Drilling geological radar and transient electromagnetic time-space cooperative detection method and system

Abstract

The invention discloses a borehole geological radar and transient electromagnetic space-time cooperative detection method and system, and relates to the technical field of mine safety detection, and the method comprises the steps: building an advanced cooperative detection coordinate system of a borehole advanced cooperative detection system, and calculating the time sequence compensation time based on a preset distance; based on the time sequence compensation time, initial parameters and equivalent moment positions of the borehole geological radar and the borehole transient electromagnetism are determined; a geological anomalous body collaborative inversion model of the drilling advanced collaborative detection system is constructed based on the initial parameters and the equivalent moment position, and three-dimensional coordinates of the geological anomalous body to be detected are inverted; and judging whether the error of the three-dimensional coordinates of the geological anomalous body is within a preset range, and if so, fusing based on the first three-dimensional coordinates and the second three-dimensional coordinates to obtain a collaborative detection result of the geological anomalous body to be detected. The technical problems that an existing single detection method is not synchronous in time and space, the geological anomalous body positioning precision is low, and misjudgment is prone to occurring are solved.

Description

Technical Field

[0001] This invention relates to the field of mine safety detection technology, and in particular to a method and system for coordinating borehole ground-penetrating radar and transient electromagnetic spatiotemporal detection. Background Technology

[0002] In fields such as underground engineering construction, mineral resource development, and geological disaster prevention, borehole advance detection is a key technical means to obtain underground geological information and identify potential geological risks. Borehole ground-penetrating radar (GPR) and borehole transient electromagnetic (TEM) are two commonly used geophysical exploration technologies, each with its unique advantages: GPR, with its high resolution, can accurately capture the geometric morphology of geological bodies, but it is greatly affected by the electrical parameters of the strata, limiting its detection depth in highly conductive strata, and its sensitivity to identifying low-resistivity anomalies is insufficient; borehole TEM is sensitive to differences in the electrical properties of the strata, allowing for deeper detection, and is suitable for detecting low-resistivity anomalies, but its lateral resolution is lower, making it difficult to accurately characterize the boundaries and spatial locations of geological anomalies.

[0003] In existing technologies, borehole ground-penetrating radar and borehole transient electromagnetic radar typically employ separate detection modes, failing to achieve spatiotemporal fusion of detection data. Because the detection instruments are in motion within the borehole, there is a time difference between the signal transmission and reception times of the two detection units, and their spatial observation positions are asynchronous, leading to deviations in the coordinates of geological anomalies obtained from their respective inversions. Furthermore, the lack of consistency criteria for geological anomalies makes it impossible to effectively verify the correlation between the two detection results, easily resulting in duplicate identification, missed detection, or misjudgment of the same geological anomaly. This seriously affects the reliability of the detection results and poses safety hazards to subsequent engineering decisions. Summary of the Invention

[0004] To address the aforementioned technical problems in existing technologies, embodiments of the present invention provide a method and system for coordinated detection using borehole ground-penetrating radar and transient electromagnetic spatiotemporal methods. The technical solution is as follows:

[0005] On one hand, a spatiotemporal collaborative detection method for borehole ground-penetrating radar and transient electromagnetic radar is provided, applied to a borehole advanced collaborative detection system. The borehole advanced collaborative detection system includes a borehole ground-penetrating radar and a borehole transient electromagnetic radar set at preset intervals. The method includes: establishing an advanced collaborative detection coordinate system for the borehole advanced collaborative detection system and calculating a time-compensation time based on the preset distance; determining the initial parameters and equivalent time positions of the borehole ground-penetrating radar and the borehole transient electromagnetic radar based on the time-compensation time; constructing a collaborative inversion model of geological anomalies for the borehole advanced collaborative detection system based on the initial parameters and the equivalent time positions; inverting the three-dimensional coordinates of the geological anomaly to be detected based on the collaborative inversion model; the three-dimensional coordinates of the geological anomaly to be detected include a first three-dimensional coordinate based on the borehole ground-penetrating radar and a second three-dimensional coordinate based on the borehole transient electromagnetic radar; determining whether the error of the three-dimensional coordinates of the geological anomaly is within a preset range; if so, fusing the first three-dimensional coordinates and the second three-dimensional coordinates to obtain the collaborative detection result of the geological anomaly to be detected.

