Method and device for evaluating coal geology based on electromagnetic detection

Abstract

The invention belongs to the technical field of coal geological exploration, and discloses a method and a device for evaluating coal geology based on electromagnetic detection, and the method comprises the steps: dividing a to-be-explored coal region into n grids when facing the terrain of the to-be-explored coal region with large fluctuation, firstly, based on the geological exploration historical data of the to-be-explored coal region, carrying out the electromagnetic detection of the to-be-explored coal region, and carrying out the electromagnetic detection of the to-be-explored coal region; the electromagnetic emission intensity in the exploration process is preliminarily obtained, then pre-exploration is carried out, the change condition of the electromagnetic signal intensity received by each grid area along with time is obtained, the adjustment strategy of the electromagnetic emission intensity of each grid area is formulated according to the change condition of the electromagnetic signal intensity along with time, and finally, the electromagnetic emission intensity of each grid area is adjusted. When the electromagnetic emission device moves on the ground surface of the coal area to be explored according to the preset grid-shaped path, the electromagnetic emission intensity is automatically adjusted according to the adjustment strategy of the electromagnetic emission intensity of each grid area, the precision of coal geological assessment is remarkably improved, and more accurate guidance is provided for subsequent industrial links such as coal mining and coal dressing.

Description

Technical Field

[0001] The present invention belongs to the technical field of coal geological exploration, and particularly relates to a method and device for evaluating coal geology based on electromagnetic detection. Background Art

[0002] As an important energy resource, accurate evaluation of the geological conditions of coal is crucial for many aspects such as coal mining and safety production. Traditional coal geological evaluation methods, such as drilling and sampling, although can obtain relatively direct geological information, have high drilling costs, low efficiency, and certain damage to the geological environment.

[0003] In recent years, electromagnetic detection technology has gradually emerged. However, in the existing application of electromagnetic detection in coal geological evaluation, there are still problems that it is difficult to effectively combine with coal geological characteristics, and it cannot adjust the electromagnetic emission intensity in real time according to the changes in the geological characteristics of the area to be surveyed, resulting in relatively large errors in the detection results and unable to meet the requirements of the current rapid development of the coal industry for high-precision geological evaluation. Summary of the Invention

[0004] The purpose of the present invention is to provide a method and device for evaluating coal geology based on electromagnetic detection to solve the problems faced in the above background art.

[0005] The purpose of the present invention can be achieved by the following technical solutions:

[0006] A method for evaluating coal geology based on electromagnetic detection, the method comprising the following steps:

[0007] Step S1: Divide the coal area to be explored into n grids, and use an electromagnetic emission device to move on the surface of the coal area to be explored along a preset grid-like path;

[0008] Step S2: Synchronously arrange a plurality of high-sensitivity average electromagnetic signal intensity receiving sensors within a certain range from the emission device. The sensors are arranged in an array, and the average electromagnetic signal intensity reflected from the formation is collected in real time, converted into a digital signal and stored;

[0009] Step S3: Perform filtering processing on the received digital signal to remove environmental noise interference;

[0010] Step S4: Extract key characteristic parameters from the preprocessed data, including the electromagnetic signal attenuation rate;

[0011] Step S5: Evaluate the coal geology according to the extracted characteristic parameters.

[0012] As a further description of the technical solution of the present invention, the specific process of step S2 includes:

[0013] Step S21: Place an average electromagnetic signal intensity receiving sensor array in the coal area to be explored in an equidistant row and column manner;

[0014] Step S22: Determine the electromagnetic emission intensity strategy of the electromagnetic emission device according to the spacing between the average electromagnetic signal intensity receiving sensors;

[0015] Step S23: Conduct a preliminary detection according to the electromagnetic emission intensity strategy, and determine the electromagnetic emission intensity adjustment strategy based on the parameter change information obtained from the preliminary detection;

[0016] Step S24: Adjust the average electromagnetic signal intensity according to the electromagnetic emission intensity adjustment strategy.

