Detection device, system and method

Abstract

The invention provides a detection device, system and method which are used for conveniently determining the position of a water body during water body detection, and the detection device comprises a supporting body; the transmitting antenna is arranged on the supporting body, and the transmitting antenna comprises a solenoid antenna; the receiving antenna is arranged on the supporting body, the receiving antenna comprises at least one planar antenna, and the plane where the planar antenna is located is not perpendicular to the first axis surrounded by the solenoid antenna in space. The solenoid antenna and the planar antenna are matched for use, so that the signal detection range and distance can be increased, the signal receiving sensitivity is improved, and the detection performance of the detection device is improved. Therefore, when the device is applied to the construction process of a mine, a roadway or a tunnel and other scenes, whether a water body exists or not and the specific position of the water body when the water body exists can be accurately detected.

Description

Technical Field

[0001] This application relates to the technical field of geological exploration, and particularly to a detection device, system and method. Background Art

[0002] During the construction process in scenarios such as mine shafts, roadways or tunnels, water disasters are extremely likely to cause mass casualties. Therefore, for safety considerations, it is usually required to conduct water body detection before construction. For example, it is necessary to detect whether there is a water body in front before construction.

[0003] Currently, the transient electromagnetic method is generally used to detect water bodies. The transient electromagnetic method mainly uses the transient electromagnetic signals emitted by the transmitting antenna and the secondary field echo signals received by the receiving antenna to detect water bodies. Among them, since the water body is a low-resistance body, and the low-resistance body will generate a strong secondary field echo when receiving the transient electromagnetic signal, the water body will also generate a strong secondary field echo signal after the transient electromagnetic signal touches the water body. Then, by processing and analyzing the secondary field echo signal, it can be determined whether there is a water body.

[0004] In the related art, there are defects such as the signal range covered by the transmitting antenna is relatively small, and the signals received by the receiving antenna are relatively divergent, resulting in a problem of great uncertainty in the transmission and reception of signals when judging water bodies, and the detection performance is poor. Summary of the Invention

[0005] The purpose of this application is to provide a detection device, system and method for improving detection performance.

[0006] In a first aspect, a detection device is provided, including a support body, a transmitting antenna and a receiving antenna. The transmitting antenna is arranged on the support body, and the transmitting antenna includes a solenoid antenna. The receiving antenna is arranged on the support body, and the receiving antenna includes at least one planar antenna.

[0007] The detection device provided by the embodiment of the present application uses a solenoid antenna as a transmitting antenna to emit transient electromagnetic signals. It can utilize the good divergence characteristics of the solenoid antenna to make the signal emitted by the transmitting antenna have a larger divergence range, and utilize the strong magnetic field excitation ability of the solenoid antenna to make the signal emitted by the transmitting antenna have a longer distance, thereby increasing the range and distance of signal detection. At the same time, at least one planar antenna is used as a receiving antenna, and the good directivity and large gain characteristics of the planar antenna can be utilized to enable the planar antenna to receive relatively weak signals in the direction towards the plane where it is located, improving the sensitivity of signal reception. Therefore, the detection device of the embodiment of the present application uses the solenoid antenna and the planar antenna in combination, which can increase the signal detection range and distance while improving the sensitivity of signal reception and enhancing the detection performance of the detection device. Thus, when it is used in the construction process of scenarios such as mine shafts, roadways or tunnels, it can accurately detect whether there is water, and when there is water, the specific location of the water body.

[0008] In some embodiments, the planar antenna and the solenoid antenna are arranged along a direction parallel to the first axis around which the solenoid antenna is wound. With this setting, the volume of the planar antenna and the solenoid antenna in the direction perpendicular to the first axis is reduced, facilitating the installation of the planar antenna and the solenoid antenna onto the support body along the direction parallel to the first axis, and further reducing the width of the support body, making it easier for the support body to extend into the detection area for detection.

[0009] In some embodiments, the plane where the planar antenna is located is not perpendicular to the first axis around which the solenoid antenna is wound in space. With this setting, in the direction perpendicular to the first axis, the plane where the planar antenna is located can receive more signals, increasing the signal reception range.

[0010] In some embodiments, the plane where the planar antenna is located is parallel to the first axis. With this setting, it is convenient for the planar antenna to receive signals in the normal direction of the plane where it is located, enabling the planar antenna to effectively receive signals in the normal direction of the plane where it is located, so that the planar antenna can receive the echo signal component in the normal direction of the plane where it is located, and thus the position of the water body can be determined according to the magnitudes of the signal components received in different directions.

[0011] In some embodiments, the number of the planar antennas is one, and the detection device further includes a motion mechanism. The motion mechanism is connected to the planar antenna, and the motion mechanism is used to drive the planar antenna to rotate around a second axis, and the second axis is parallel to or coincides with the first axis. In this embodiment, in the case of a single planar antenna, the motion mechanism drives the planar antenna to rotate around the second axis, so that the normal direction of the plane where the planar antenna is located can point to multiple directions perpendicular to the second axis, facilitating the uniform detection of the detection area on the cross-section perpendicular to the second axis.

[0012] In some embodiments, the number of the planar antennas is two, and the two planar antennas intersect at a third axis, and the third axis is parallel to or coincides with the first axis. In the embodiments of the present application, two intersecting planar antennas are used, so that the planes where the two planar antennas are located can be staggered from each other, so that the normal directions of the planes where the two planar antennas are located can face different directions, thereby increasing the reception range of the plane where they are located. At the same time, two components of the signals received by the two planar antennas are also used to facilitate positioning the received signals according to the two components of the signals, so as to facilitate determining the position of the low-resistivity body.

[0013] In some embodiments, the detection device further includes a transmitting circuit and a receiving circuit; the transmitting circuit is connected to the solenoid antenna, and the transmitting circuit is configured to drive the solenoid antenna to transmit a detection signal; the receiving circuit is connected to the planar antenna, and the planar antenna is configured to receive an echo signal corresponding to the detection signal, and the receiving circuit is configured to process the echo signal received by the planar antenna into echo data.

[0014] With such an arrangement, driven by the transmitting circuit, the solenoid antenna can transmit a divergent and strong detection signal, increasing the transmission distance of the signal. Through the processing of the echo signal by the receiving circuit, the processed echo data is convenient for determining the position of the water body.