[0006] Optionally, the advanced collaborative detection coordinate system includes: defining the borehole axis direction as the Y-axis, with the forward direction of the borehole advanced collaborative detection system as the positive direction; defining the horizontal direction perpendicular to the borehole as the X-axis, and defining the vertical direction perpendicular to the borehole as the Z-axis; and positioning the borehole ground-penetrating radar in front of the borehole transient electromagnetic system along the forward direction of the borehole advanced collaborative detection system.

[0007] Optionally, calculating the timing compensation time based on the preset distance includes: Δ t comp = l / v In the formula, Δ t comp The timing compensation time for the borehole transient electromagnetic interference relative to the borehole ground-penetrating radar is given. l The preset distance, v The forward speed of the borehole advance collaborative detection system along the borehole axis.

[0008] Optionally, the initial parameters and equivalent time position of the borehole ground-penetrating radar include: t When =0, the initial coordinates of the borehole ground-penetrating radar are: The signal transmission time is t A,trans The signal reception time is t A,recv ,but: Location of the borehole ground-penetrating radar at the time of launch: ; Location of the borehole ground-penetrating radar at the time of reception: ; The equivalent time position of the borehole ground-penetrating radar: ; The initial parameters and equivalent time position of the borehole transient electromagnetics include: t When =0, the initial coordinates of the borehole transient electromagnetic system are: The signal transmission time is t B,trans The signal reception time is t B,recv ,but: The location of the drilling transient electromagnetic wave at the time of emission: ; The location of the borehole transient electromagnetic signal at the moment of reception: ; The equivalent time position of the borehole transient electromagnetic flux: ; In the formula, .

[0009] Optionally, based on the collaborative inversion model of the geological anomaly, the three-dimensional coordinates of the geological anomaly to be detected are inverted, including: The relative permittivity of the formation was determined empirically. Calculate the propagation speed of electromagnetic pulses from borehole ground-penetrating radar in the medium. ,in c The speed of light in a vacuum; Two-way travel time for extracting borehole ground-penetrating radar reflection signals: ; The coordinates of the geological anomaly to be detected are defined as follows: And establish the three-dimensional localization equation of the geological anomaly to be detected: ;in, The Y-axis coordinate of the equivalent time position of the borehole ground-penetrating radar is given. Based on the lateral detection range constraints of the borehole ground-penetrating radar and the geological constraints of the borehole profile, the first three-dimensional coordinates for locating the geological anomaly to be detected by the borehole ground-penetrating radar are obtained by inversion. .

[0010] Optionally, based on the collaborative inversion model of the geological anomaly, the inversion of the three-dimensional coordinates of the geological anomaly to be detected further includes: according to different strata electrical conductivity... σ Calculate the skin depth of the transient electromagnetic field in the borehole: ,like If the conductivity is equal to the depth of the geological anomaly to be detected, then the conductivity is consistent with the depth of the geological anomaly to be detected; otherwise, the conductivity is changed until it is consistent with the depth of the geological anomaly to be detected; where, The permeability of free space, The delay time after the transmitting coil of the borehole transient electromagnetic circuit is de-energized; the peak delay time of the borehole transient electromagnetic transient response curve is extracted. Field-based calibration coefficients based on rock strata k Establish the depth localization equation for the anomaly to be detected by the borehole transient electromagnetic field: The inversion yielded the second three-dimensional coordinates for locating the anomaly to be detected using the borehole transient electromagnetic field. ,in: , ; This is the Y-axis correction amount. This is the X-axis correction amount.

[0011] Optionally, the collaborative detection results of the geological anomaly to be detected include: In the formula, The results of the collaborative detection, For the first three-dimensional coordinates, The second three-dimensional coordinates.

