeated here.

[0123] The underground space rectangular transmitting coil magnetic induction through-the-ground positioning device of the disclosed embodiment first obtains in real time the induced voltage signals generated by the magnetic induction signal sent by the magnetic induction signal transmitter at both ends of the three-axis orthogonal induction magnetic core coil of the magnetic induction signal receiver, and then determines the first direction and first signal strength corresponding to the horizontal component of the magnetic induction signal at the receiver and the second direction and second signal strength corresponding to the vertical component according to each induced voltage signal, and then controls the magnetic induction signal receiver to move to the first position where the first signal strength is the minimum peak and the second signal strength is the maximum peak, the first position is the horizontal position of the magnetic induction signal transmitter, and finally determines the buried depth of the magnetic induction signal transmitter according to the maximum peak of the second signal strength. Thus, three-dimensional through-the-ground positioning of underground targets on the ground is realized, and the accuracy of through-the-ground positioning is improved.

[0124] In order to implement the above embodiments, the present disclosure also proposes an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the underground space rectangular transmitting coil magnetic induction penetration positioning method proposed in the above embodiments of the present disclosure is implemented.

[0125] In order to implement the above embodiments, the present disclosure also proposes a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, the underground space rectangular transmitting coil magnetic induction penetration positioning method proposed in the aforementioned embodiments of the present disclosure is implemented.

[0126] In order to implement the above embodiments, the present disclosure also proposes a computer program product, including a computer program, which, when executed by a processor, implements the underground space rectangular transmitting coil magnetic induction penetration positioning method proposed in the aforementioned embodiments of the present disclosure.

[0127] Figure 8 A block diagram of an exemplary electronic device suitable for implementing embodiments of the present disclosure is shown. Figure 8 The electronic device 12 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0128] like Figure 8 As shown, the electronic device 12 is in the form of a general purpose computing device. The components of the computer device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that connects various system components (including the system memory 28 and the processing unit 16).

[0129] The bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor or a local bus using any of a variety of bus structures. For example, these architectures include but are not limited to Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus and Peripheral Component Interconnection (PCI) bus.

[0130] The computer device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the computer device 12, including volatile and non-volatile media, removable and non-removable media.

[0131] The memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. The computer device 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the storage system 34 may be used to read and write non-removable, non-volatile magnetic media ( Figure 8 not shown, usually called a "hard drive"). Although Figure 8 Not shown in the figure, a disk drive for reading and writing a removable non-volatile disk (e.g., a "floppy disk"), and an optical disk drive for reading and writing a removable non-volatile optical disk (e.g., a compact disc read only memory (CD-ROM), a digital versatile disc read only memory (DVD-ROM), or other optical media) may be provided. In these cases, each drive may be connected to the bus 18 via one or more data medium interfaces. The memory 28 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of the various embodiments of the present disclosure.

[0132] A program / utility 40 having a set (at least one) of program modules 42 may be stored, for example, in the memory 28, such program modules 42 including but not limited to an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment. The program modules 42 generally perform the functions and / or methods of the embodiments described in the present disclosure.

[0133] The computer device 12 may also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), one or more devices that enable a user to interact with the computer device 12, and / or any device that enables the computer device 12 to communicate with one or more other computing devices (e.g., network card, modem, etc.). Such communication may be performed via an input / output (I / O) interface 22. In addition, the computer device 12 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 20. As shown, the network adapter 20 communicates with other modules of the computer device 12 via a bus 18. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the computer device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0134] The processing unit 16 executes various functional applications and data processing by running programs stored in the system memory 28, such as implementing the methods mentioned in the above embodiments.

[0135] The technical solution disclosed in the present invention first obtains in real time the induced voltage signals generated by the magnetic induction signal sent by the magnetic induction signal transmitter at both ends of the three-axis orthogonal induction magnetic core coil of the magnetic induction signal receiver, and then determines the first direction and first signal strength corresponding to the horizontal component of the magnetic induction signal at the receiver and the second direction and second signal strength corresponding to the vertical component according to each induced voltage signal, and then controls the magnetic induction signal receiver to move to the first position where the first signal strength is the minimum peak and the second signal strength is the maximum peak, the first position is the horizontal position of the magnetic induction signal transmitter, and finally determines the buried depth of the magnetic induction signal transmitter according to the maximum peak of the second signal strength. In this way, three-dimensional through-the-ground positioning of underground targets on the ground is realized, and the accuracy of through-the-ground positioning is improved.