[0017] As a further description of the technical solution of the present invention, the specific working process of step S22 includes:

[0018] Step S21: According to the geological exploration historical data of the coal area to be explored, obtain the maximum depth that the average electromagnetic signal intensity needs to penetrate and the attenuation degree of the signal by different formation media that may be encountered;

[0019] Step S22: Estimate the signal propagation loss through the electromagnetic propagation model based on the sensor spacing and the approximate range of the coal area to be explored;

[0020] Step S23: Estimate the electromagnetic emission intensity of the electromagnetic emission device to be Q0 based on the maximum depth that the average electromagnetic signal intensity needs to penetrate, the formation medium, and the signal propagation loss.

[0021] As a further description of the technical solution of the present invention, the sensor spacing is adjusted according to the formation change gradient estimated from the geological exploration historical data.

[0022] As a further description of the technical solution of the present invention, the specific process of step S23 includes:

[0023] Obtain the data of the change of the average electromagnetic signal intensity received in the i-th grid area during the preliminary detection process, and construct the function E i (t) of the change of the average electromagnetic signal intensity in the i-th grid area over time according to the data of the change of the average electromagnetic signal intensity received in the i-th grid area over time;

[0024] Construct the mathematical model of the electromagnetic emission intensity adjustment index for the i-th grid area, and the expression is:

[0025]

[0026] In the formula, E i0is the preset standard received average electromagnetic signal strength; t1 is the start time point of the pre-detection process for the i-th grid area; t2 is the end time point of the pre-detection process for the i-th grid area; st is the reference coefficient, and ρ i is the electromagnetic emission intensity adjustment index for the i-th grid area;

[0027] Compare the electromagnetic emission intensity adjustment index ρ i of the i-th grid area with the preset threshold interval [ρ1, ρ2]:

[0028] If the electromagnetic emission intensity adjustment index ρ i of the i-th grid area belongs to [ρ1, ρ2], then do not adjust the electromagnetic emission intensity;

[0029] If the electromagnetic emission intensity adjustment index ρ i of the i-th grid area is less than ρ1, then increase the electromagnetic emission intensity; if the electromagnetic emission intensity adjustment index ρ i of the i-th grid area is greater than ρ2, then decrease the electromagnetic emission intensity.

[0030] As a further description of the technical solution of the present invention, the specific process of the step S23 further includes:

[0031] When the electromagnetic emission intensity adjustment index ρ i of the i-th grid area is less than ρ1, construct a calculation model for the increased amount of electromagnetic emission intensity in the i-th grid area, and the expression is:

[0032]

[0033] When the electromagnetic emission intensity adjustment index ρ i of the i-th grid area is greater than ρ2, construct a calculation model for the decreased amount of electromagnetic emission intensity in the i-th grid area, and the expression is:

[0034]

[0035] Therefore, when the electromagnetic emission intensity adjustment index ρ i of the i-th grid area is less than ρ1, the electromagnetic emission intensity of the i-th grid area is adjusted to Q0 + Q add ;

[0036] When the electromagnetic emission intensity adjustment index ρ i of the i-th grid area is greater than ρ2, the electromagnetic emission intensity of the i-th grid area is adjusted to Q0 - Q cut ;

[0037] In the formula, θ is the conversion coefficient, M is the actual area of the i-th grid area, h is the depth that the average electromagnetic signal intensity of the i-th grid area needs to penetrate, M0 is the preset standard area, h0 is the preset standard penetration depth; k1 and k2 are weight coefficients respectively.

[0038] As a further description of the technical solution of the present invention, the specific process of step S5 is as follows:

[0039] Obtain the electromagnetic signal attenuation rate of the j-th grid area during the actual detection process, and input the electromagnetic signal attenuation rate of the j-th grid area into the attenuation rate-thickness model, the attenuation rate-ash content model, and the attenuation rate-floor rock types of different lithologies model respectively;

[0040] By comparing with the models, the approximate coal thickness, ash content, and floor rock lithology can be predicted;

[0041] The attenuation rate-thickness model, the attenuation rate-ash content model, and the attenuation rate-floor rock types of different lithologies model are trained neural network models.

[0042] An apparatus for evaluating coal geology based on electromagnetic detection, the apparatus includes:

[0043] Low-frequency electromagnetic emission module: It consists of a movable carrying platform, a low-frequency electromagnetic generator installed on the platform, and an accurate positioning and navigation system;

[0044] Electromagnetic signal receiving array: It includes a plurality of evenly distributed high-sensitivity electromagnetic sensors, and the sensors are fixed on brackets with adjustable height and angle;

[0045] Data processing center: It is equipped with a high-performance processor, built-in signal filtering, amplification, and normalization algorithm programs, installed with a feature extraction software module, and also runs a coal geology evaluation model training and prediction system.