[0012] On the other hand, a borehole ground-penetrating radar and transient electromagnetic spatiotemporal coordinated detection system is also provided to implement the borehole ground-penetrating radar and transient electromagnetic spatiotemporal coordinated detection method provided in the embodiments of the present invention, and is applied to a borehole advanced coordinated detection system; the borehole advanced coordinated detection system includes a borehole ground-penetrating radar and a borehole transient electromagnetic system set at preset distances; it includes: an establishment module, a determination module, a construction module, an inversion module, and a fusion module; wherein, the establishment module is used to establish the advanced coordinated detection coordinate system of the borehole advanced coordinated detection system, and calculate the time-series compensation time based on the preset distance; the determination module is used to determine the time-series compensation time of the borehole ground-penetrating radar and the borehole transient electromagnetic system. The system comprises: initial parameters and equivalent time position; a construction module for constructing a collaborative inversion model of geological anomalies for the borehole advanced collaborative detection system based on the initial parameters and equivalent time position; an inversion module for inverting the three-dimensional coordinates of the geological anomaly to be detected based on the collaborative inversion model; the three-dimensional coordinates of the geological anomaly to be detected include a first three-dimensional coordinate based on the borehole ground-penetrating radar and a second three-dimensional coordinate based on the borehole transient electromagnetic field; and a fusion module for determining whether the error of the three-dimensional coordinates of the geological anomaly is within a preset range. If so, the first three-dimensional coordinate and the second three-dimensional coordinate are fused to obtain the collaborative detection result of the geological anomaly to be detected.

[0013] On the other hand, an electronic device is also provided, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method provided in the embodiments of the present invention.

[0014] On the other hand, a computer-readable storage medium is also provided, wherein program code is stored in the computer-readable storage medium, and the program code can be called by a processor to execute the method provided in the embodiments of the present invention.

[0015] This invention provides a method and system for spatiotemporal collaborative detection using borehole ground-penetrating radar and transient electromagnetic detection. By establishing a collaborative detection coordinate system, achieving spatiotemporal synchronization of detection units, constructing a coordinate collaborative inversion algorithm and anomaly consistency criteria, the three-dimensional coordinates of geological anomalies can be accurately located. This method enables spatiotemporal synchronization of ground-penetrating radar and transient electromagnetic detection, collaborative data inversion, and accurate anomaly determination. Combining the advantages of both technologies, it overcomes the limitations of individual detection, improves the accuracy and reliability of underground geological anomaly detection, and alleviates the technical problems of spatiotemporal asynchrony, low accuracy of geological anomaly location, and easy misjudgment in existing single detection methods. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a flowchart of a borehole ground-penetrating radar and transient electromagnetic spatiotemporal collaborative detection method provided by an embodiment of the present invention; Figure 2 This is a schematic diagram of a borehole advanced collaborative detection system provided in an embodiment of the present invention; Figure 3 This is a three-dimensional spherical schematic diagram of the borehole ground-penetrating radar inversion provided in this embodiment of the invention; Figure 4 This is a schematic diagram of the transient electromagnetic transient response curve for borehole provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of the borehole transient electromagnetic positioning coordinates displayed on the three-dimensional sphere of the borehole ground-penetrating radar, provided in an embodiment of the present invention. Figure 6 This is a schematic diagram of a borehole ground-penetrating radar and transient electromagnetic spatiotemporal collaborative detection system provided in an embodiment of the present invention.

[0018] In the diagram: 1. Drilling rig, 2. Controller, 3. Tunnel, 4. Borehole, 5. Drill rod, 6. Borehole transient electromagnetic, 7. Borehole ground-penetrating radar. Detailed Implementation

[0019] The technical solution of the present invention will now be described with reference to the accompanying drawings.

[0020] In embodiments of the present invention, words such as "exemplarily," "for example," etc., are used to indicate that something is an example, illustration, or description. Any embodiment or design described as "exemplary" in the present invention should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of the word "exemplary" is intended to present the concept in a concrete manner. Furthermore, in embodiments of the present invention, the meaning expressed by "and / or" can be both, or either one.