[0015] In a second aspect, a detection system is provided, including: the detection device as described in the first aspect; an upper computer, connected to the detection device; the upper computer is configured to: control the detection device to transmit a detection signal, and determine the apparent resistivity distribution information of the detection area based on the echo signal fed back by the detection device.

[0016] In this embodiment, on the one hand, the upper computer controls the detection device to transmit a detection signal, and on the other hand, receives the echo signal fed back by the detection device, to realize signal transmission and reception, so as to determine the apparent resistivity distribution information through the echo signal.

[0017] In a third aspect, a detection method is provided for detecting substances around a borehole; along the axial direction of the borehole, the borehole includes at least one detection area, and for any one of the detection areas, the detection method includes: using a solenoid antenna to transmit a detection signal; using at least one planar antenna to receive an echo signal corresponding to the detection signal; and determining the apparent resistivity distribution information around the detection area based on the echo signal.

[0018] The technical effects brought about in this embodiment can be referred to the technical effects brought about by different implementation manners in the first aspect above, and will not be elaborated here.

[0019] In some embodiments, determining the apparent resistivity distribution information around the detection area based on the echo signal includes: processing the echo signal into echo data; obtaining an analog echo curve corresponding to the echo curve based on the echo curve generated from the echo data and the corresponding relationship between the simulated detection data and the simulated echo data; and determining the apparent resistivity distribution information around the detection area based on the obtained analog echo curve.

[0020] In this embodiment, by performing forward modeling on multiple pieces of apparent resistivity distribution information to obtain the analog echo curve of the corresponding relationship between the simulated detection data and the simulated echo data, then generating an echo curve from the echo data, comparing the echo curve with the analog echo curve, obtaining an analog echo curve similar to the echo curve, and then partially inversely calculating the apparent resistivity distribution information based on the obtained analog echo curve, the accuracy of the obtained apparent resistivity distribution information is improved.

[0021] In some embodiments, determining the apparent resistivity distribution information around the detection area based on the echo signal further includes: when the echo curve generated from the echo data does not match the analog echo curve; performing weighted fitting on the analog echo curves corresponding to multiple apparent resistivities to generate an analog echo curve similar to the actual echo curve, and determining the apparent resistivity distribution information around the detection area.

[0022] In this embodiment, if the processed echo curve does not match the analog echo curve, multiple pieces of apparent resistivity distribution information can be fitted to fit the analog echo curve of the corresponding relationship between the simulated detection data and the simulated echo data into a fitting curve. The fitting curve includes the result of the superposition of multiple pieces of apparent resistivity distribution information. Then, by comparing the fitting curve with the echo curve, the part of the fitting curve similar to the echo curve is found, so that when the pre-stored apparent resistivity distribution information is not comprehensive enough, an analog echo curve corresponding to the echo curve can still be matched.

[0023] It should be noted that in some embodiments, the echo curve is actually a set of discrete data of the echo signal at different times, which also reflects the change of the echo signal over time. Here, it is uniformly described by the echo curve.

[0024] In some embodiments, using at least one planar antenna to receive the echo signal corresponding to the detection signal includes: using at least two planar antennas to receive at least two components of the echo signal, and processing the at least two components of the received echo signal into the echo data.

[0025] In this embodiment, at least two planar antennas are used to receive echo signals. The echo signals obtain at least two received signals in directions perpendicular to the at least two planar antennas respectively, that is, at least two components of the echo signals are obtained. Then, the echo data is processed based on the components of the echo signals in at least two different directions, so as to facilitate the positioning of the echo signals.

[0026] In some embodiments, the detection method further includes: based on at least two intersecting planar antennas, obtaining at least two components of the echo signal, processing at least two components of the received echo signal, and processing at least two processed components of the echo signal into the echo data.

[0027] In this embodiment, in some cases, due to the inconsistency of at least two planar antennas or the inconsistency of the radiation pattern of the transmitting antenna in different directions, the processing of the echo signal components further includes signal compensation, that is, compensating at least two components of the echo signal, so that the two obtained echo signal components have orthogonality and consistency at the same time, reducing the error caused by the difference of the planar antennas or the difference of the radiation pattern of the planar antennas, and improving the accuracy of detection.

[0028] In some embodiments, the detection method further includes: after the detection at an angle in the current detection area is completed, controlling the at least one planar antenna to rotate a preset angle, and detecting again to obtain the detection result of the current detection area.

[0029] In this embodiment, when using at least one planar antenna for detection, each time after detection, the planar antenna is controlled to rotate to a preset angle, so that the planar antenna continuously faces all directions of the detection area through rotation, and the area in the circumferential direction of the borehole is detected, increasing the detection coverage of the planar antenna, and thus detecting more comprehensively.

[0030] In some embodiments, after the entire current detection area is detected, move forward along the borehole extension direction to the next detection area, and repeat the previous detection steps.

[0031] In this embodiment, in order to detect all detection areas, when detecting in each detection area, the detection device is moved along the borehole extension direction to detect the area around the next position where the detection device is located in the borehole, and so on, until the areas around the borehole extension direction are all detected. Description of the Drawings

[0032] Figure 1 It is a schematic diagram of detection under the combination of roadway and borehole;

[0033] Figure 2 It is a structural block diagram of a detection system provided by an embodiment of the present application applied to a coal seam or soil rock stratum scenario;

[0034] Figure 3 The structural block diagram of a detection device provided by an embodiment of the present application;

[0035] Figure 4 The structural schematic diagram of a solenoid antenna;

[0036] Figure 5 The structural schematic diagram of a planar antenna;

[0037] Figure 6 The structural block diagram of the receiving antenna provided by this embodiment being a planar antenna;

[0038] Figure 7 The structural block diagram of the receiving antenna provided by this embodiment being two planar antennas;

[0039] Figure 8 The flowchart of a detection method provided by an embodiment of the present application;

[0040] Figure 9 The flowchart of processing at least two components of the echo signal provided by an embodiment of the present application;

[0041] Figure 10 The flowchart of the first method for determining the apparent resistivity distribution information provided by an embodiment of the present application;

[0042] Figure 11 The flowchart of the second method for determining the apparent resistivity distribution information provided by an embodiment of the present application;

[0043] Figure 12 The flowchart of the detection method for detecting each detection area provided by an embodiment of the present application;

[0044] Figure 13 The structural block diagram of a host computer provided by an embodiment of the present application. Detailed implementation manners

[0045] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

[0046] In the description and claims of the present invention and the above-mentioned drawings, terms such as "first", "second", etc. (if any) are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments described herein can be implemented in an order different from that shown or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0047] First, some concepts that may be involved in the embodiments of the present invention will be briefly introduced below.

