Magnetotelluric method execution equipment suitable for deep environment

Abstract

The utility model discloses a magnetotelluric method execution device suitable for a depth environment. The utility model relates to the technical field of a controllable source audio magnetotelluric method (CSAMT). The magnetic sensing array assembly 3 comprises a plurality of horizontal adjusting assemblies 301 and a plurality of magnetic sensing units 302; wherein each horizontal adjustment assembly 301 is used for macro-motion adjustment of a horizontal angle or / and a space angle of the magnetic sensing unit 302, and each magnetic sensing unit 302 is used for micro-motion adjustment of a horizontal angle or / and a space angle of the magnetic sensor 3021; the magnetic sensor 3021 is used for converting a response signal of an electromagnetic field into an electric signal; according to the utility model, macro-motion adjustment and micro-motion adjustment are combined, preliminary adjustment can be carried out in a large range, and meanwhile, high-precision adjustment in a small range is ensured. The dual adjustment mechanism ensures that the magnetic sensor can be accurately trimmed and perpendicular to the horizontal plane or can be accurately adjusted to a specified space angle.

Description

Technical Field

[0001] The utility model relates to the technical field of controlled-source audio magnetotelluric method (CSAMT), specifically to the magnetic sensor array of CSAMT, and particularly to a magnetotelluric method execution device applicable to deep environments. Background Technique

[0002] CSAMT is an electromagnetic exploration method mainly used for mineral resources, oil and gas, geothermal energy and engineering exploration. Its main feature is to use an artificially controlled field source for frequency sounding. It uses an artificial field source to excite underground rocks, generating potential differences when current flows through, and receiving the primary field potentials formed by different power supply frequencies. Since fields of different frequencies have different propagation depths in the formation, the depths they reflect form a mathematical relationship with the frequencies. By measuring the orthogonal and horizontal electric and magnetic fields at the measurement point positions and using their ratio to invert the characteristic distribution of underground resistivity.

[0003] Traditional CSAMT execution devices, such as Figure 6 the UltraEM Z4 type controlled-source magnetotelluric system shown, mainly includes a high-frequency current source transmitter, an electromagnetic receiver, and a magnetic sensor array:

[0004] (1) High-frequency current source transmitter: Generates high-frequency currents (from 81.92 kHz to 4 Hz) with a certain frequency and power and injects them into the ground through electrodes. When these currents propagate underground, they will generate different electromagnetic field responses in rock formations with different resistivities.

[0005] (2) Electromagnetic receiver: Receives the response signals (electric and magnetic field components) of the underground rock formation to the electromagnetic field generated by the transmitter through an electric dipole and a magnetic sensor, and is used to invert the underground resistivity distribution.

[0006] (3) Magnetic sensor array: Used to measure the changes in the underground magnetic field. Converts the magnetic field changes into electrical signals for further processing by the receiver.

[0007] Among them, based on different exploration tasks, the emission angles of high-frequency current source transmitters are often different, but can be classified into two categories:

[0008] (1) The electric field direction is perpendicular to the horizontal plane: Used to detect the resistivity changes of underground rock formations, especially when it is necessary to understand the geological structure in the vertical direction, including groundwater, geothermal resources, deep mineral resources, etc. Helps to obtain the resistivity distribution information of underground rock formations in the vertical direction and provides important data support for subsequent geological interpretation.

[0009] (2)The electric field direction is not perpendicular to the horizontal plane: When the terrain undulates greatly or there are complex geological structures underground, in order to better adapt to the terrain and geological conditions, the layout of the transmitter may be adjusted to a direction that is not perpendicular to the horizontal plane. In addition, in some engineering explorations, in order to understand the geological structure changes in a specific direction, a non-vertical electric field direction is also adopted.

[0010] Generally speaking, after the high-frequency current source transmitter supplies alternating current into the ground, an electromagnetic field will be formed in a certain range on both sides of it. Therefore, the magnetic sensor array needs to be placed at a position perpendicular to the electric field direction generated by the transmitter (especially in the fan-shaped areas on both sides mentioned above) to ensure that sufficient magnetic field signals can be captured. Because the electric field component (such as Ex) is observed along a specific direction (such as the X direction), while the magnetic field component (such as Hy) is orthogonal to the electric field component. Therefore, the magnetic sensor array should be arranged in a direction perpendicular to the electric field component to accurately measure the magnetic field component. However, precisely because the above-mentioned electric field direction has different implementation modes due to different types of tasks, it is very difficult for the magnetic sensor array to completely achieve an exact perpendicularity to the electric field component. There may be errors and uncertainties in the traditional manual leveling process, resulting in inaccurate measurement results. At the same time, in order to achieve the orthogonal arrangement of the magnetic sensor array, the exploration team needs to carry out a large number of on-site measurements and adjustment work. This not only increases the time cost but also raises the labor cost. In addition, due to the complexity and variability of on-site conditions, these works often need to be carried out repeatedly to achieve the expected effect.