[0021] To make the technical problems, technical solutions and advantages of the present invention clearer, a detailed description will be given below in conjunction with the accompanying drawings and specific embodiments.

[0022] Figure 1 This is a flowchart illustrating a spatiotemporal coordinated detection method using borehole ground-penetrating radar and transient electromagnetic radar, according to an embodiment of the present invention. This method is applied to a borehole advanced coordinated detection system; wherein the borehole advanced coordinated detection system includes a borehole ground-penetrating radar and a borehole transient electromagnetic radar arranged at preset intervals. Figure 1 As shown, the method specifically includes the following steps:

[0023] Step S102: Establish the advanced collaborative detection coordinate system of the borehole advanced collaborative detection system, and calculate the timing compensation time based on the preset distance.

[0024] Step S104: Based on the time-compensated time, determine the initial parameters and equivalent time positions of the borehole ground-penetrating radar and the borehole transient electromagnetic system.

[0025] Step S106: Based on the initial parameters and equivalent time position, construct a collaborative inversion model of geological anomalies for the borehole advanced collaborative detection system.

[0026] Step S108: Based on the collaborative inversion model of geological anomalies, invert the three-dimensional coordinates of the geological anomaly to be detected; the three-dimensional coordinates of the geological anomaly to be detected include the first three-dimensional coordinates based on borehole ground-penetrating radar and the second three-dimensional coordinates based on borehole transient electromagnetic.

[0027] Step S110: Determine whether the error of the three-dimensional coordinates of the geological anomaly is within the preset range. If so, fuse the first three-dimensional coordinates and the second three-dimensional coordinates to obtain the collaborative detection result of the geological anomaly to be detected.

[0028] Figure 2This is a schematic diagram of a borehole advanced collaborative detection system provided according to an embodiment of the present invention. Figure 2 As shown, the borehole advanced collaborative detection system used in this embodiment of the invention includes a drilling rig 1, a controller 2, a drill rod 5, a borehole transient electromagnetic system 6, and a borehole ground-penetrating radar 7. The drilling rig 1 drills a borehole 4 within a tunnel 3, and the drill rod 5 within the borehole 4 is positioned at a predetermined distance... l A borehole transient electromagnetic 6 and a borehole ground-penetrating radar 7 are respectively installed.

[0029] Preferably, along the forward direction of the borehole advanced collaborative detection system, the borehole ground-penetrating radar 7 is positioned in front of the borehole transient electromagnetic 6.

[0030] In an optional embodiment of the present invention, the advanced collaborative detection coordinate system includes: defining the borehole axis direction as the Y-axis, with the forward direction of the borehole advanced collaborative detection system as the positive direction; defining the horizontal direction perpendicular to the borehole as the X-axis, with the rightward direction as the positive direction; and defining the vertical direction perpendicular to the borehole as the Z-axis, with the downward direction as the positive direction.

[0031] Specifically, the borehole advance collaborative detection system moves at a constant speed along the positive Y-axis direction. v Moving forward, the timing compensation time is calculated based on a preset distance, including: Δ t comp = l / v In the formula, Δ t comp For the timing compensation time of the borehole transient electromagnetic signal relative to the borehole ground-penetrating radar, then the borehole transient electromagnetic signal in... t +Δ t comp The data collected in real time and the borehole ground-penetrating radar t Corresponding data collected at all times.

[0032] Specifically, the initial parameters and equivalent time position of the borehole ground-penetrating radar include: t When =0, the initial coordinates of the borehole ground-penetrating radar are: The signal transmission time is t A,trans The signal reception time is t A,recv ,but: Location of the borehole ground-penetrating radar at the time of launch: ; Location of borehole ground-penetrating radar at the time of reception: ; Equivalent time position of borehole ground-penetrating radar: ; The initial parameters and equivalent time position of the borehole transient electromagnetics include: t When = 0, the initial coordinates of the borehole transient electromagnetic system are: The signal transmission time is t B,trans The signal reception time is t B,recv ,but: Location of the drilling transient electromagnetic wave at the moment of emission: ; Location of the drilling transient electromagnetic signal at the moment of reception: ; Equivalent time position of drilling transient electromagnetics: ; Preferably, calculation ,like This indicates that the equivalent time position of the borehole ground-penetrating radar is consistent with the equivalent time position of the borehole transient electromagnetic radar. in, This ensures that the borehole ground-penetrating radar and the borehole transient electromagnetic radar transmit signals to the geological anomaly to be detected from the same location.