[0046] Advantages of the present invention:

[0047] When the present invention faces the terrain of a coal exploration area with large undulations, the coal exploration area to be explored is divided into n grids, and a sensor array is arranged within a certain range from the emission device to collect the change of electromagnetic signal intensity. First, based on the historical data of geological exploration of the coal exploration area to be explored, the electromagnetic emission intensity during the exploration process is initially obtained, and then pre-exploration is carried out to obtain the change of the electromagnetic signal intensity received in each grid area over time. According to the change of the electromagnetic signal intensity over time, an adjustment strategy for the electromagnetic emission intensity of each grid area is formulated. Finally, when the electromagnetic emission device moves on the surface of the coal exploration area to be explored along the preset grid-like path, the electromagnetic emission intensity is automatically adjusted according to the adjustment strategy of the electromagnetic emission intensity of each grid area, significantly improving the accuracy of coal geology evaluation and providing more accurate guidance for subsequent industrial links such as coal mining and coal preparation.

[0048] Of course, it is not necessary for any product implementing the present invention to achieve all the above-mentioned advantages simultaneously. Description of the Drawings

[0049] To more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the accompanying drawings required for the description of the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.

[0050] Figure 1 It is a partial flowchart of the method for evaluating coal geology based on electromagnetic detection of the present invention. Specific embodiments

[0051] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0052] Please refer to Figure 1 As shown, a method for evaluating coal geology based on electromagnetic detection is disclosed. The method includes the following steps:

[0053] Step S1: Divide the coal area to be explored into n grids, and use an electromagnetic emission device to move on the surface of the coal area to be explored along a preset grid-like path;

[0054] Step S2: Synchronously arrange multiple high-sensitivity average electromagnetic signal intensity receiving sensors within a certain range from the emission device. The sensors are arranged in an array to collect the average electromagnetic signal intensity reflected by the formation in real time, convert it into a digital signal and store it;

[0055] Step S3: Perform filtering processing on the received digital signal to remove environmental noise interference;

[0056] Step S4: Extract key feature parameters from the preprocessed data, including the electromagnetic signal attenuation rate;

[0057] Step S5: Evaluate the coal geology according to the extracted feature parameters.

[0058] Through the above technical solution, when the present invention faces the terrain of a coal area to be explored with large fluctuations, the coal area to be explored is divided into n grids, and a sensor array is arranged within a certain range from the transmitting device to collect the change of electromagnetic signal intensity. First, based on the geological exploration historical data of the coal area to be explored, the electromagnetic emission intensity during the exploration process is initially obtained, and then pre-exploration is carried out to obtain the change of the electromagnetic signal intensity received in each grid area over time. According to the change of the electromagnetic signal intensity over time, an adjustment strategy for the electromagnetic emission intensity of each grid area is formulated. Finally, when the electromagnetic transmitting device moves on the surface of the coal area to be explored along a preset grid-like path, the electromagnetic emission intensity is automatically adjusted according to the adjustment strategy of the electromagnetic emission intensity of each grid area, significantly improving the accuracy of coal geological evaluation and providing more accurate guidance for subsequent industrial links such as coal mining and coal preparation.

[0059] As a further description of the technical solution of the present invention, the specific process of step S2 includes:

[0060] Step S21: In the coal area to be explored, arrange an average electromagnetic signal intensity receiving sensor array in an equidistant row and column manner;

[0061] Step S22: Determine the electromagnetic emission intensity strategy of the electromagnetic transmitting device according to the distance between each average electromagnetic signal intensity receiving sensor;

[0062] Step S23: Conduct pre-detection according to the electromagnetic emission intensity strategy, and determine the electromagnetic emission intensity adjustment strategy according to the parameter change information of the pre-detection;

[0063] Step S24: Adjust the average electromagnetic signal intensity according to the electromagnetic emission intensity adjustment strategy.