[0011] Due to the existence of the above disadvantages, it is very difficult for the layout of the magnetic sensor array in the traditional technology to reach an ideal orthogonal state. This will lead to a decrease in measurement accuracy and affect subsequent geological interpretation and exploration effects.

[0012] Therefore, the present utility model proposes a magnetotelluric method execution device applicable to the depth environment. Summary of the Utility Model

[0013] In view of this, the embodiments of the present utility model hope to provide a magnetotelluric method execution device applicable to the depth environment to solve or alleviate the technical problems existing in the prior art, that is, how to make the magnetic sensors in the magnetic sensing array accurately level perpendicular to the horizontal plane and can be adjusted to a specified spatial angle to meet the requirements of different exploration tasks. The technical solution of the embodiments of the present utility model is realized as follows:

[0014] A magnetotelluric method execution device applicable to the depth environment includes a high-frequency current source transmitter 1 for emitting high-frequency current, a magnetic sensing array component 3 for converting the response signal of the electromagnetic field into an electrical signal, and an electromagnetic receiver 2 for receiving the electrical signal. The magnetic sensing array component 3 further includes a plurality of horizontal adjustment components 301 and magnetic sensing units 302;

[0015] Each of the horizontal adjustment components 301 is used to macro-adjust the horizontal angle and / or spatial angle of the magnetic sensing unit 302, and each of the magnetic sensing units 302 is used to micro-adjust the horizontal angle and / or spatial angle of the magnetic sensor 3021; the magnetic sensor 3021 is used to convert the response signal of the electromagnetic field into an electrical signal.

[0016] In use, each element of the magnetic sensing array assembly 3 is arranged on the ground according to a predetermined plan; based on different survey tasks, the specific angle of the magnetic sensor 3021 is determined; wherein, if the current direction of the high-frequency current source transmitter 1 is perpendicular to the horizontal plane, each of the horizontal adjustment components 301 in the magnetic sensing array assembly 3 first macro-adjusts the magnetic sensing unit 302 cooperating with it to be level perpendicular to the horizontal plane, and then the magnetic sensing unit 302 itself performs a universal angle adjustment to micro-adjust the magnetic sensor 3021 to be level perpendicular to the horizontal plane. If the current direction of the high-frequency current source transmitter 1 is not perpendicular to the horizontal plane, then according to the predetermined spatial angle, each of the horizontal adjustment components 301 first macro-adjusts the magnetic sensing unit 302 cooperating with it to the specified direction, and then the magnetic sensing unit 302 itself performs a universal angle adjustment to micro-adjust the magnetic sensor 3021 to the corresponding spatial angle.

[0017] In one implementation: the horizontal adjustment component 301 includes a frame 3011 and adjustment units 3012 and horizontal sensors 3013 arranged in a circular array around and in the middle of it; the number of the adjustment units 3012 and the horizontal sensors 3013 is the same;

[0018] When any one of the adjustment units 3012 is executed, a feeding force is generated in the corresponding direction of the frame 3011, that is, the direction cooperating with it, to control the inclination angle of the frame 3011 in this direction to achieve the macro-adjustment.

[0019] In actual application, the horizontal sensor 3013 feeds back the current inclination direction and the specific inclination degree of the frame 3011, and hands it over to the adjustment unit 3012 opposite to the horizontal sensor 3013 to adjust it; for example, if the current survey task requires that the current direction of the high-frequency current source transmitter 1 is perpendicular to the horizontal plane, and the horizontal sensor 3013 in the Z-axis direction of the current frame 3011 reflects that the current frame 3011 is inclined by 30 degrees, then the adjustment unit 3012 in the Z-axis direction will perform leveling compensation according to the preset start mode of inclining by 30 degrees. On the contrary, if the current survey task requires that the current direction of the high-frequency current source transmitter 1 is not perpendicular to the horizontal plane, then according to the predetermined spatial angle, the corresponding adjustment unit 3012 is controlled to perform the adjustment.

[0020] In one embodiment: The adjusting unit 3012 includes a first arm body 30121 with two ends respectively hinged to the frame 3011 and the second arm body 30122. The bottom of the second arm body 30122 contacts the ground. At the same time, the cylinder bodies and piston rods of the first servo cylinder 30123 and the second servo cylinder 30124 are respectively hinged to the frame 3011 and the first arm body 30121, and the frame 3011 and the second arm body 30122.