[0033] Specifically, step S108 further includes the following steps: The relative permittivity of the formation was determined empirically. Calculate the propagation speed of electromagnetic pulses from borehole ground-penetrating radar in the medium. ,in c The speed of light in a vacuum; Two-way travel time for extracting borehole ground-penetrating radar reflection signals: ; Define the coordinates of the geological anomaly to be detected as follows: And establish the three-dimensional localization equation of the geological anomaly to be detected: ;in, The Y-axis coordinate is the equivalent time position of the borehole ground-penetrating radar. Based on the lateral detection range constraints of borehole ground-penetrating radar (e.g.) Based on the geological constraints of the borehole profile, the first three-dimensional coordinates for locating the geological anomaly to be detected by the borehole ground-penetrating radar are obtained through inversion. .

[0034] Specifically, step S108 further includes the following steps: Based on different formation conductivity σ Calculate the skin depth of the transient electromagnetic field in the borehole: ,like If the conductivity is the same as the depth of the geological anomaly to be detected, then the conductivity will be the same as the depth of the geological anomaly to be detected; otherwise, the conductivity will be changed until it is the same as the depth of the geological anomaly to be detected. In the formula, The permeability of free space, The delay time after the transmitting coil of the drilling transient electromagnetic circuit is de-energized; Extracting the peak delay time of the borehole transient electromagnetic transient response curve ; Field calibration coefficients based on rock strata k Establish the depth localization equation for the anomaly to be detected by borehole transient electromagnetic method: Preferably, the site calibration coefficient k The value range is [0.8, 1.2]; The inversion yields the second three-dimensional coordinates for locating the anomaly to be detected using the transient electromagnetic inductance of the borehole. ,in: , ; This is the Y-axis correction amount. This is the X-axis correction amount.

[0035] In some optional embodiments provided by the present invention, for different geological anomalies, such as karst caves, ore bodies, and aquifers, the corresponding field location coefficient k values ​​are as follows: karst caves k =1.0~1.2, ore body k =0.8~1.0, aquifer k =0.9~1.1.

[0036] Specifically, in step S110, the criteria for determining whether the error of the three-dimensional coordinates of the geological anomaly is within a preset range include: If the conditions are met within the preset range, the geological anomaly is identified as the same and collaborative detection results are output; otherwise, the stratigraphic parameters are recalibrated or the time-series compensation parameters are adjusted and the process is repeated.

[0037] in , , The coordinate error threshold is a preset range, with values ​​ranging from 0.1m to 0.3m, preferably 0.2m.

[0038] Specifically, the collaborative detection results of the geological anomalies to be detected include: In the formula, To coordinate detection results, The first three-dimensional coordinate, This represents the second three-dimensional coordinate system.

[0039] The method provided by the embodiments of the present invention will be further described below with reference to specific examples.

[0040] The forward speed used in this embodiment v =0.2m / s, timing compensation time Δ t comp =5 / 0.2=25s; Timing compensation is used to ensure that the signals from the borehole transient electromagnetic radar and the borehole ground-penetrating radar arrive at the geological anomaly to be detected simultaneously. Specifically, after the borehole advanced collaborative detection system advances along the Y-axis for 25 seconds, the Y-coordinate of the borehole transient electromagnetic radar increases. v ×25s=5m, which is consistent with the initial Y coordinate of the borehole ground-penetrating radar.