[0064] As a further description of the technical solution of the present invention, the specific working process of step S22 includes:

[0065] Step S21: According to the geological exploration historical data of the coal area to be explored, obtain the maximum depth that the average electromagnetic signal intensity needs to penetrate and the attenuation degree of the signal by different formation media that may be encountered;

[0066] Step S22: Estimate the signal propagation loss through the electromagnetic propagation model according to the sensor distance and the approximate range of the coal area to be explored;

[0067] Step S23: Estimate the electromagnetic emission intensity of the electromagnetic transmitting device as Q0 according to the maximum depth that the average electromagnetic signal intensity needs to penetrate, the formation medium, and the signal propagation loss.

[0068] As a further description of the technical solution of the present invention, the sensor distance is adjusted according to the formation change gradient estimated from the geological exploration historical data.

[0069] As a further description of the technical solution of the present invention, the specific process of step S23 includes:

[0070] Obtain the data of the average electromagnetic signal intensity received in the i-th grid area during the pre-detection process changing with time, and construct the function E i (t) of the average electromagnetic signal intensity in the i-th grid area changing with time according to the data of the average electromagnetic signal intensity received in the i-th grid area changing with time;

[0071] Construct the mathematical model of the electromagnetic emission intensity adjustment index for the i-th grid area, and the expression is:

[0072]

[0073] In the formula, E i0 is the preset standard received average electromagnetic signal intensity; t1 is the start time point of the pre-detection process in the i-th grid area; t2 is the end time point of the pre-detection process in the i-th grid area; st is the reference coefficient, and ρ i is the electromagnetic emission intensity adjustment index for the i-th grid area;

[0074] Compare the electromagnetic emission intensity adjustment index ρ i of the i-th grid area with the preset threshold interval [ρ1, ρ2]:

[0075] If the electromagnetic emission intensity adjustment index ρ i of the i-th grid area ∈ [ρ1, ρ2], then do not adjust the electromagnetic emission intensity;

[0076] If the electromagnetic emission intensity adjustment index ρ i of the i-th grid area < ρ1, then increase the electromagnetic emission intensity; if the electromagnetic emission intensity adjustment index ρ i of the i-th grid area > ρ2, then decrease the electromagnetic emission intensity.

[0077] Through the above technical solution, this embodiment provides a method for calculating an electromagnetic intensity adjustment index. First, based on the geological exploration historical data of the coal area to be explored and the distribution of the sensor array, the electromagnetic emission intensity of the electromagnetic emission device is estimated to be Q0. Then, pre-exploration is carried out for each grid area respectively, and the data of the average electromagnetic signal intensity received in each grid area changing with time is obtained, and a function of the average electromagnetic signal intensity in each grid area changing with time is constructed. Then, the electromagnetic emission intensity adjustment index of each area is obtained through the grid area electromagnetic emission intensity adjustment index mathematical model calculation model, and the electromagnetic emission intensity adjustment index of each area is compared with a preset threshold interval. If the electromagnetic emission intensity adjustment index of each grid area belongs to the threshold interval, the electromagnetic emission intensity is not adjusted; if the electromagnetic emission intensity adjustment index of each grid area is lower than the threshold interval, the electromagnetic emission intensity is increased; if the electromagnetic emission intensity adjustment index of each grid area is higher than the threshold interval, the electromagnetic emission intensity is decreased.

[0078] As a further description of the technical solution of the present invention, the specific process of step S23 further includes:

[0079] When the electromagnetic emission intensity adjustment index ρ of the i-th grid area i <ρ1, a calculation model for the enhancement amount of the electromagnetic emission intensity of the i-th grid area is constructed, and the expression is:

[0080]

[0081] When the electromagnetic emission intensity adjustment index ρ of the i-th grid area i >ρ2, a calculation model for the reduction amount of the electromagnetic emission intensity of the i-th grid area is constructed, and the expression is:

[0082]

[0083] Therefore, when the electromagnetic emission intensity adjustment index ρ of the i-th grid area i <ρ1, the electromagnetic emission intensity of the i-th grid area is adjusted to Q0 + Q add ;

[0084] When the electromagnetic emission intensity adjustment index ρ of the i-th grid area i >ρ2, the electromagnetic emission intensity of the i-th grid area is adjusted to Q0 - Q cut ;

[0085] In the formula, θ is a conversion coefficient, M is the actual area of the i-th grid area, h is the depth that the average electromagnetic signal intensity of the i-th grid area needs to penetrate, M0 is the preset standard area, h0 is the preset standard penetration depth; k1 and k2 are weight coefficients respectively.