[0048] Transient electromagnetic method: A method that uses a transmitting coil set on the ground to emit a primary pulsed magnetic field into the ground, and uses the phenomenon that a low-resistivity body will generate a secondary eddy current field after receiving the pulsed magnetic field. During the interval of the primary pulsed magnetic field, a receiving coil is used to observe the secondary eddy current field. Simply put, the basic principle of the transient electromagnetic method is the law of electromagnetic induction. The attenuation process is generally divided into the early stage and the late stage. The electromagnetic field in the early stage is equivalent to the high-frequency component in the frequency domain, with fast attenuation and small skin depth; while the late-stage component is equivalent to the low-frequency component in the frequency domain, with slow attenuation and large skin depth. By measuring the variation law of the secondary eddy current field with time at each time period after power-off, the geoelectric characteristics at different depths can be obtained, that is, the electric field phenomenon caused by the thermoelectric electromotive force inside the earth.

[0049] Apparent Resistivity: A parameter used to reflect the change in the conductivity of rocks and ores. In the case where the electrical properties of underground rocks are unevenly distributed (there are two or more rocks or ores with different conductivities) or the ground surface is uneven, the resistivity obtained by still using the method and calculation formula for measuring the resistivity of a homogeneous horizontal earth is called the apparent resistivity, denoted by the symbol ρs, and the unit is the same as that of resistivity, which is Ω·m.

[0050] Forward Problem: A method of predicting the observation results (predicted data) based on certain general principles or models and a series of known specific conditions related to the problem being processed.

[0051] Inversion Problem: Starting from data and certain general principles or models to determine the estimated values of model parameters, with the aim of providing information about the unknown parameters in the model. The model parameters and the observed data are related in a certain way, and this relationship is called the "model". It is usually one or several formulas that enable the data and the model parameters to satisfy these formulas and provide a method to evaluate whether a given model is correct or to distinguish which model is correct among several possible models.

[0052] Advanced Detection Technology for Roadways: In a roadway, large-sized transmitting coils and receiving coils are deployed close to the driving face. The transmitting coils are used for transmitting signals of transient electromagnetic fields, and the receiving coils are used for receiving secondary echo signals.

[0053] Advanced Detection Technology Combining Boreholes and Roadways: Refer to Figure 1 , Figure 1 As shown in the schematic diagram of detection combining roadways and boreholes, the transmitting circuit transmits the detection signal in the roadway, and one or multiple receiving circuits receive the detected signal in the borehole, which can largely reduce the influence of metal supports in the roadway during the detection process, and thus reduce the occurrence of false anomalies after detection.

[0054] An embodiment of the present application provides a detection system for detecting abnormal bodies in coal seams or soil and rock layers. Refer to Figure 2 , Figure 2 As shown in the structural block diagram of a detection system 1000 provided by an embodiment of the present application applied to the scenario of coal seams or soil and rock layers. The detection system 1000 may include a detection device 100 and a host computer 200. The host computer 200 is connected to the detection device 100. The detection device 100 is used to extend into the boreholes of coal seams or soil and rock layers to detect abnormal bodies. The host computer 200 is used to control the detection device to perform detection, and at the same time, receive the secondary field data fed back by the detection device 100, and obtain the detection information of the abnormal body according to the secondary field data. The signal transmission and reception of this system are both in the borehole, so as to further reduce the influence of metal supports in the roadway and improve the detection accuracy.

[0055] For example, when the abnormal body in the coal seam or soil and rock layer is a water body, the current detection device 100 uses the transient electromagnetic method to detect the water body. During the process of using the detection device 100 to detect the water body, since the generation of the secondary field is related to the conductivity of the object, the main medium in the coal seam or soil and rock layer is an insulator, and it is difficult to generate a secondary field echo. While the water body is a conductor with strong conductivity, and a relatively strong secondary field echo will be excited after the pulsed magnetic field touches the water body. Then, the host computer 200 can analyze the echo data of the secondary field echo to obtain the distribution of apparent resistivity, so as to be used to judge whether there is a water body.

[0056] For another example, when the anomaly in the ore layer is a metal body, the current detection device 100 uses the transient electromagnetic method to detect the metal ore. During the process of using the detection device 100 to detect the metal ore, since the generation of the secondary field is related to the conductivity of the object, the main media in the coal seam or soil rock layer are insulators and it is difficult to generate secondary field echoes. While metal is a conductor with strong conductivity, a relatively strong secondary field echo will be excited after the pulsed magnetic field touches the metal ore. Then, the host computer 200 can analyze the echo data of the secondary field echo to obtain the distribution of apparent resistivity, so as to be used to judge whether there is a metal ore.

[0057] In one example, a hexahedron test device is used to detect the water body. Each surface of the hexahedron test device is provided with a planar antenna formed by multiple turns of coils. The multiple turns of coils on one surface of the hexahedron test device serve as the excitation coil, that is, the transmitting coil, and the multiple turns of coils on other surfaces serve as the receiving coils. The excitation coil emits a signal, inducing an electric current inside the geological body, and the receiving coil receives the secondary field generated after the induced current touches the water body. The time characteristics of the secondary field are related to the resistivity value and thickness distribution of the geological body. By recording the field strength attenuation process of the secondary field, the resistivity characteristics and thickness distribution information of the geological body in the detection area can be reflected, and then the information of the water body can be obtained. However, since the planar antenna of the hexahedron test device cannot achieve more turns, the energy of the emitted signal is small, it is difficult to achieve the desired detection distance in the circumferential direction of the detection area, and due to the coil structure of the six surfaces of the hexahedron test device, only a certain angle range can be detected each time, and the hexahedron test device needs to be rotated multiple times at the same position for measurement to achieve water body detection, which is time-consuming.

[0058] In another example, a solenoid antenna is formed by using a solenoid-shaped coil, and the solenoid antenna is used to transmit and receive signals in the boreholes of the coal seam or soil rock layer. However, since the solenoid antenna is an omnidirectional antenna with strong divergence, the detection sensitivity when receiving signals is low, and it is difficult to judge the position of the water body.