[0041] t When = 0, the initial coordinates of the borehole ground-penetrating radar are: The initial coordinates of the borehole transient electromagnetic are ; For borehole ground-penetrating radar, t A,trans A signal is transmitted to the geological anomaly to be detected at a time of 100s. t A,recv The signal was received at time 100.0000006s: Calculate the Y-axis coordinate of the launch position: ; Calculate the Y-axis coordinate of the receiving position: ; Equivalent observation location ; For drilling transient electromagnetics t B,trans A signal is transmitted to the geological anomaly to be detected at 125s. t B,recv The signal was received at time 125.00000565s: Calculate the Y-axis coordinate of the launch position: -5 + 0.2 × 125 = 20m; Calculate the Y-axis coordinate of the receiving position: -5 + 0.2 × 125.00000565 = 20.00000113; Equivalent observation location ; calculate This indicates that the equivalent time position of the borehole transient electromagnetic and borehole ground-penetrating radar is consistent.

[0042] Choose relative permittivity Calculate the propagation speed Calculate the round-trip travel time ; The positioning equations are obtained. .

[0043] Figure 3This is a three-dimensional spherical schematic diagram of the borehole ground-penetrating radar inversion provided by an embodiment of the present invention. For example... Figure 3 Draw the sphere as shown. According to the constraints Inversion yields .

[0044] This embodiment selects formation conductivity. σ =0.01S / m, calculate t B =5.65×10 -6 ; Calculate the skin depth of the transient electromagnetic field in borehole ; Further calculations The depth is consistent with that of the geological anomaly to be detected.

[0045] Figure 4 This is a schematic diagram of the transient electromagnetic transient response curve for borehole drilling provided by an embodiment of the present invention. Figure 4 As shown, the peak delay time of the borehole transient electromagnetic transient response curve is extracted. =5.65×10⁻⁶;

[0046] Specifically, this embodiment selects the field-specific calibration coefficient of the rock strata. k =1, perform depth localization: ; Furthermore, the Y-axis correction amount of the borehole transient electromagnetic parameters is taken. =10m, X-axis correction amount =1.5m; After correction, perform horizontal positioning: , ; Obtain the positioning coordinates of the borehole transient electromagnetic source. ,like Figure 5 As shown in the above three-dimensional spherical schematic diagram of the ground-penetrating radar.

[0047] Select , The positioning coordinates of the aforementioned borehole ground-penetrating radar and the positioning coordinates of the borehole transient electromagnetic radar are used to identify the same geological anomaly: If the error threshold is met, it is determined to be the same geological anomaly. Finally, the three-dimensional coordinates of the geological anomaly to be detected are output: .

[0048] As described above, the embodiments of the present invention provide a method for spatiotemporal collaborative detection of borehole ground-penetrating radar and transient electromagnetic detection. By establishing a collaborative detection coordinate system, achieving spatiotemporal synchronization of detection units, constructing a coordinate collaborative inversion algorithm and anomaly consistency criteria, the three-dimensional coordinates of geological anomalies can be accurately located. This method enables spatiotemporal synchronization of ground-penetrating radar and transient electromagnetic detection, data collaborative inversion, and accurate anomaly determination. Combining the advantages of both technologies, it overcomes the limitations of individual detection, improves the accuracy and reliability of underground geological anomaly detection, and alleviates the technical problems of spatiotemporal asynchrony, low accuracy of geological anomaly location, and easy misjudgment in existing single detection methods. It is applicable to engineering projects such as tunnel early warning and mineral exploration, and has broad application prospects.

[0049] Figure 6 This is a schematic diagram of a borehole ground-penetrating radar and transient electromagnetic spatiotemporal coordinated detection system according to an embodiment of the present invention. This system is applied to a borehole advanced coordinated detection system; the borehole advanced coordinated detection system includes a borehole ground-penetrating radar and a borehole transient electromagnetic radar arranged at preset intervals. Figure 6 As shown, it specifically includes: a setup module 10, a determination module 20, a construction module 30, an inversion module 40, and a fusion module 50.

