CN114415248A - Primary field compensation type time-frequency electromagnetic detection device and method - Google Patents
Primary field compensation type time-frequency electromagnetic detection device and method Download PDFInfo
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Abstract
The application discloses a primary field compensation type time-frequency electromagnetic detection device and a method, wherein the device comprises: the sensor comprises a transmitting coil, a compensating coil and a receiving sensor, wherein the transmitting coil and the compensating coil are regular in shape and are the same in shape; the transmitting coil surrounds the compensating coil, which surrounds the receiving sensor; the transmitting coil and the compensating coil are connected in series in an opposite direction. And two ends of the compensation coil are connected with a resistor R in parallel. The method solves the problems of two electromagnetic detection methods of a time domain and a frequency domain in the prior art, overcomes the defects that shallow information is annihilated and a shallow detection blind zone is generated due to the fact that a time domain primary field is doped at the early moment of a secondary field response curve, and solves the geological problem of shallow and ultra-shallow electromagnetic detection by utilizing the advantages of strong anti-interference capability and large detection depth of frequency domain electromagnetic detection.
Description
Technical Field
The application relates to the field of electromagnetic detection, in particular to a primary field compensation type time-frequency electromagnetic detection device and method.
Background
With the progress of engineering construction and resource exploration, some superficial and ultra-shallow geological problems are exposed. In order to solve these geological problems, new shallow geophysical prospecting methods have been developed in recent years to solve these problems. The method based on electromagnetic detection is an important method.
The electrical characteristics (including resistivity, electrochemical characteristics, dielectricity, magnetic permeability and the like) of various media and objects have certain difference, and natural and artificial electromagnetic fields with certain rules can be formed. The distribution rule of natural or artificially-built electromagnetic field is detected and researched to achieve the purposes of researching geological structure, searching mineral deposit and detecting underground target object. Shallow layer and ultra-shallow layer geophysical prospecting based on electromagnetic method detection can effectively solve the difficult problems which are difficult to solve by other methods in engineering, has the characteristics of rapidness, convenience and economy, and continuously expands the technical and application fields of the method.
From the perspective of data processing, the technical means of electromagnetic detection are mainly divided into a time domain and a frequency domain. The time domain electromagnetic detection is to emit current (generally called a primary field) with certain energy to a target medium, excite the target medium, then quickly turn off a current source, induce and record an excitation response (generally called a secondary field) curve of the target medium through an electric or magnetic sensor, analyze response curve characteristics of different media, and further characterize the electrical characteristics of the target medium. The time domain electromagnetic detection has the advantages of visual response curve of the secondary field and high resolution, and can detect the ultra-shallow target body after overcoming the influence of the primary field, thereby greatly reducing or even eliminating the detection 'blind area'; the defect is that due to the characteristics of electronic devices and the capacitance and inductance characteristics of the transmitting sensor, the transmitting current cannot meet the theoretical rapid turn-off requirement, so that the doping of a primary field at the early moment of a response curve of a secondary field causes shallow information annihilation and shallow detection blind zones, and due to the large dynamic range and wide frequency band of the secondary field, unified signal amplification and filtering cannot be performed, late signals are weak, the signal-to-noise ratio is low, the data quality is poor, and the detection depth is shallow.
The frequency domain electromagnetic detection is to emit a single-frequency or multi-frequency bipolar current waveform with certain energy to a target medium, excite the target medium, induce and analyze excitation response frequency spectrum characteristics of the target medium through an electric or magnetic sensor, analyze response characteristics of different media to different frequencies, and further characterize electrical characteristics of the target medium. The frequency domain electromagnetic detection has the advantages that the medium excitation response frequency spectrum superposed on the primary field is directly analyzed, the dynamic range of the signal is small, the frequency band is narrow, the unified signal amplification and filtering are convenient to carry out, the anti-interference capability is strong, and the detection depth is large; the disadvantages are due to the limited number of excitation frequencies for the emitted single-frequency or multi-frequency bipolar current waveforms, insufficient spectral density and insufficient longitudinal resolution.