[0059] At least based on the problems existing in the above two examples, the embodiment of the present application provides a detection device 100, which is applied to the above detection system, and both the signal transmission and reception of the detection device 100 are in the hole, so as to increase the detection distance in the circumferential direction in the boreholes of the coal seam or soil rock layer, reduce the detection times at the same position, shorten the detection time, and be able to accurately judge the position of the anomaly.

[0060] Refer to Figure 3 , Figure 3A structural block diagram of a detection device 100 provided by an embodiment of the present application. The detection device 100 includes a support body 110, a transmitting antenna 120, and a receiving antenna 130. The transmitting antenna 120 is disposed on the support body 110. The transmitting antenna 120 includes a solenoid antenna; the receiving antenna 130 is disposed on the support body 110.

[0061] Among them, the support body 110 can be used as a detection sub-section connected to the host computer 200 in this embodiment. The detection sub-section is in a long strip shape to facilitate extending into the drill hole for detection.

[0062] This embodiment uses a combined method of different modes of the transmitting and receiving antennas to detect the position of the water body. For example, the transmitting antenna uses an omnidirectional antenna in the form of a solenoid. Utilizing the characteristic that the transient electromagnetic signal emitted by the solenoid antenna is strong, the distance of signal transmission is increased, and thus the detection distance is increased; the receiving antenna uses a planar antenna. Utilizing the characteristics of good directivity and large gain of the planar antenna, the planar antenna can receive relatively weak signals in the direction towards which its plane faces, improving the sensitivity of signal reception and realizing directional reception of the signal to locate the received signal, facilitating the determination of the specific position of the water body.

[0063] It can be understood that combining the solenoid antenna and the planar antenna enables the detection device 100 to have the characteristics of a wide detection distance of the solenoid antenna and good directivity of the planar antenna, thus solving the problem that it is impossible to balance ranging and direction finding when detecting the water body.

[0064] Exemplarily, the transmitting antenna may further include a solenoid array antenna. The solenoid array antenna is an array composed of multiple solenoids, suitable for transmitting signals. This method realizes a stronger transmitted signal by increasing the number of solenoids, thereby increasing the detection range of the solenoid array antenna, so as to detect the position of the water body by emitting a detection signal through the solenoid array antenna.

[0065] Exemplarily, the receiving antenna may further include a planar array antenna. The planar array antenna is composed of multiple identical single planar antennas arranged regularly, suitable for receiving signals or transmitting signals, with higher accuracy and a wider coverage range than the planar antenna, so as to receive the detection signal through the planar array antenna to feedback the position of the water body.

[0066] In this embodiment, the receiving antenna 130 includes at least one planar antenna. The plane where the planar antenna is located may not be perpendicular to the first axis 160 surrounded by the solenoid antenna in space, so that in the direction perpendicular to the first axis, the plane where the planar antenna is located can receive more signals, increasing the signal reception range. Refer to Figure 4 , Figure 4FIG. 0 is a schematic structural diagram of a solenoid antenna. The solenoid antenna is formed by a plurality of turns of solenoid coils jointly surrounding a first axis 160. The solenoid antenna emits a transient electromagnetic pulse signal to detect water bodies in the surrounding area. If there is a water body in the surrounding area, the transient electromagnetic pulse signal excites a secondary field echo signal after touching the water body.

[0067] A planar antenna is used to receive the secondary field echo signal excited by the water body. Refer to Figure 5 , Figure 5 FIG. 7 is a schematic structural diagram of the planar antenna. The planar antenna is composed of a plurality of turns of coil strips. In this embodiment, the plurality of turns of coil strips can be composed of a plurality of turns of rectangular coils. In other embodiments, a planar coil can be composed of a plurality of turns of coils in shapes such as circular and rhombus.

[0068] In this embodiment, the plane where the planar antenna is located is parallel to the first axis 160, so as to facilitate the plane to receive the secondary field echo signal excited by the water body and then excited in a direction perpendicular to the first axis 160, so that the signals in the normal direction of the plane where the planar antenna is located can be effectively received by the planar antenna. Furthermore, the planar antenna can receive the component of the secondary field echo signal in the normal direction of the plane where it is located, so that the position of the water body can be determined according to the magnitudes of the secondary field echo signal components received in different directions.

[0069] Exemplarily, the first axis 160 extends along the length direction of the support body 110. In the use state, the length direction of the support body 110 is parallel to the extension direction of the drill hole. With such a setting, it is convenient for the signal emitted by the solenoid antenna to be emitted along the circumferential direction of the drill hole, and it can be detected whether there is a water body in the area in the circumferential direction of the drill hole.

[0070] Exemplarily, the support body 110 can be in the shape of a cylinder with a channel inside. At this time, the planar antenna and the solenoid antenna are installed inside the cylindrical support body 110. The support body 110 can also be in the shape of a rod. At this time, the planar antenna and the solenoid antenna are installed at the end of the rod-shaped support body 110, so as to facilitate the planar antenna and the solenoid antenna to be inserted into the drill hole together with the support body 110.

[0071] Exemplarily, the planar antenna and the solenoid antenna are arranged along a direction parallel to the first axis 160. Thus, the volume of the planar antenna and the solenoid antenna in the width direction of the support body 110 is reduced, which is convenient for installing the planar antenna and the solenoid antenna into the support body 110. Furthermore, the volume in the width direction of the support body 110 is reduced, which is convenient for the support body 110 to extend into the drill hole for detection.

[0072] In some embodiments, the detection device 100 further includes a transmitting circuit 140 and a receiving circuit 150. The transmitting circuit 140 and the receiving circuit 150 are both disposed within the support 110, and the transmitting circuit 140 is connected to the solenoid antenna. The transmitting circuit 140 is configured to drive the solenoid antenna to transmit a detection signal; the receiving circuit 150 is connected to the planar antenna, and the planar antenna is configured to receive an echo signal corresponding to the detection signal. The receiving circuit 150 is configured to process the echo signal received by the planar antenna into echo data.

[0073] Among them, the detection signal transmitted by the solenoid antenna is a transient electromagnetic pulse signal. The transmitting circuit 140 includes a circuit that can generate a transient electromagnetic pulse signal. For example, an inverter circuit is used, combined with constant voltage clamping and active absorption techniques (two common power circuit protection techniques), to achieve an instantaneous change from a large current to turn-off, and thus generate a transient electromagnetic pulse signal. The transmitting circuit 140 realizes the strength of the transient electromagnetic pulse signal through the initial current and the turn-off time, that is, the larger the initial current and the shorter the turn-off time, the higher the quality and the stronger the signal of the detection signal that can be generated, so as to facilitate the transmitting circuit 140 to drive the solenoid antenna to emit a transient electromagnetic pulse signal with stronger radiation ability and increase the range of the detection signal transmitted by the solenoid antenna.