[0136] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0137] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present disclosure, "plurality" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0138] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present disclosure includes additional implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present disclosure belong.

[0139] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute the instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purpose of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0140] It should be understood that the various parts of the present disclosure can be implemented in hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used to implement: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0141] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0142] In addition, each functional unit in each embodiment of the present disclosure may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0143] The storage medium mentioned above may be a read-only memory, a disk or an optical disk, etc. Although the embodiments of the present disclosure have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations of the present disclosure. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present disclosure.

Claims

1. A method for underground space rectangular transmitting coil magnetic induction through-the-ground positioning, characterized in that: include: Real-time acquisition of induced voltage signals generated by the magnetic induction signal sent by the magnetic induction signal transmitter at both ends of the three-axis orthogonal induction magnetic core coil of the magnetic induction signal receiver, wherein the magnetic induction signal transmitter is a single-axis rectangular energized coil placed horizontally underground, and the magnetic induction signal receiver is a three-axis orthogonal induction magnetic core coil placed on the ground, wherein the first axis of the three-axis orthogonal induction magnetic core coil is perpendicular to the horizontal ground, and the second axis and the third axis are parallel to the horizontal ground; Determine, according to each of the induced voltage signals, a first direction and a first signal strength corresponding to a horizontal component of the magnetic induction signal at the receiver, and a second direction and a second signal strength corresponding to a vertical component; According to the first direction, the first signal strength, the second direction and the second signal strength, controlling the magnetic induction signal receiver to move to a first position where the first signal strength is a minimum peak and the second signal strength is a maximum peak, the first position being a horizontal position of the magnetic induction signal transmitter; Obtaining the earth's electrical conductivity, the number of turns of the coil of the magnetic induction signal transmitter, the frequency of the magnetic induction signal, the vacuum magnetic permeability and the alternating current passed through the uniaxial rectangular energized coil; Determine the buried depth of the magnetic induction signal transmitter according to the earth conductivity, the number of turns of the coil of the magnetic induction signal transmitter, the frequency of the magnetic induction signal, the vacuum magnetic permeability, the alternating current and the maximum peak value of the second signal strength; Wherein, determining the buried depth of the magnetic induction signal transmitter includes: A three-dimensional rectangular coordinate system is established with the center point of the single-axis rectangular energized coil as the coordinate origin, the Z axis of the three-dimensional rectangular coordinate system is perpendicular to the ground, the four sides of the rectangular energized coil are parallel to the X axis and Y axis of the three-dimensional rectangular coordinate system, and the calculation formula of the buried depth is: Among them, B P is the maximum peak value of the second signal strength, n is the number of turns of the coil, I is the alternating current, f is the frequency of the magnetic induction signal, μ0=4π×10 -7 H / m, is the vacuum magnetic permeability, δ is the earth electrical conductivity, z is the unit vector along the positive direction of the Z axis, z P is the burial depth, (x A ,y A ,0) are the coordinates of the vertices of the uniaxial rectangular energized coil in the three-dimensional rectangular coordinate system.

2. The method according to claim 1, characterized in that The controlling the magnetic induction signal receiver to move to a first position where the first signal strength is a minimum peak value and the second signal strength is a maximum peak value comprises: Controlling the magnetic induction signal receiver to move in a direction where the first signal strength increases and the second signal strength increases until reaching a second position where the first signal strength is a minimum peak value; Based on the second position, the magnetic induction signal receiver is controlled to move in a direction where the first signal strength decreases and the second signal strength increases until it reaches the first position where the first signal strength is a minimum peak and the second signal strength is a maximum peak.