Disclosure of Invention
The embodiment of the application provides a primary field compensation type time-frequency electromagnetic detection device and method, which are used for at least solving the problems of two electromagnetic detection methods of a time domain and a frequency domain in the prior art.
According to an aspect of the present application, there is provided a primary field compensation type time-frequency electromagnetic detection apparatus, including: the sensor comprises a transmitting coil, a compensating coil and a receiving sensor, wherein the transmitting coil and the compensating coil are regular in shape and are the same in shape; the transmitting coil surrounds the compensating coil, which surrounds the receiving sensor; the transmitting coil and the compensating coil are reversely connected in series, two ends of the wires which are reversely connected in series are respectively connected into a positive output wire port and a negative output wire port of the transmitting system, and two ends of the wires of the receiving sensor are connected into a signal input end of the receiving system; and two ends of the compensation coil are connected with a resistor R in parallel.
Further, the resistance value of the resistor R is configured to enable the receiving signal of the receiving system to approach zero infinitely when the transmitting system transmits the current signal to the transmitting coil and the compensating coil under the predetermined environment.
Further, the predetermined environment is a shielded environment that is relatively free of interference and magnetic fields, the device being suspended in the device.
Further, the resistance value of the resistor R is configured to enable the magnetic induction of the transmitting coil and the magnetic induction of the compensating coil to be the same, and the directions of the magnetic induction are opposite.
Further, the transmit coil and the compensation coil are shaped as one of: circular, rectangular, regular polygonal.
Further, the receiving sensor is one of: coil, fluxgate, bar magnet.
Further, the waveform transmitted by the transmitting system is a unipolar pulse waveform and a bipolar pulse waveform mixed waveform.
Further, the period of the mixed wave generated by the transmission system is T, and in the period T, the partial time generation signal level is 0.
Further, the bipolar pulse waveform includes at least one of: single frequency wave based on anPseudo-random signal waveform, m-sequence waveform.
According to another aspect of the present application, there is also provided a primary field compensation type time-frequency electromagnetic detection method, wherein the detection is performed by using the above apparatus, including: the transmit system generates a waveform, wherein the waveform is transmitted by the transmit coil and the compensation coil; receiving, by the receiving sensor, a waveform; and the receiving system performs electromagnetic detection according to the waveform received by the receiving sensor.
In the embodiment of the application, a transmitting coil, a compensating coil and a receiving sensor are adopted, wherein the transmitting coil and the compensating coil are regular in shape, and the transmitting coil and the compensating coil are the same in shape; the transmitting coil surrounds the compensating coil, which surrounds the receiving sensor; the transmitting coil and the compensating coil are reversely connected in series, two ends of the wires which are reversely connected in series are respectively connected into a positive output wiring port and a negative output wiring port of the transmitting system, and two ends of the receiving sensor are connected into a signal input end of the receiving system. And two ends of the compensation coil are connected with a resistor R in parallel. The method solves the problems of two electromagnetic detection methods of a time domain and a frequency domain in the prior art, overcomes the defects that shallow information is annihilated and a shallow detection blind zone is generated due to the fact that a time domain primary field is doped at the early moment of a secondary field response curve, and solves the geological problem of shallow and ultra-shallow electromagnetic detection by utilizing the advantages of strong anti-interference capability and large detection depth of frequency domain electromagnetic detection.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application. In the drawings:
fig. 1 is a schematic diagram of an applicable area of an apparatus and a method according to an embodiment of the present application.
Fig. 2 is a schematic diagram of a primary field compensation type apparatus according to an embodiment of the present application.
FIG. 3 is a connection diagram and an equivalent circuit diagram of a primary field compensation device according to an embodiment of the present application.
Fig. 4 is a schematic diagram of a transmit waveform of a transmit system according to an embodiment of the present application.
Fig. 5 is a schematic diagram of a data processing process of different time periods in the receiving system according to the embodiment of the application.
FIG. 6 is a flow chart of a primary field compensation time-frequency electromagnetic detection method according to an embodiment of the present application.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.