[0021] During use, the first servo cylinder 30123 controls the pitching angle of the first arm body 30121, that is, controls the height of the upper end of the second arm body 30122. The second servo cylinder 30124 controls the pitching angle of the second arm body 30122, that is, controls the height of the lower end of the second arm body 30122, thereby realizing the adjustment function of the adjusting unit 3012.

[0022] In one embodiment: The magnetic sensing unit 302 includes a universal adjustment assembly 3022 for realizing the fine adjustment, and the universal adjustment assembly 3022 is cooperatively connected with the magnetic sensor 3021.

[0023] The universal adjustment assembly 3022 includes a first frame body 30221 and a second frame body 30222, and third servo cylinders 30223 for realizing the fine adjustment are arranged in an annular array between the two;

[0024] The cylinder body and the piston rod of the third servo cylinder 30223 are both hinged to the opposite sides of the first frame body 30221 and the second frame body 30222 through a universal joint coupling 30224; The magnetic sensor 3021 is fixedly arranged on the second frame body 30222.

[0025] During use, the execution of each third servo cylinder 30223 can control the angle adjustment of the second frame body 30222 in a specified direction. When each second frame body 30222 executes according to a predetermined start sequence, duration, and stroke amount, the second frame body 30222 can be controlled to perform universal angle adjustment along a certain trajectory within the space range, thereby not only controlling the magnetic sensor 3021 to be further perpendicular to the horizontal plane, but also controlling the space angle of the magnetic sensor 3021 to achieve adaptation to different exploration tasks.

[0026] In one embodiment: Any three of the third servo cylinders 30223 are arranged in an N shape that can compensate for the stroke amount with each other. When any one of the third servo cylinders 30223 reaches the limit stroke point, its adjacent two third servo cylinders 30223 can compensate for the stroke amount of this third servo cylinder 30223 to a certain extent due to the inclined arrangement state, improving the operation accuracy and stability.

[0027] In one embodiment: The annular array forms of all the third servo cylinders 30223 and the annular array form of the adjustment unit 3012 are arranged staggeredly, and the numbers of both are the same. For example, if the six adjustment units 3012 arranged in an annular array are respectively at 0°, 60°, 120°, 180°, 240°, and 300°, then the six third servo cylinders 30223 are respectively at 30°, 90°, 150°, 210°, 270°, and 330°. In this way, the macro motion adjustment function of the horizontal adjustment assembly 301 and the micro motion adjustment function of the universal adjustment assembly 3022 can compensate for each other.

[0028] Compared with the prior art, the beneficial effects of the present utility model are as follows:

[0029] I. High-precision adjustment ability: The present utility model combines macro motion adjustment and micro motion adjustment, which can perform preliminary adjustment within a large range while ensuring high-precision adjustment within a small range. This dual adjustment mechanism ensures that the magnetic sensor can be accurately leveled perpendicular to the horizontal plane or precisely adjusted to a specified spatial angle.

[0030] II. Enhanced adjustment flexibility: The present utility model realizes adjustment coverage without dead angles within the entire circumferential range through the design of annular array arrangement and staggered arrangement. This layout not only improves the flexibility of adjustment but also enables the magnetic sensor to adapt to the requirements of various complex exploration tasks.

[0031] III. Optimized space utilization: The staggered arrangement design of the present utility model makes full use of the circumferential space, enabling the adjustment unit and the servo cylinder to play the maximum adjustment role within a limited space. This optimized space utilization improves the compactness and portability of the device.

[0032] IV. Improved exploration efficiency and accuracy: The precise angle adjustment ability of the present utility model means that the magnetic sensor can collect geomagnetic field data more accurately, thereby improving the accuracy and efficiency of exploration. This is crucial for applications such as magnetotelluric exploration. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0034] Figure 1 It is a schematic three-dimensional overall structure diagram of the device of the present utility model;

[0035] Figure 2Schematic three-dimensional structure diagram of the magnetic sensing array component of the present utility model;

[0036] Figure 3 Schematic three-dimensional structure diagram of a single-group horizontal adjustment component and a magnetic sensing unit in the magnetic sensing array component of the present utility model;

[0037] Figure 4 Schematic three-dimensional structure diagram of a single-group horizontal adjustment component and a magnetic sensing unit in the magnetic sensing array component of the present utility model from the bottom-up perspective;

[0038] Figure 5 Schematic three-dimensional structure diagram of the magnetic sensing unit of the present utility model;

[0039] Figure 6 Schematic diagram of the composition of the execution device of traditional CSAMT.