[0086] Through the above technical solution, this embodiment provides a method for calculating the adjustment amount of electromagnetic emission intensity in a grid area, obtaining the actual area of the corresponding area and the depth that the electromagnetic signal intensity needs to penetrate, and then substituting them into the formula respectively and to calculate the increase amount and decrease amount of electromagnetic emission intensity in the i-th grid area.

[0087] As a further description of the technical solution of the present invention, the specific process of step S5 is as follows:

[0088] Obtain the electromagnetic signal attenuation rate of the j-th grid area during the actual detection process, and input the electromagnetic signal attenuation rate of the j-th grid area into the attenuation rate-thickness model, attenuation rate-ash content model, and attenuation rate-floor rock of different lithologies model respectively;

[0089] By comparing with the model, the approximate coal thickness, ash content, and floor rock lithology can be predicted;

[0090] The attenuation rate-thickness model, attenuation rate-ash content model, and attenuation rate-floor rock of different lithologies model are trained neural network models.

[0091] According to empirical data, in the 10-100 Hz low-frequency electromagnetic frequency band, for every 1-meter increase in coal seam thickness, the signal attenuation rate will increase by an average of 0.5%-1%. For every 10% increase in the current ash content, at a given detection frequency, the signal attenuation rate may increase by 2%-3%. The signal attenuation rate corresponding to the limestone floor is on average 15%-20% higher than that of the mudstone floor in the shallow layer (0-100 meters).

[0092] An apparatus for evaluating coal geology based on electromagnetic detection, the apparatus includes:

[0093] Low-frequency electromagnetic emission module: composed of a movable carrier platform, a low-frequency electromagnetic generator installed on the platform, and an accurate positioning and navigation system;

[0094] Electromagnetic signal receiving array: includes a plurality of uniformly distributed high-sensitivity electromagnetic sensors, and the sensors are fixed on brackets with adjustable height and angle;

[0095] Data processing center: equipped with a high-performance processor, built-in signal filtering, amplification, and normalization algorithm programs, installed with a feature extraction software module, and also running a coal geology evaluation model training and prediction system.

[0096] The above content is only an example and illustration of the concept of the present invention. Those skilled in the art of this technology make various modifications or supplements to the described specific embodiments or use similar methods to replace them, as long as they do not deviate from the concept of the invention or exceed the scope defined by this claims, they should all belong to the protection scope of the present invention.

Claims

1. A method for evaluating coal geology based on electromagnetic detection, characterized in that: The method comprises the following steps: Step S1, dividing the coal area to be explored into n grids, and using an electromagnetic launch device to move along a preset grid path on the surface of the coal area to be explored; Step S2: within a certain range from the transmitting device, a plurality of high-sensitivity average electromagnetic signal strength receiving sensors are synchronously arranged, the sensors are distributed in an array, and the average electromagnetic signal strength reflected from the formation is collected in real time, and the average electromagnetic signal strength is converted into a digital signal and stored; Step S3: filtering the received digital signal to remove environmental noise interference; Step S4, extracting key characteristic parameters from the preprocessed data, including electromagnetic signal attenuation rate; Step S5: Evaluate the coal geology according to the extracted characteristic parameters.

2. The method for evaluating coal geology based on electromagnetic detection according to claim 1, characterized in that: The specific process of step S2 includes: Step S21, in the coal area to be explored, an array of average electromagnetic signal strength receiving sensors is arranged in rows and columns with equal spacing; Step S22, determining the electromagnetic emission intensity strategy of the electromagnetic emission device according to the distance between each average electromagnetic signal intensity receiving sensor; Step S23, performing pre-detection according to the electromagnetic emission intensity strategy, and determining the electromagnetic emission intensity adjustment strategy according to the pre-detection parameter change information; Step S24: adjusting the average electromagnetic signal strength according to the electromagnetic emission strength adjustment strategy.

3. A method for evaluating coal geology based on electromagnetic detection according to claim 2, characterized in that: The specific working process of step S22 includes: Step S21, based on the historical geological exploration data of the coal area to be explored, the maximum penetration depth of the average electromagnetic signal strength and the attenuation degree of the signal by different stratum media that may be encountered are obtained; Step S22, estimating signal propagation loss through an electromagnetic propagation model according to the sensor spacing and the approximate range of the coal area to be explored; Step S23: The electromagnetic emission intensity of the electromagnetic emission device is estimated to be Q0 according to the maximum depth that the average electromagnetic signal intensity needs to penetrate, the formation medium and the signal propagation loss.