In this embodiment, a primary field compensation time-frequency electromagnetic detecting device is provided, which includes: a transmitting coil, a compensating coil, and a receiving sensor, wherein,
the transmitting coil and the compensating coil are in regular shapes, and the transmitting coil and the compensating coil are in the same shape; for example, the transmit coil and the compensation coil are shaped as one of: circular, rectangular, regular polygonal.
The transmitting coil surrounds the compensating coil, which surrounds the receiving sensor; for example, the receiving sensor is one of: coil, fluxgate, bar magnet.
The transmitting coil and the compensating coil are reversely connected in series, two ends of the wires which are reversely connected in series are respectively connected into a positive output wiring port and a negative output wiring port of the transmitting system, and two ends of the receiving sensor are connected into a signal input end of the receiving system.
And two ends of the compensation coil are connected with a resistor R in parallel.
The problems of two electromagnetic detection methods of a time domain and a frequency domain in the prior art are solved through the embodiment, so that the defects that shallow information is annihilated and a shallow detection blind area is generated due to the fact that a time domain primary field is doped at the early moment of a secondary field response curve are overcome, and the geological problems detected by a shallow and ultra-shallow electromagnetic method are solved by utilizing the advantages of high anti-interference capability and large detection depth of frequency domain electromagnetic detection.
The resistance value of the resistor R can be obtained in various manners, for example, the resistance value of the resistor R is configured to enable a receiving signal of a receiving system to approach zero infinitely when the transmitting system transmits a current signal to the transmitting coil and the compensating coil under a predetermined environment. The predetermined environment is a shielded environment that is relatively free of interference and magnetic fields, the device being suspended in the device.
The resistance value of the resistor R is configured to enable the magnetic induction intensity of the transmitting coil and the magnetic induction intensity of the compensating coil to be the same, and the directions of the magnetic induction intensities are opposite.
Optionally, the waveform transmitted by the transmitting system is a unipolar pulse waveform and a bipolar pulse waveform mixed waveform. For example, the bipolar pulse waveform includes at least one of: single frequency wave based on anPseudo-random signal waveform, m-sequence waveform. Optionally, the period of the mixed wave generated by the transmitting system is T, and the partial time generation signal level is 0 in the period T.
In this embodiment, a primary field compensation time-frequency electromagnetic detection method is further provided, the above-mentioned apparatus is used for detection, fig. 6 is a flowchart of the primary field compensation time-frequency electromagnetic detection method according to the embodiment of the present application, and as shown in fig. 6, the flowchart includes the following steps:
step S602, the transmitting system generates a waveform, wherein the waveform is transmitted by the transmitting coil and the compensating coil;
step S604, receiving a waveform by the receiving sensor;
step S606, the receiving system performs electromagnetic detection according to the waveform received by the receiving sensor.
Through the steps, the device in the implementation can be used for detection, the defects that shallow information is annihilated and shallow detection blind areas are generated due to doping of a time domain primary field at the early moment of a secondary field response curve are overcome, and the geological problem of shallow and ultra-shallow electromagnetic detection is solved by utilizing the advantages of high anti-interference capability and high detection depth of frequency domain electromagnetic detection.
The following description is made in conjunction with an embodiment in which a primary field compensation type apparatus is provided, and the primary field compensation type apparatus includes a transmitting coil, a compensation coil, and a receiving sensor. The primary field compensation type device is positioned on the same horizontal plane and is vertical to the same axis, and the transmitting coil and the compensating coil of the primary field compensation type device are completely identical and regular in shape. Wherein, the transmitting coil is positioned at the outermost layer and comprises a compensating coil; the compensation coil is positioned in the middle layer and comprises a receiving sensor; the receiving sensor is located at the innermost layer. The shapes of the transmitting coil and the compensating coil of the primary field compensation type device include, but are not limited to, circles, squares and polygons, and the receiving sensor includes, but is not limited to, a coil, a fluxgate and a magnetic rod.