[0050] Specifically, module 10 is established to establish the advanced collaborative detection coordinate system of the borehole advanced collaborative detection system and calculate the timing compensation time based on the preset distance. Module 20 is used to determine the initial parameters and equivalent time position of borehole ground-penetrating radar and borehole transient electromagnetic based on the time-series compensation time. Module 30 is used to construct a collaborative inversion model of geological anomalies for the borehole advanced collaborative detection system based on initial parameters and equivalent time positions. Inversion module 40 is used to invert the three-dimensional coordinates of the geological anomaly to be detected based on the collaborative inversion model of the geological anomaly; the three-dimensional coordinates of the geological anomaly to be detected include the first three-dimensional coordinates based on borehole ground-penetrating radar and the second three-dimensional coordinates based on borehole transient electromagnetic; The fusion module 50 is used to determine whether the error of the three-dimensional coordinates of the geological anomaly is within a preset range. If so, it fuses the first three-dimensional coordinates and the second three-dimensional coordinates to obtain the collaborative detection result of the geological anomaly to be detected.

[0051] The present invention also provides an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method provided in the embodiments of the present invention.

[0052] The present invention also provides a computer-readable storage medium storing program code, which can be invoked by a processor to execute the method provided in the embodiments of the present invention.

[0053] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0054] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the devices, apparatuses, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0055] In the several embodiments provided by this invention, it should be understood that the disclosed devices, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0056] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0057] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0058] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0059] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for coordinated detection of borehole ground-penetrating radar and transient electromagnetic spatiotemporal signals, characterized in that, The method is applied to a borehole advanced collaborative detection system; the borehole advanced collaborative detection system includes a borehole ground-penetrating radar and a borehole transient electromagnetic radar set at preset intervals; the method includes: Establish the advanced collaborative detection coordinate system of the borehole advanced collaborative detection system, and calculate the timing compensation time based on the preset distance; Based on the time-compensation time, the initial parameters and equivalent time positions of the borehole ground-penetrating radar and the borehole transient electromagnetic radar are determined. Based on the initial parameters and the equivalent time position, a collaborative inversion model of geological anomalies of the borehole advanced collaborative detection system is constructed. Based on the geological anomaly collaborative inversion model, the three-dimensional coordinates of the geological anomaly to be detected are inverted; the three-dimensional coordinates of the geological anomaly to be detected include the first three-dimensional coordinates based on the borehole ground radar and the second three-dimensional coordinates based on the borehole transient electromagnetic; Determine whether the error of the three-dimensional coordinates of the geological anomaly is within a preset range. If so, then fuse the first three-dimensional coordinates and the second three-dimensional coordinates to obtain the collaborative detection result of the geological anomaly to be detected.

2. The method according to claim 1, characterized in that, The advanced collaborative detection coordinate system includes: defining the borehole axis direction as the Y-axis, with the forward direction of the borehole advanced collaborative detection system as the positive direction; defining the horizontal direction perpendicular to the borehole as the X-axis, and defining the vertical direction perpendicular to the borehole as the Z-axis; Along the forward direction of the borehole advanced collaborative detection system, the borehole ground-penetrating radar is positioned in front of the borehole transient electromagnetic system.

3. The method according to claim 1, characterized in that, The timing compensation time is calculated based on the preset distance, including: D t comp = l / v In the formula, Δ t comp The timing compensation time for the borehole transient electromagnetic interference relative to the borehole ground-penetrating radar is given. l The preset distance, v The forward speed of the borehole advance collaborative detection system along the borehole axis.

4. The method according to claim 3, characterized in that, The initial parameters and equivalent time position of the borehole ground-penetrating radar include: t When =0, the initial coordinates of the borehole ground-penetrating radar are: The signal transmission time is t A,trans The signal reception time is t A,recv ,but: Location of the borehole ground-penetrating radar at the time of launch: ; Location of the borehole ground-penetrating radar at the time of reception: ; The equivalent time position of the borehole ground-penetrating radar: ; The initial parameters and equivalent time position of the borehole transient electromagnetics include: t When =0, the initial coordinates of the borehole transient electromagnetic system are: The signal transmission time is t B,trans The signal reception time is t B,recv ,but: The location of the drilling transient electromagnetic wave at the time of emission: ; The location of the borehole transient electromagnetic signal at the moment of reception: ; The equivalent time position of the borehole transient electromagnetic flux: ; In the formula, .