[0074] The receiving circuit 150 may include an amplifier circuit with low noise, and processes the received echo signal into echo data by amplification, so as to be able to capture weak echo signals and improve the sensitivity of signal reception.

[0075] The following further describes with reference to embodiments of the specific number of planar antennas.

[0076] Embodiment 1:

[0077] Refer to Figure 6 , Figure 6 is a structural block diagram of the receiving antenna 130 provided in this embodiment, which is a single planar antenna. The number of planar antennas in this embodiment is one, and the detection device 100 further includes a motion mechanism 170. Thus, the number of receiving circuits 150 can be one, which is separately connected to a single planar antenna to amplify and process the received single echo signal into a single echo data, facilitating the host computer 200 to further determine the water body position according to the single echo data.

[0078] Among them, the motion mechanism 170 is connected to the planar antenna. The motion mechanism 170 is used to drive the planar antenna and the solenoid antenna to rotate together around the second axis, and the second axis is parallel to the first axis 160. It should be noted that the motion mechanism 170 can be arranged in the drill hole and is fixedly installed on the upper computer 200 through the external support structure of the drill hole, so that the motion mechanism 170 is located in the drill hole together with the detection device 100, reducing the distance between the motion mechanism 170 and the support body 110, and facilitating the motion mechanism 170 to drive the support body 110. The motion mechanism 170 is connected to the support body 110 to drive the support body 110 to rotate, and then drive the planar antenna and the solenoid antenna to rotate together, so that a single planar antenna can rotate around the second axis under the drive of the motion mechanism 170, and the normal direction of the plane where the single planar antenna is located is pointed to different directions, so as to detect each area in the direction perpendicular to the first axis 160.

[0079] In this embodiment, the motion mechanism 170 may include, but is not limited to, a motor. By coaxially connecting the support body 110 to the motor output shaft, it is convenient for the motor to drive the support body 110 to rotate, and then drive the solenoid antenna and the planar antenna to rotate together. It can be understood that the second axis is the rotation axis of the motor, and the second axis may coincide with the first axis 160. However, in the actual assembly process, there will be errors, and the angle between the second axis and the first axis 160 may be less than 30°. It should be noted that the motor can drive the planar antenna to rotate to a preset angle according to the preset data. The rotation range of the planar antenna is 0° - 180°. Since the planar antenna rotates together with the solenoid antenna, the relative positions of the planar antenna and the solenoid antenna remain unchanged, which is convenient for the planar antenna to receive the secondary field echo signal corresponding to the detection signal emitted by the solenoid antenna.

[0080] Exemplarily, the preset rotation angle of the motor can be 90°, so that the planar antenna and the solenoid antenna only need to rotate once to cover the detection area in the direction perpendicular to the first axis 160, shortening the detection time.

[0081] In another example, the motion mechanism 170 can be located in the roadway outside the drill hole, and the motion mechanism 170 is fixed to the upper computer 200, so that the motion mechanism 170 is located alone in the roadway outside the drill hole.

[0082] Embodiment 2:

[0083] Refer to Figure 7 , Figure 7The structural block diagram of the receiving antenna 130 provided in this embodiment is that of two planar antennas. The difference between this embodiment and the first embodiment is that the number of planar antennas is two. Accordingly, the number of receiving circuits 150 can be two, which are respectively connected to the two planar antennas to amplify and process the received two echo signals into two echo data, facilitating the host computer 200 to further determine the water body position according to the two echo data.

[0084] Among them, the two planar antennas intersect at the third axis 180. The third axis 180 is parallel or coincident with the first axis 160. However, in the actual assembly process, there will be errors, and an angle less than 30° can be formed between the third axis 180 and the first axis 160. The two planar antennas intersect to form a two-component planar receiving antenna 130, so that the received echo signal passes through the two planar antennas to form components in two different directions, thereby facilitating the further determination of the water body position through the components of the echo signals in the two different directions and improving the accuracy of water body position detection.

[0085] It should be noted that each planar antenna includes a first part and a second part, and the third axis 180 is located between the first part and the second part. It can be understood that the third axis 180 divides each planar antenna into two parts, forming the first part and the second part. That is to say, the third axis 180 is the median line of the planar antenna, so that the first part and the second part of each planar antenna are respectively located on both sides of the other planar antenna, avoiding the coincidence of the planes where the planar antennas are located and increasing the signal reception range of the planar antennas.

[0086] In this embodiment, the two planar antennas are evenly distributed around the third axis 180, so that the third axis 180 is located at the center of the first part and the second part of each planar antenna, making the first part and the second part equal, facilitating the uniform intersection of the two planar antennas, and thus realizing the uniformity of signal reception of each planar antenna.

[0087] It can be understood that since the two planar antennas intersect at the third axis 180, and the third axis 180 evenly divides each planar antenna into a first part and a second part, the third axis 180 can be located at the median line position of each planar antenna, so that the planes where the two planar antennas are located face in all directions perpendicular to the third axis 180 around the third axis 180. Furthermore, the two planar antennas can cover the directions perpendicular to the third axis, so that when detecting the water body, there is no need to rotate the detection device 100 for angle adjustment, and the circumferential area detection of the current drilling position can be completed in one detection, thus shortening the detection time.

[0088] Exemplarily, two planar antennas intersect perpendicularly to form two mutually orthogonal planes, such that between adjacent first parts, adjacent second parts, or between adjacent first and second parts of the two planar antennas, the received signals can form two mutually orthogonal components. In this embodiment, two mutually perpendicular planar antennas are used to cover the detection area in the circumferential direction of the third axis, so that the signals entering the plane where the two planar antennas are located can be divided into two mutually orthogonal components, and the water body position can be further determined through the echo signal components in the horizontal and vertical directions, thereby improving the accuracy of water body positioning.

[0089] Based on the detection system in any of the above embodiments, an embodiment of the present application further provides a detection method. This detection method can use the above detection system to detect water bodies in coal seams or soil and rock layers in environments such as coal mines, roadways, and tunnels. For example, this detection method detects the substances around the borehole, and along the borehole depth direction, the borehole includes at least one detection area.