[0040] Reference numerals: 1. High-frequency current source transmitter; 2. Electromagnetic receiver; 3. Magnetic sensing array component; 301. Horizontal adjustment component; 3011. Frame; 3012. Adjustment unit; 30121. First arm body; 30122. Second arm body; 30123. First servo electric cylinder; 30124. Second servo electric cylinder; 3013. Horizontal sensor; 302. Magnetic sensing unit; 3021. Magnetic sensor; 3022. Universal adjustment component; 30221. First frame body; 30222. Second frame body; 30223. Third servo electric cylinder; 30224. Universal joint coupling. Detailed implementation manners

[0041] To make the above objects, features, and advantages of the present utility model more comprehensible, the following will describe the detailed implementation manners of the present utility model in conjunction with the accompanying drawings. Many specific details are set forth in the following description to fully understand the present utility model. However, the present utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the connotation of the present utility model. Therefore, the present utility model is not limited by the specific embodiments disclosed below;

[0042] Explanation of related terms:

[0043] (1) High-frequency current: 81.92 kHz to 4 Hz;

[0044] (2) Response signal: including electric field and magnetic field components;

[0045] (3) Horizontal angle: the angle perpendicular to the horizontal plane;

[0046] (4) Spatial angle: the angle in the X, Y, and / or Z axis directions in space.

[0047] Embodiment 1:

[0048] In the prior art, after the high-frequency current source transmitter 1 injects alternating current into the ground, an electromagnetic field will be formed on both sides of it. Therefore, the magnetic sensing array component 3 needs to be placed at a position perpendicular to the direction of the electric field generated by the transmitter (especially in the fan-shaped areas on both sides above) to ensure that sufficient magnetic field signals can be captured. However, the direction of the electric field has different implementation modes due to different types of tasks. Errors and uncertainties may exist in the traditional manual trimming process, resulting in inaccurate measurement results. At the same time, in order to achieve the orthogonal arrangement of the magnetic sensing array component 3, the exploration team needs to carry out a large amount of on-site measurement and adjustment work. This not only increases the time cost but also raises the labor cost. For this reason, please refer to Figures 1-5 , this specific implementation manner will provide relevant technical solutions to solve the above technical problems:

[0049] In some specific implementation manners of the present application, please refer to Figures 1~5 : First, each element of the magnetic sensing array component 3 needs to be precisely arranged on the ground according to a predetermined layout plan. According to the specific survey task requirements, determine the specific angle that the magnetic sensor 3021 needs to reach. When the current direction generated by the high-frequency current source transmitter 1 is perpendicular to the horizontal plane, the horizontal adjustment component 301 is used for macro adjustment to preliminarily adjust the connected magnetic sensing unit 302 to a state perpendicular to the horizontal plane. Subsequently, the magnetic sensing unit 302 makes a fine angle adjustment to the magnetic sensor 3021 through its internal micro adjustment mechanism to ensure that it is completely perpendicular to the horizontal plane. If the current direction of the high-frequency current source transmitter 1 is not perpendicular to the horizontal plane, according to the predetermined spatial angle, first use the horizontal adjustment component 301 to macro adjust the magnetic sensing unit 302 to the specified direction, and then use the micro adjustment function of the magnetic sensing unit 302 to precisely adjust the magnetic sensor 3021 to the corresponding spatial angle.

[0050] Specifically: The magnetic sensing array component 3 integrates the horizontal adjustment component 301 and the magnetic sensing unit 302, realizing double-angle adjustment of the magnetic sensor 3021. The horizontal adjustment component 301 is responsible for macro adjustment, that is, adjusting the angle in a large range, so that the magnetic sensing unit 302 can quickly approach the target angle. The magnetic sensing unit 302 is responsible for micro adjustment, that is, on the basis of macro adjustment, making a more precise angle adjustment to ensure that the magnetic sensor 3021 can accurately reach the required angle. This double adjustment mechanism ensures the flexibility and accuracy of the magnetic sensing array component 3 under different current directions.

[0051] It can be understood that in the above specific embodiments: through the dual adjustment mechanism of the horizontal adjustment component 301 and the magnetic sensing unit 302, the precise control of the angle of the magnetic sensor 3021 is achieved. Whether it is perpendicular to the horizontal plane or any other arbitrary spatial angle, it can meet the requirements of the survey task. Secondly, this design improves the adaptability and flexibility of the magnetotelluric method execution equipment, enabling it to conduct efficient survey work under different terrain and geological conditions. Finally, through precise angle adjustment, it is ensured that the magnetic sensor 3021 can accurately capture the response signal of the electromagnetic field and convert it into an electrical signal for subsequent processing and analysis, thereby improving the accuracy and reliability of the survey data.

[0052] In some specific embodiments of the present application, it should be noted in advance that all the electrical components of the entire device are powered by an external battery; specifically, the electrical components of the entire device are conventionally electrically connected to the output port of the battery through devices such as relays, transformers, and button panels to meet the power supply requirements of all the electrical components of the device.