5. The method according to claim 4, characterized in that, Based on the aforementioned collaborative inversion model for geological anomalies, the three-dimensional coordinates of the geological anomaly to be detected are inverted, including: The relative permittivity of the formation was determined empirically. Calculate the propagation speed of electromagnetic pulses from borehole ground-penetrating radar in the medium. ,in c The speed of light in a vacuum; Two-way travel time for extracting borehole ground-penetrating radar reflection signals: ; The coordinates of the geological anomaly to be detected are defined as follows: And establish the three-dimensional localization equation of the geological anomaly to be detected: ;in, The Y-axis coordinate of the equivalent time position of the borehole ground-penetrating radar is given. Based on the lateral detection range constraints of the borehole ground-penetrating radar and the geological constraints of the borehole profile, the first three-dimensional coordinates for locating the geological anomaly to be detected by the borehole ground-penetrating radar are obtained by inversion. .

6. The method according to claim 5, characterized in that, Based on the aforementioned collaborative inversion model for geological anomalies, the inversion of the three-dimensional coordinates of the geological anomaly to be detected also includes: Based on different formation electrical conductivity σ Calculate the skin depth of the transient electromagnetic field in the borehole: ,like If the conductivity is the same as the depth of the geological anomaly to be detected, then the conductivity is the same as the depth of the geological anomaly to be detected; otherwise, the conductivity is changed until it is the same as the depth of the geological anomaly to be detected. In the formula, The permeability of free space, The delay time after the transmitting coil of the borehole transient electromagnetic wave is de-energized; Extracting the peak delay time of the borehole transient electromagnetic transient response curve ; Field calibration coefficients based on rock strata k Establish the depth localization equation for the anomaly to be detected by the borehole transient electromagnetic field: ; The inversion yields the second three-dimensional coordinates for locating the anomaly to be detected using the borehole transient electromagnetic field. ,in: , ; This is the Y-axis correction amount. This is the X-axis correction amount.

7. The method according to claim 1, characterized in that, The collaborative detection results of the geological anomaly to be detected include: In the formula, The results of the collaborative detection, For the first three-dimensional coordinates, The second three-dimensional coordinates.

8. A borehole ground-penetrating radar and transient electromagnetic spatiotemporal collaborative detection system, characterized in that, This method, used to implement the spatiotemporal coordinated detection method of borehole ground-penetrating radar and transient electromagnetic radar as described in any one of claims 1-7, is applied to a borehole advanced coordinated detection system; the borehole advanced coordinated detection system includes borehole ground-penetrating radar and borehole transient electromagnetic radar arranged at preset intervals; and includes: an establishment module, a determination module, a construction module, an inversion module, and a fusion module; wherein... The establishment module is used to establish the advanced collaborative detection coordinate system of the borehole advanced collaborative detection system, and calculate the timing compensation time based on the preset distance; The determining module is used to determine the initial parameters and equivalent time positions of the borehole ground-penetrating radar and the borehole transient electromagnetic field based on the time-series compensation time. The construction module is used to construct a collaborative inversion model of geological anomalies for the borehole advanced collaborative detection system based on the initial parameters and the equivalent time position. The inversion module is used to invert the three-dimensional coordinates of the geological anomaly to be detected based on the collaborative inversion model of the geological anomaly; the three-dimensional coordinates of the geological anomaly to be detected include a first three-dimensional coordinate based on the borehole ground radar and a second three-dimensional coordinate based on the borehole transient electromagnetic; The fusion module is used to determine whether the error of the three-dimensional coordinates of the geological anomaly is within a preset range. If so, it fuses the first three-dimensional coordinates and the second three-dimensional coordinates to obtain the collaborative detection result of the geological anomaly to be detected.

9. An electronic device, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the method as claimed in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium contains program code that can be invoked by a processor to execute the method as described in any one of claims 1 to 7.

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