[0090] Refer to Figure 8 , Figure 8 which is a flowchart of a detection method provided by an embodiment of the present application. For any one detection area, the detection method includes S1 to S4.

[0091] S1. Use a solenoid antenna to transmit a detection signal.

[0092] Among them, a host computer can be used to send a transmission instruction to a transmission circuit. The transmission circuit drives the solenoid antenna to transmit a detection signal, and the detection signal is a transient electromagnetic pulse signal. The detection signal is transmitted along a direction parallel to the first axis, so that the transmitted detection signal diverges towards the area in the circumferential direction of the first axis. Until the transmitted signal touches the water body in the detection area, the water body in the detection area excites an echo signal, and the echo signal here is the secondary field echo generated after the water body receives the transient electromagnetic pulse and is excited.

[0093] S2. Use at least one planar antenna to receive the echo signal corresponding to the detection signal.

[0094] Since the planar antenna can improve the sensitivity of signal reception, at least one planar antenna cooperates with at least one receiving circuit to receive weak echo signals, and the at least one received echo signal is amplified after analog-to-digital conversion through at least one receiving circuit, so as to facilitate the processing of the amplified weak echo signals and realize the characteristic of strong signal reception ability of the detection device. It should be noted that the planar antenna receives the echo signal in the normal direction of the plane where it is located, so that the planar antenna can receive the echo signal component in the normal direction of the plane where it is located.

[0095] However, when detecting using a planar antenna in this embodiment, in order to be able to detect the entire detection area, this embodiment is used in conjunction with a motion mechanism, so that the plane where the planar antenna is located can rotate around the third axis to a preset angle, so as to rotate the solenoid antenna and the planar antenna together, so that the plane where the planar antenna is located can sequentially face the detection areas in various directions perpendicular to the third axis, so that the direction angle in the normal direction of the plane where the planar antenna is located can cover different angles of the detection area, so as to be able to obtain echo signals at different angles of the detection area around the third axis. The above method can use a motion mechanism, the purpose is to save manpower, and in other embodiments, the support body can also be rotatably connected through rotating components such as bearings, and the support body can be manually rotated to drive the solenoid antenna and at least one planar antenna to rotate together.

[0096] When detecting using two planar antennas in this embodiment, the two planar antennas respectively receive the components in two directions of the echo signal. The planes where the two planar antennas are located can face different detection directions simultaneously, increasing the signal reception range and reducing the rotation angle of the planar antenna. Therefore, in order to solve the problem that the detection area in the circumferential direction of the third axis needs to rotate the planar antenna to be completely covered, the two planar antennas in this embodiment are crossed and perpendicular to each other. With this setting, the signal components received by the two planar antennas are orthogonal to each other, which is convenient for calculation. The above method can completely cover the detection area in the circumferential direction of the third axis through two planar antennas, thereby reducing the number of rotations of the planar antenna, and even detecting the surrounding direction area without driving the planar antenna to rotate.

[0097] In this embodiment, for the two components of the echo signal respectively received by the two planar antennas, the echo signal is further located through the two components. S2 in the detection method provided in the above embodiment may include S21, refer to Figure 9 , Figure 9 is a flowchart for processing at least two components of the echo signal provided by an embodiment of the present application.

[0098] S21. Use at least two planar antennas to receive at least two components of the echo signal, and process the at least two components of the received echo signal into echo data.

[0099] In this embodiment, at least two planar antennas are used to receive the echo signal. The echo signal obtains at least two received signals in directions perpendicular to the at least two planar antennas respectively, that is, at least two components of the echo signal are obtained, and then the at least two components of the echo signal in at least two different directions are processed into echo data, so as to facilitate the positioning of the echo signal.

[0100] However, due to the possible inconsistencies between two planar antennas or the possible inconsistencies in the radiation pattern of the transmitting antenna in different directions, it is necessary to compensate the two components to improve the authenticity of the echo signal. Therefore, S2 in the detection method provided in the above embodiment may include S22. Continuing to refer to Figure 9 , Figure 9 is a flowchart for processing at least two components of the echo signal provided by an embodiment of the present application.

[0101] S22. Based on at least two intersecting planar antennas, obtain at least two components of the echo signal, process at least two components of the received echo signal, and process at least two processed components of the echo signal into echo data.

[0102] In this embodiment, two planar antennas can be used for signal reception, and the included angle between the two planar antennas can be 90°, so as to facilitate the two planar antennas to receive two orthogonal components of the echo signal respectively.

[0103] It should be noted that due to reasons such as design and manufacturing, the antenna mode field of the solenoid antenna itself may be asymmetric or there may be differences between different planar antennas, which will cause the echo signal of the secondary field excited to be asymmetric or the signal received by different planar antennas to be asymmetric. That is to say, when the incident angles of the same echo signal from two mutually perpendicular planar antennas are both 45 degrees, the signal sizes received by the two planar antennas are inconsistent. At this time, it is necessary to perform weight compensation on the received signals of the two planar antennas so that the two processed echo signal components after compensation are symmetric in the horizontal and vertical directions, so as to facilitate processing the two processed echo signal components into echo data and making the detection data more real.

[0104] It should be noted that when processing the echo signal into echo data, compensation coefficients of the excited current of the echo signal corresponding to different excitation currents under multiple apparent resistivity distribution information can be pre-stored in advance. The two received echo signal components can be compensated respectively through the compensation coefficients (the compensation systems corresponding to the two components of the echo signal may be the same or different). The compensation coefficients can be obtained from the antenna design parameters, and the antenna design parameters can be obtained from the number of turns and diameter of the coils of the solenoid antenna and the planar antenna. In order to obtain the compensation coefficients for horizontal reception and vertical reception, forward calculation needs to be performed according to the antenna design parameters, and the forward relationship curve between the excitation current and the excited current is obtained from multiple apparent resistivity distribution information. In this embodiment, the transient signal transmitted by the solenoid antenna is the excitation current I0, and the form of the calculation result can be referred to Table 1:

[0105] Table 1

[0106] Excitation current (Ampere) Antenna 1 received current compensation Antenna 2 received current compensation 1.0 <![CDATA[a 0001 > <![CDATA[b 0001 > 1.001 <![CDATA[a 0002 > <![CDATA[b 0002 > …… …… …… 2.0 <![CDATA[a 1000 > <![CDATA[b 1000 >

[0107] It can be understood that after two orthogonal planar antennas (antenna 1 and antenna 2) receive two echo signal components, the two echo signal components can be processed into two excitation currents I1 and I2, and the I1 curve and I2 curve are weighted according to the weighting coefficients of the excitation current I0 to obtain the aI1 curve and the bI2 curve. Based on the comparison between the aI1 and bI2 curves and the pre-stored curve of the excitation current and the excitation current, the pre-stored apparent resistivity distribution is inversely calculated according to the curve coincidence degree, so as to obtain the orientation of the water body.