[0053] Specifically, an external controller is also provided for the device. The controller is used to connect and control all the electrical components of the entire device to drive according to a preset program as a preset value and a driving mode; it should be noted that the above driving mode corresponds to the output parameters such as the start-stop time interval, rotation speed, and power between the relevant electrical components in the following text, that is, it meets the requirement for the relevant electrical components described below to drive the relevant mechanical device to operate according to the described functions.

[0054] Preferably, for a magnetotelluric method execution equipment applicable to a depth environment disclosed in this specific embodiment, its (electrical components) and the (mechanism) composed thereof can all achieve the control of output parameters such as the corresponding start-stop time interval, rotation speed, and power through the controller executing the conventional PID controller algorithm (Proportion Integral Differential), that is, enabling the (mechanism) to execute a predetermined or preset action operation mode according to a certain function or motion trajectory.

[0055] And in order to achieve the above macro motion adjustment, in some specific embodiments of the present application, please refer to Figures 2~4: The design of the horizontal adjustment component 301 includes a frame 3011, and adjustment units 3012 and horizontal sensors 3013 arranged in a circular array around and in the middle of it. The number of these adjustment units 3012 and horizontal sensors 3013 is the same, and there is a one-to-one correspondence between them. When any one of the adjustment units 3012 is executed, it will generate a pushing force on the corresponding direction of the frame 3011 (i.e., the direction that cooperates with it), and control the tilt angle of the frame 3011 in this direction through this pushing force, so as to achieve macro motion adjustment. In the actual application process, the horizontal sensor 3013 will real-time feedback the current tilt direction of the frame 3011 and its specific tilt degree. This feedback information will be given to the adjustment unit 3012 corresponding to the horizontal sensor 3013, and it will adjust the frame 3011.

[0056] Exemplarily, if the current survey task requires the current direction of the high-frequency current source transmitter 1 to be perpendicular to the horizontal plane, and the horizontal sensor 3013 in the Z-axis direction of the current frame 3011 reflects that the frame 3011 is tilted by 30 degrees, then the adjustment unit 3012 in the Z-axis direction will work according to the preset start mode of tilting 30 degrees to trim and compensate the frame 3011. On the contrary, if the current survey task requires the current direction of the high-frequency current source transmitter 1 not to be perpendicular to the horizontal plane, then the corresponding adjustment unit 3012 will be controlled according to the predetermined spatial angle for adjustment.

[0057] Specifically: The horizontal sensor 3013, as a feedback element, real-time monitors the tilt state of the frame 3011 and transmits this information to the control system. The control system calculates the magnitude and direction of the pushing force that needs to be adjusted according to the deviation between the preset tilt angle or spatial angle and the current tilt state, and instructs the corresponding adjustment unit 3012 to execute. The adjustment unit 3012 changes the tilt angle of the frame 3011 by generating a pushing force until the preset tilt state is reached. This closed-loop control system can ensure that the tilt angle of the frame 3011 is accurately controlled within the preset range to meet the requirements of the survey task.

[0058] It can be understood that in the above specific implementation manner: Through the adjustment units 3012 and horizontal sensors 3013 arranged in a circular array, the precise adjustment of the frame 3011 in multiple directions is realized, improving the flexibility and accuracy of macro motion adjustment. Secondly, the application of the closed-loop control system enables the tilt angle of the frame 3011 to be real-time and accurately controlled within the preset range, and can meet the requirements of the survey task whether it is perpendicular to the horizontal plane or any other spatial angle. Finally, this design improves the adaptability and stability of the magnetotelluric method execution equipment under different terrain and geological conditions, enabling the survey work to be carried out more efficiently and accurately.

[0059] To achieve the functions required by the above-mentioned adjustment unit 3012, in some specific embodiments of the present application, please refer to Figures 3~4 : The design of the adjustment unit 3012 includes a first arm body 30121 and a second arm body 30122. These two arm bodies are connected to the frame 3011 by means of hinges to form an adjustable support structure. Among them, one end of the first arm body 30121 is hinged to the frame 3011, and the other end is hinged to the upper end of the second arm body 30122. The bottom of the second arm body 30122 contacts the ground to form a stable support point. In addition, the adjustment unit 3012 is also equipped with a first servo cylinder 30123 and a second servo cylinder 30124. The cylinders and piston rods of these two servo cylinders are respectively hinged between the frame 3011, the first arm body 30121, and the frame 3011, the second arm body 30122. When in use, the first servo cylinder 30123 adjusts the height of the upper end of the second arm body 30122 by controlling the pitching angle of the first arm body 30121. At the same time, the second servo cylinder 30124 adjusts the height of its lower end by controlling the pitching angle of the second arm body 30122. The coordinated operation of these two servo cylinders realizes the precise adjustment of the tilt angle of the frame 3011 by the adjustment unit 3012.