3. The method according to claim 1, characterized in that The waveform of the alternating current is a sine wave, a triangle wave or a pulse square wave.

4. The method according to any one of claims 1 to 3, characterized in that: The step of determining, according to each of the induced voltage signals, a first direction and a first signal strength corresponding to a horizontal component of the magnetic induction signal at the receiver, and a second direction and a second signal strength corresponding to a vertical component of the magnetic induction signal, comprises: Performing vector superposition on the induced voltage signals corresponding to the second axis and the third axis respectively, so as to obtain the horizontal component of the magnetic induction signal at the receiver, the first direction and the first signal strength; The vertical component of the magnetic induction signal at the receiver, the second direction, and the second signal strength are determined according to the induced voltage signal corresponding to the first axis.

5. A rectangular transmitting coil magnetic induction penetrating ground positioning device for underground space, characterized in that: include: An acquisition module is used to acquire in real time the induced voltage signals respectively generated at both ends of the three-axis orthogonal induction magnetic core coil of the magnetic induction signal receiver by the magnetic induction signal sent by the magnetic induction signal transmitter, wherein the magnetic induction signal transmitter is a single-axis rectangular energized coil horizontally placed underground, and the magnetic induction signal receiver is one of the three-axis orthogonal induction magnetic core coils placed on the ground, wherein the first axis of the three-axis orthogonal induction magnetic core coil is perpendicular to the horizontal ground, and the second axis and the third axis are parallel to the horizontal ground; A first determination module is used to determine, according to each of the induced voltage signals, a first direction and a first signal strength corresponding to a horizontal component of the magnetic induction signal at the receiver, and a second direction and a second signal strength corresponding to a vertical component; a processing module, configured to control the magnetic induction signal receiver to move to a first position where the first signal strength is a minimum peak and the second signal strength is a maximum peak according to the first direction, the first signal strength, the second direction and the second signal strength, wherein the first position is a horizontal position of the magnetic induction signal transmitter; A second determination module is used to obtain the earth's electrical conductivity, the number of turns of the coil of the magnetic induction signal transmitter, the frequency of the magnetic induction signal, the vacuum magnetic permeability, and the alternating current passed through the single-axis rectangular energized coil, and determine the buried depth of the magnetic induction signal transmitter according to the earth's electrical conductivity, the number of turns of the coil of the magnetic induction signal transmitter, the frequency of the magnetic induction signal, the vacuum magnetic permeability, the alternating current, and the maximum peak value of the second signal strength; Wherein, determining the buried depth of the magnetic induction signal transmitter includes: A three-dimensional rectangular coordinate system is established with the center point of the single-axis rectangular energized coil as the coordinate origin, the Z axis of the three-dimensional rectangular coordinate system is perpendicular to the ground, the four sides of the rectangular energized coil are parallel to the X axis and Y axis of the three-dimensional rectangular coordinate system, and the calculation formula of the buried depth is: Among them, B P is the maximum peak value of the second signal strength, n is the number of turns of the coil, I is the alternating current, f is the frequency of the magnetic induction signal, μ0=4π×10 -7 H / m, is the vacuum magnetic permeability, δ is the earth electrical conductivity, z is the unit vector along the positive direction of the Z axis, z P is the burial depth, (x A ,y A ,0) are the coordinates of the vertices of the uniaxial rectangular energized coil in the three-dimensional rectangular coordinate system.

6. The device according to claim 5, characterized in that The processing module is specifically used for: Controlling the magnetic induction signal receiver to move in a direction where the first signal strength increases and the second signal strength increases until reaching a second position where the first signal strength is a minimum peak value; Based on the second position, the magnetic induction signal receiver is controlled to move in a direction where the first signal strength decreases and the second signal strength increases until it reaches the first position where the first signal strength is a minimum peak and the second signal strength is a maximum peak.

7. An electronic device, characterized in that: The invention comprises a memory, a processor and a computer program stored in the memory and executable on the processor. When the processor executes the program, the underground space rectangular transmitting coil magnetic induction penetrating ground positioning method as described in any one of claims 1 to 4 is implemented.

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