[0108] In addition, there is also a situation where when the echo signal components in two orthogonal directions received by the two planar antennas are symmetric, the received echo signal does not need to be compensated.

[0109] In this embodiment, multiple planar antennas can also be used for signal reception. For example, three planar antennas with an adjacent included angle of 60°. At this time, since the planar antennas are not perpendicular to each other, calculations are required to obtain the two orthogonal components of the echo signal. Specifically, the currents detected by the receiving circuits of the three planar antennas at the same moment can be extracted, and the two orthogonal components of the received echo signal can be obtained by using the included angle formula of vectors, so as to improve the detection accuracy through mutual verification and error compensation of the signals received by multiple planar antennas.

[0110] S3. Based on the echo signal, determine the apparent resistivity distribution information around the detection area;

[0111] Based on the received echo signal, there are two methods in this embodiment for determining the apparent resistivity distribution information. Refer to Figure 10 , Figure 10 is the flowchart of the first method for determining the apparent resistivity distribution information provided by the embodiment of the present application. The first method includes steps S31a to S33a.

[0112] S31a. Process the echo signal into echo data.

[0113] The received echo signal is converted from analog to digital through the receiving circuit, amplified, and processed into echo data, that is, the excitation current.

[0114] S32a. Based on the echo curve generated from the echo data and the corresponding relationship between the simulated detection data and the simulated echo data, simulate the echo curve to obtain the simulated echo curve corresponding to the echo curve.

[0115] In this embodiment, multiple apparent resistivity distribution information can be pre-stored, and forward modeling is performed on the multiple apparent resistivity distribution information to obtain the corresponding relationship simulation echo curve between the simulated detection data and the simulated echo data. It can be understood that the corresponding relationship simulation echo curve between the simulated excitation current and the simulated excitation current under different apparent resistivity distributions is pre-stored. By processing the received echo signal into echo data, that is, the actual excitation current, the actual echo curve is generated from the actual excitation current, and then the actual echo curve is compared with the pre-stored simulated echo curve to obtain a similar or coincident simulated echo curve.

[0116] S33a. Based on the obtained simulated echo curve, determine the apparent resistivity distribution information around the detection area.

[0117] According to the obtained simulated echo curve, since the simulated echo curve is the excitation current curve obtained by forward modeling under a certain pre-stored apparent resistivity distribution with the same excitation current, when the consistency between the actual echo curve and the pre-stored simulated echo curve is good, it can be considered that the actual apparent resistivity distribution is similar to a certain pre-stored apparent resistivity distribution.

[0118] Refer to Figure 11 , Figure 11 FIG.

[0119] S31b. When the echo curve generated from the echo data does not match the simulated echo curve.

[0120] In this embodiment, after the echo curve is generated from the actually received echo data, there may be a situation where the actual echo curve does not match the simulated echo curve. The simulated echo curves under different single water body distributions at different positions (i.e., multiple apparent resistivity distributions) are obtained by forward modeling. Although the simulated echo curves based on any one of the single water bodies alone have been obtained by forward modeling, the actual echo curve is the superposition of the echo signals excited by multiple water bodies. Therefore, when comparing under a series of simulated echo curves obtained by forward modeling, no similar or coincident simulated echo curve can be found.

[0121] S32b. Perform weighted fitting on the simulated echo curves corresponding to multiple apparent resistivities to generate a simulated echo curve similar to the actual echo curve, and determine the apparent resistivity distribution information around the detection area.

[0122] In this embodiment, by fitting the simulated echo curves of multiple single water body distributions, a simulated echo curve similar to the actual echo curve is generated, and the actual apparent resistivity distribution, that is, the superposition of the corresponding multiple single water body distributions, can be inferred in reverse.

[0123] It should be noted that in some embodiments, the echo curve is actually a set of discrete data of echo signals at different times, which also reflects the variation of echo signals over time. Here, the echo curve is used for unified description.

[0124] S4. Determine the distribution position of the target based on the apparent resistivity distribution information.

[0125] It can be known that places with relatively low apparent resistivity are usually anomalies, such as water bodies. The distribution position of the target can be determined by manually observing multiple pieces of apparent resistivity distribution information, or can be obtained through algorithm analysis, both of which can complete the detection of the position of the water body.

[0126] It should be noted that when detecting each detection area along the direction of the borehole axis, refer to Figure 12 , Figure 12 which is the flowchart of the detection method for detecting each detection area provided by the embodiment of the present application. The detection method further includes S5 - S6.

[0127] S5. After the detection at one angle of the current detection area is completed, control at least one planar antenna to rotate by a preset angle, and perform detection again to obtain the detection result of the current detection area.

[0128] In this embodiment, when using one planar antenna, the motion mechanism controls the support to drive the solenoid antenna and the planar antenna to rotate to the preset angle to receive the echo signals in another direction. To reduce the number of rotations and shorten the detection time, the preset angle of rotation of the solenoid antenna and the planar antenna in this embodiment can be 90°, so that the motion mechanism only needs to drive the solenoid antenna and the planar antenna to rotate once to complete the detection of the current detection area, improving the detection efficiency of the detection area.

[0129] In this embodiment, when using two planar antennas, there is no need for the motion mechanism to control the support to rotate. By using two mutually orthogonal planar antennas, an entire detection area in the borehole can be detected at one time, achieving high efficiency in detecting the water body around the borehole.

[0130] S6. After the entire current detection area is detected, move forward along the borehole extension direction to the next detection area, and repeat the previous detection steps.

[0131] Since along the borehole extension direction, there are at least one detection area. In order to detect all detection areas, when detecting each detection area, move the detection device along the borehole extension direction to detect the area around the next position where the detection device is located in the borehole, and so on, until all areas around the borehole extension direction are detected.