[0060] Specifically: Based on the working principle of the four-bar linkage mechanism. The first arm body 30121 and the second arm body 30122 are equivalent to two links in the four-bar linkage mechanism, while the first servo cylinder 30123 and the second servo cylinder 30124 are equivalent to two driving elements in the mechanism. When the piston rod of the servo cylinder extends and retracts, it will drive the connected arm body to perform pitching motion, thereby changing the position of the contact point between the second arm body 30122 and the ground. Since the bottom of the second arm body 30122 contacts the ground, the change in its position will cause a change in the tilt angle of the frame 3011. By precisely controlling the extension and retraction amounts of the piston rods of the two servo cylinders, the precise adjustment of the tilt angle of the frame 3011 can be achieved.

[0061] It should be noted that in the above specific embodiments: Before the actual deployment of the first servo cylinder 30123 and the second servo cylinder 30124, different angle adjustment modes of the frame 30111 need to be stored as preset programs. Based on the transmission of the azimuth and angle electrical signals of the actual specific horizontal sensor 3013 (as described in the previous exemplary demonstration), by calling the specific execution stroke amounts of the first servo cylinder 30123 and the second servo cylinder 30124 in this specific situation, the frame 30111 can be controlled to achieve the above-mentioned macro motion adjustment function.

[0062] It can be understood that the forms of the frame 30111 and the adjustment unit 3012 are similar to those of traditional multi-legged robots or multi-link mechanisms. Therefore, the specific control methods of the first servo cylinder 30123 or the second servo cylinder 30124 can be implemented using existing drive algorithms for multi-legged robots or multi-link mechanisms (such as PID controllers).

[0063] It can be understood that in the above specific implementation: Through the design of the four-bar linkage mechanism, the precise adjustment of the tilt angle of the frame 3011 is achieved, improving the accuracy and stability of the macro motion adjustment. Secondly, the coordinated operation of the two servo cylinders makes the adjustment process smoother and more reliable, avoiding the problem of adjustment failure caused by the failure of a single driving element. Finally, this design enables the adjustment unit 3012 to adapt to different terrains and geological conditions, improving the adaptability and flexibility of the magnetotelluric method execution equipment. In practical applications, this implementation can effectively ensure the precise arrangement and stable operation of the magnetic sensing array component 3, thereby improving the accuracy and reliability of the survey data.

[0064] And in order to implement the fine adjustment function required by the above magnetic sensing unit 302, in some specific implementations of this application, please refer to Figures 4~5 : The design of the magnetic sensing unit 302 includes a universal adjustment component 3022, which is cooperatively connected with the magnetic sensor 3021. The universal adjustment component 3022 consists of a first frame body 30221 and a second frame body 30222, and the fine adjustment between them is realized through the third servo cylinders 30223 arranged in an annular array. The cylinder body and piston rod of each third servo cylinder 30223 are hinged between the first frame body 30221 and the second frame body 30222 on their respective opposite sides through a universal joint coupling 30224. The magnetic sensor 3021 is fixedly installed on the second frame body 30222. During use, the execution of each third servo cylinder 30223 can control the angle adjustment of the second frame body 30222 in a specified direction. By controlling the execution of each third servo cylinder 30223 according to a predetermined start sequence, duration, and stroke amount, the second frame body 30222 can be adjusted in a universal angle along a certain trajectory within the space range. In this way, it is possible to control the magnetic sensor 3021 to be further perpendicular to the horizontal plane and also control its spatial angle to meet the requirements of different exploration tasks.

[0065] Specifically: Based on the working principle of multi-axis servo control. The third servo cylinder 30223 is equivalent to the actuator in the multi-axis servo control system, and the universal joint coupling 30224 provides a flexible connection between the actuator and the frame. When the control system issues an instruction, the piston rod of the third servo cylinder 30223 will perform telescopic motion according to the instruction. Since the piston rod is connected to the frame through the universal joint coupling 30224, the telescopic motion of the piston rod will drive the second frame 30222 to perform universal angle adjustment within the space range. By precisely controlling the start sequence, duration, and stroke of each third servo cylinder 30223, precise control of the spatial angle of the magnetic sensor 3021 can be achieved.

[0066] It should be noted that the universal adjustment assembly 3022 is actually a parallel mechanism (Parallel Mechanism). Therefore, the above-mentioned function of universal angle adjustment, especially the function of specifically controlling the third servo cylinder 30223, can be achieved by using existing control algorithms for parallel mechanisms (such as PID controllers).