4. A method for evaluating coal geology based on electromagnetic detection according to claim 3, characterized in that: The sensor spacing is adjusted according to the stratum change gradient estimated by historical geological exploration data.

5. The method for evaluating coal geology based on electromagnetic detection according to claim 2, characterized in that: The specific process of step S23 includes: Obtain the time variation data of the average electromagnetic signal strength received in the i-th grid area during the pre-detection process, and construct the time variation function E of the average electromagnetic signal strength received in the i-th grid area according to the time variation data of the average electromagnetic signal strength received in the i-th grid area i (t); Construct a mathematical model for the electromagnetic emission intensity adjustment index of the i-th grid area, and the expression is: In the formula, E i0 is the average electromagnetic signal strength received by the preset standard; t1 is the starting time point of the pre-detection process of the i-th grid area; t2 is the ending time point of the pre-detection process of the i-th grid area; st is the reference coefficient, ρ i is the electromagnetic emission intensity adjustment index of the i-th grid area; Adjust the electromagnetic emission intensity of the i-th grid area to the index ρ i Compare with the preset threshold interval [ρ1,ρ2]: If the electromagnetic emission intensity adjustment index ρ in the i-th grid area i ∈[ρ1,ρ2], the electromagnetic emission intensity is not adjusted; If the electromagnetic emission intensity adjustment index ρ in the i-th grid area i <ρ1, then the electromagnetic emission intensity is enhanced; if the electromagnetic emission intensity adjustment index ρ in the i-th grid area i >ρ2, the electromagnetic emission intensity is reduced.

6. The method for evaluating coal geology based on electromagnetic detection according to claim 2, characterized in that: The specific process of step S23 also includes: When the electromagnetic emission intensity adjustment index ρ in the i-th grid area i When <ρ1, the calculation model of the electromagnetic emission intensity enhancement in the i-th grid area is constructed, and the expression is: When the electromagnetic emission intensity adjustment index ρ in the i-th grid area i When >ρ2, the calculation model of the reduction of electromagnetic emission intensity in the ith grid area is constructed, and the expression is: Therefore, when the electromagnetic emission intensity adjustment index ρ in the i-th grid area i When <ρ1, the electromagnetic emission intensity of the i-th grid area is adjusted to Q0+Q add ; When the electromagnetic emission intensity adjustment index ρ in the i-th grid area i >ρ2, the electromagnetic emission intensity of the i-th grid area is adjusted to Q0-Q cut ; Wherein, θ is the conversion coefficient, M is the actual area of ​​the i-th grid area, h is the depth that the average electromagnetic signal strength of the i-th grid area needs to penetrate, M0 is the preset standard area, h0 is the preset standard penetration depth; k1 and k2 are weight coefficients respectively.

7. A method for evaluating coal geology based on electromagnetic detection according to claim 2, characterized in that: The specific process of step S5 is as follows: The electromagnetic signal attenuation rate of the j-th grid area is obtained during the actual detection process, and the electromagnetic signal attenuation rate of the j-th grid area is input into the attenuation rate-thickness model, the attenuation rate-ash model and the attenuation rate-different lithology floor model respectively; The reference model can predict the approximate coal thickness, ash content and floor lithology; The attenuation rate-thickness model, the attenuation rate-ash content model and the attenuation rate-different lithology basement model are trained neural network models.

8. A device for evaluating coal geology based on electromagnetic detection, the device being used to execute the method for evaluating coal geology based on electromagnetic detection according to any one of claims 1 to 7, characterized in that: The device comprises: Low-frequency electromagnetic transmission module: It consists of a movable carrying platform, a low-frequency electromagnetic generator installed on the platform, and a precise positioning and navigation system; Electromagnetic signal receiving array: It contains multiple evenly distributed high-sensitivity electromagnetic sensors, which are fixed on a bracket with adjustable height and angle; Data Processing Center: Equipped with high-performance processors, built-in signal filtering, amplification, and normalization algorithm programs, feature extraction software modules, and also runs a coal geological assessment model training and prediction system.

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