[0132] It should be noted that for the above detection method, it can be executed by the host computer 200. For the solenoid antenna and the planar antenna used correspondingly, the above detection device 100 can be directly adopted.

[0133] In addition, each functional module can be divided corresponding to each function, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware or in the form of a software functional module. It should be noted that the division of modules in the embodiments of the present invention is illustrative, only a logical function division, and there can be other division methods in actual implementation. In the case of dividing each functional module corresponding to each function, for example Figure 13 , Figure 13 is a structural block diagram of a host computer 200 provided by an embodiment of the present application. The host computer 200 may include a control module 210, a processing module 220, and a calculation module 230. The control module 210 is used to drive the detection device 100 to emit a detection signal; the processing module 220 is used to convert the received echo signal into echo data; the calculation module 230 is used to calculate the apparent resistivity distribution information according to the echo data, and obtain the distribution position of the object to be measured from the apparent resistivity distribution information.

[0134] Among them, the control module 210 executes S1, the processing module 220 executes S2, S21, S3, S31a, and the calculation module 230 executes S32a~S33a, S31b~S33b, S4.

[0135] Some embodiments of the present application provide a computer storage medium (for example, a non-transitory computer-readable storage medium). A computer program is stored in the computer storage medium. When the computer program runs on a computer (for example, a host computer), the computer is caused to execute the detection method described in any one of the above embodiments.

[0136] Exemplarily, the above computer storage medium may include, but is not limited to: magnetic storage devices (such as hard disks, floppy disks, or magnetic tapes, etc.), optical discs (such as compact discs (CDs), digital versatile discs (DVDs), etc.), smart cards, and flash memory devices (such as erasable programmable read-only memories (EPROMs), cards, sticks, or key drives, etc.). The various computer-readable storage media described in the present application may represent one or more devices and / or other machine-readable storage media for storing information. The term "machine-readable storage medium" may include, but is not limited to, wireless channels and various other media capable of storing, containing, and / or carrying instructions and / or data.

[0137] Some embodiments of the present application also provide a computer program product. For example, the computer program product can be stored on a non-transitory computer-readable storage medium. The computer program product includes computer program instructions. When the computer program instructions are executed on a computer (such as a host computer), the computer program instructions cause the computer to execute the detection method as described in the above embodiments.

[0138] Some embodiments of the present application also provide a computer program. When the computer program is executed on a computer (such as a host computer), the computer program causes the computer to execute the detection method as described in the above embodiments.

[0139] The beneficial effects of the above computer storage medium, computer program product and computer program are the same as those of the detection method described in some of the above embodiments, and will not be elaborated here.

[0140] The above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application can easily think of changes or substitutions, which should all be covered within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A detection device, characterized in that, Comprising: A support body; A transmitting antenna disposed on the support body, the transmitting antenna including a solenoid antenna; A receiving antenna disposed on the support body, the receiving antenna including at least one planar antenna.

2. The detection device according to claim 1, characterized in that, The planar antenna and the solenoid antenna are arranged along a direction parallel to a first axis around which the solenoid antenna is wound.

3. The detection device according to claim 1 or 2, characterized in that The plane where the planar antenna is located is not perpendicular in space to the first axis around which the solenoid antenna is wound.

4. The detection device according to claim 3, characterized in that, The plane where the planar antenna is located is parallel to the first axis.

5. The detection device according to any one of claims 1-4, characterized in that, The number of the planar antennas is one, and the detection device further includes a motion mechanism connected to the planar antenna, and the motion mechanism is configured to drive the planar antenna to rotate around a second axis, and the second axis is parallel or coincident with the first axis.

6. The detection device according to any one of claims 1-4, characterized in that, The number of the planar antennas is two, and the two planar antennas intersect at a third axis, and the third axis is parallel or coincident with the first axis.

7. The detection device according to any one of claims 1-6, characterized in that, The detection device further includes a transmitting circuit and a receiving circuit; the transmitting circuit is connected to the solenoid antenna, and the transmitting circuit is configured to drive the solenoid antenna to transmit a detection signal; the receiving circuit is connected to the planar antenna, the planar antenna is configured to receive an echo signal corresponding to the detection signal, and the receiving circuit is configured to process the echo signal received by the planar antenna into echo data.

8. A detection system, characterized in that, Comprising: The detection device according to any one of claims 1-7; An upper computer connected to the detection device; the upper computer is configured to: control the detection device to transmit a detection signal, and determine the apparent resistivity distribution information of the detection area based on the echo signal fed back by the detection device.

9. A detection method, characterized in that, For detecting substances around a borehole; along the depth direction of the borehole, the borehole includes at least one detection area, and for any one of the detection areas, the detection method includes: Transmitting a detection signal by using a solenoid antenna; Receiving an echo signal corresponding to the detection signal by using at least one planar antenna; Determining the apparent resistivity distribution information around the detection area based on the echo signal.

10. The detection method according to claim 9, characterized in that, The determining the apparent resistivity distribution information around the detection area based on the echo signal includes: Processing the echo signal into echo data; Based on the echo curve generated from the echo data and the corresponding relationship between the simulated detection data and the simulated echo data to simulate an echo curve, obtaining a simulated echo curve corresponding to the echo curve; Determining the apparent resistivity distribution information around the detection area based on the obtained simulated echo curve.

11. The detection method according to claim 9 or 10, characterized in that, The determining the apparent resistivity distribution information around the detection area based on the echo signal further includes: When the echo curve generated from the echo data does not match the simulated echo curve; Performing weighted fitting on the simulated echo curves corresponding to multiple apparent resistivities to generate a simulated echo curve similar to the actual echo curve, and determining the apparent resistivity distribution information around the detection area.

12. The detection method according to claim 10 or 11, characterized in that, The receiving an echo signal corresponding to the detection signal by using at least one planar antenna includes: Receiving at least two components of the echo signal by using at least two planar antennas; Processing at least two components of the received echo signal into the echo data.

13. The detection method according to claim 12, wherein: The detection method further includes: Based on at least two intersecting planar antennas, at least two components of the echo signal are obtained, the at least two components of the received echo signal are processed, and the at least two processed components of the echo signal are processed into the echo data.

14. The detection method according to any one of claims 11-13, characterized in that, The detection method further includes: After the detection at an angle in the current detection area is completed, controlling the at least one planar antenna to rotate a preset angle and performing detection again to obtain the detection result of the current detection area.

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