[0067] It can be understood that in the above specific implementation: Through the design of the universal adjustment assembly 3022, precise adjustment of the spatial angle of the magnetic sensor 3021 is achieved, improving the accuracy and flexibility of the fine adjustment. Secondly, the application of the multi-axis servo control system makes the adjustment process smoother and more reliable, avoiding the problem of adjustment failure caused by the failure of a single actuator. Finally, this design enables the magnetic sensing unit 302 to adapt to different exploration task requirements, improving the adaptability and versatility of the magnetotelluric method execution equipment. In practical applications, this implementation method can effectively ensure the precise arrangement and stable operation of the magnetic sensor 3021, thereby improving the accuracy and reliability of the survey data.

[0068] At the same time, based on the structural arrangement characteristics of the above-mentioned universal adjustment assembly 3022, certain optimization design can also be carried out; in some specific implementation manners of this application, please refer to Figure 5 : The three third servo cylinders 30223 are designed in a special N-shaped arrangement. The characteristic of this arrangement is that there is a certain inclination angle between any two adjacent third servo cylinders 30223, enabling them to compensate for the stroke amount with each other. When one of the third servo cylinders 30223 reaches its limit stroke position, due to the inclined arrangement of the two adjacent third servo cylinders 30223, they can continue to perform telescopic motion, thereby compensating for the stroke amount of the third servo cylinder 30223 that has reached the limit stroke to a certain extent.

[0069] Specifically: Based on the collaborative work and stroke compensation mechanism of the multi-axis servo control system. In the N-shaped arrangement, each third servo cylinder 30223 undertakes a part of the angle adjustment task. When one of the cylinders reaches the limit stroke, if further angle adjustment is still required at this time, then the two adjacent third servo cylinders 30223 arranged obliquely can continue to work, and their telescopic movements are used to compensate for the cylinder that has reached the limit stroke, so as to ensure that the entire universal adjustment assembly 3022 can continue to perform angle adjustment smoothly and accurately.

[0070] It can be understood that in the above specific implementation manner: From a functional perspective, through the stroke compensation mechanism of adjacent cylinders, it can be ensured that during the entire adjustment process, the universal adjustment assembly 3022 can maintain high-precision angle control, thereby improving the accuracy of survey data. Due to the existence of the stroke compensation mechanism, even if a certain cylinder reaches the limit stroke, the entire system can still maintain a stable working state, avoiding the problem of system instability caused by the stroke limitation of a single cylinder. The N-shaped arrangement enables the stroke amounts of the three cylinders to be superimposed to a certain extent, thereby increasing the adjustment range of the entire universal adjustment assembly 3022 and enabling it to adapt to a wider range of exploration task requirements.

[0071] Embodiment 2: Please refer to Figure 4 , on the basis of Embodiment 1, this embodiment further provides an optimized technical solution based on the combination of macro motion adjustment and micro motion adjustment in Embodiment 1:

[0072] The annular array forms of all the third servo cylinders 30223 and the annular array form of the adjustment unit 3012 are arranged staggeredly, and their numbers are the same. Taking the six adjustment units 3012 arranged in an annular array as an example, they are located at 0°, 60°, 120°, 180°, 240°, and 300° respectively. And the six third servo cylinders 30223 are located at 30°, 90°, 150°, 210°, 270°, and 330° respectively, so that they form a staggered arrangement with the adjustment unit 3012.

[0073] Specifically: Based on the mutual compensation mechanism of macro motion adjustment and micro motion adjustment. The adjustment unit 3012 is responsible for macro motion adjustment, that is, angle adjustment in a large range, while the universal adjustment assembly 3022 responsible for the third servo cylinder 30223 performs micro motion adjustment, that is, angle adjustment in a small range but with high precision. By arranging them staggeredly, "relatively dead angle-free" adjustment coverage can be achieved within the entire circumferential range. When the adjustment unit 3012 performs macro motion adjustment, there may be certain errors or deficiencies. At this time, the universal adjustment assembly 3022 can perform micro motion adjustment to compensate for these errors or deficiencies, so as to achieve a higher-precision overall adjustment effect.

[0074] It should be noted that in the above specific embodiments: Since the universal adjustment component 3022 can perform angle adjustment within a small range but with high precision, and it is staggeredly arranged with the adjustment unit 3012, within the entire circumferential range, regardless of the position of the adjustment unit 3012, the universal adjustment component 3022 can perform fine adjustment on it to compensate for these errors or deficiencies. In other words, regardless of any minor deviation after the macro motion adjustment, fine adjustment can be carried out through the micro motion adjustment to ensure that the final accurate target angle is achieved.

[0075] It can be understood that in the above specific embodiments: Through the mutual compensation between the macro motion adjustment and the micro motion adjustment, higher-precision angle control can be achieved within the entire adjustment range. The staggered arrangement enables the adjustment unit 3012 and the third servo cylinder 30223 to work together at different angular positions, thus enhancing the flexibility of the adjustment. The staggered arrangement method makes full use of the circumferential space, enabling the adjustment unit 3012 and the third servo cylinder 30223 to achieve the maximum adjustment effect within a limited space.

[0076] Summarizing, in response to the related problems in the traditional technology, this specific embodiment is based on a magnetotelluric method execution device applicable to a deep environment provided above, and adopts the following technical means or features to achieve the solution:

[0077] (1) Combination of macro motion adjustment and micro motion adjustment: The macro motion adjustment unit 3012 and the universal adjustment component 3022 for micro motion adjustment are combined. The macro motion adjustment unit 3012 is responsible for angle adjustment within a larger range and can initially adjust the magnetic sensor 3021 to a position close to the target position. The universal adjustment component 3022 is responsible for angle adjustment within a smaller range but with high precision to ensure that the magnetic sensor 3021 can be accurately leveled perpendicular to the horizontal plane or adjusted to a specified spatial angle.

[0078] (2) Ring array arrangement and staggered arrangement: Both the adjustment unit 3012 and the third servo cylinder 30223 adopt the ring array arrangement method, which can provide uniform adjustment capabilities within the entire circumferential range. Moreover, their ring array forms are staggeredly arranged, so that dead-free coverage can be achieved within the entire adjustment range, and it is ensured that the macro motion adjustment and the micro motion adjustment can compensate each other, thereby improving the overall adjustment accuracy and flexibility.

[0079] The above-described embodiments merely represent the implementation manners of the relevant actual applications of the present utility model. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the utility model patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present utility model, several modifications and improvements can still be made, and these all fall within the protection scope of the present utility model. Therefore, the protection scope of the present utility model patent shall be subject to the appended claims.

Claims

1. A magnetotelluric method execution device applicable to deep environments, comprising a magnetic sensing array component (3) for converting the response signal of an electromagnetic field into an electrical signal, characterized in that: The magnetic sensing array component (3) includes a plurality of horizontal adjustment components (301) and magnetic sensing units (302); Each of the horizontal adjustment components (301) is used to macroscopically adjust the horizontal angle and / or spatial angle of the magnetic sensing unit (302), and each of the magnetic sensing units (302) is used to microscopically adjust the horizontal angle and / or spatial angle of the magnetic sensor (3021); the magnetic sensor (3021) is used to convert the response signal of the electromagnetic field into an electrical signal.

2. The magnetotelluric method execution device according to claim 1, characterized in that: The horizontal adjustment component (301) includes a frame (3011) and adjustment units (3012) and horizontal sensors (3013) arranged in a circular array around and in the middle of the frame; When any one of the adjustment units (3012) is executed, a pushing force is generated in the corresponding direction of the frame (3011) to control the inclination angle of the frame (3011) in this direction to achieve the macroscopic adjustment.

3. The magnetotelluric method execution device according to claim 2, characterized in that: The adjustment unit (3012) includes a first arm body (30121) with two ends respectively hinged to the frame (3011) and the second arm body (30122), and at the same time, the cylinder bodies and piston rods of the first servo electric cylinder (30123) and the second servo electric cylinder (30124) are respectively hinged to the frame (3011) and the first arm body (30121), the frame (3011) and the second arm body (30122).

4. The magnetotelluric method execution device according to claim 2, characterized in that: The magnetic sensing unit (302) includes a universal adjustment component (3022) for realizing the microscopic adjustment, and the universal adjustment component (3022) is connected with the magnetic sensor (3021) in a matching manner.

5. The magnetotelluric method execution device according to claim 4, characterized in that: The universal adjustment component (3022) includes a first frame body (30221) and a second frame body (30222), and third servo electric cylinders (30223) for realizing the microscopic adjustment arranged in a circular array between the two; The cylinder body and piston rod of the third servo electric cylinder (30223) are both hinged to opposite sides of the first frame body (30221) and the second frame body (30222); the magnetic sensor (3021) is fixedly arranged on the second frame body (30222).

6. The magnetotelluric method execution device according to claim 5, characterized in that: Any three of the third servo electric cylinders (30223) are arranged in an N shape that can compensate for the stroke amount with each other.

7. The magnetotelluric method execution device according to claim 5, characterized in that: The circular array form of all the third servo electric cylinders (30223) and the circular array form of the adjustment unit (3012) are arranged in a staggered manner.

8. The magnetotelluric method execution device according to claim 1, 2 or 4, characterized in that: It further includes a high-frequency current source transmitter (1) for transmitting high-frequency current and an electromagnetic receiver (2) for receiving the electrical signal.

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