After a transmitting coil and a compensating coil in the primary field compensation type device are reversely connected in series, connecting wires at two ends are respectively connected into a positive output connecting wire port and a negative output connecting wire port of a transmitting system; the wiring at the two ends of the receiving sensor is connected to the signal input end of the receiving system. Two ends of the compensation coil are connected with a resistor R in parallel, and the resistance value of the resistor is obtained through indoor correction test according to parameters and processes of the primary field compensation type device.
Through the adjustment of a field compensation type parameter, process design and the adjustment of the resistance value of the parallel resistor R at the two ends of the compensation coil, the magnetic induction intensity of the transmitting coil and the compensation coil should strictly meet the following requirements:
|Blaunching|＝|BCompensation|
The transmitting system in this embodiment transmits a unipolar pulse waveform that is commonly used in the time domain and a bipolar pulse waveform mixed waveform that is commonly used in the frequency domain. Bipolar pulse waveforms include, but are not limited to, single frequency waves, based on anPseudo-random signal waveforms, m-sequence waveforms, etc. The period of the mixed waveform transmitted by the transmitting system is T, the level of a transmitting signal in the first T/3 period is 0, the level of a bipolar pulse wave in the second T/3 period is 0, and the level of a transmitting signal in the third T/3 period is 0. The transmitting system and the receiving system adopt GPS or high-precision high-stability quartz crystal synchronization.
The working mode of the receiving system in this embodiment includes: a verification mode and a measurement mode. The two modes are explained below separately.
When the receiving system works in the checking mode, the primary field compensation type device is placed in an environment without interference and magnetic field. In the first T/3 period, as the emission signal is 0, recording an environmental noise waveform at the stage, and performing noise spectrum analysis, which is marked as S0; in the second T/3 period, because the target medium excitation response is almost not existed, only compensation residue exists, and the compensation residue spectrum analysis is carried out at the stage and is marked as S1; in the third T/3 period, since there is almost no target medium excitation response, the compensation residual and environmental secondary field time domain waveforms are recorded at this stage, denoted as S2. And obtaining a compensation residual spectrum S1 'after the environmental noise is removed from S1-S0, and obtaining a compensation residual secondary field time domain waveform S2' after the environmental noise is removed from S3-S0.
When the receiving system works in a measuring mode, the primary field compensation type device is placed on the ground surface above a medium to be detected. In the first T/3 period, as the emission signal is 0, recording an environmental noise waveform at the stage, and performing noise spectrum analysis, namely V0; in the second T/3 period, because the target medium excitation response exists, excitation response spectrum analysis is carried out at the stage and is marked as V1; in the third T/3 period, a secondary field time domain waveform is recorded at this stage, denoted V2, due to the presence of the target medium excitation response. And obtaining a pure medium excitation response spectrum after removing the environmental noise and compensating the residual spectrum by using V1-V0-S1 ', and obtaining a pure medium excitation response secondary field waveform V2 ' after removing the environmental noise and compensating the residual by using V2-V0-S2 '.
The present embodiment will be described below with reference to the drawings, and can be applied to the environment shown in fig. 1, where the ultra-shallow part and the shallow part region below the surface of the earth in fig. 1 can be measured in the time domain, and the shallow part and the deep part can be measured in the frequency domain. Fig. 2 shows a primary field compensation type device, which comprises a transmitting coil, a compensating coil and a receiving sensor, as shown in fig. 2, the primary field compensation type device is located on the same horizontal plane and is vertical to the same axis, and the shape of the transmitting coil and the shape of the compensating coil of the primary field compensation type device are identical and regular. Wherein, the transmitting coil is positioned at the outermost layer and comprises a compensating coil; the compensation coil is positioned in the middle layer and comprises a receiving sensor; the receiving sensor is located at the innermost layer. The shapes of the transmitting coil and the compensating coil of the primary field compensation type device include, but are not limited to, circles, squares and polygons, and the receiving sensor includes, but is not limited to, a coil, a fluxgate and a magnetic rod. In fig. 2, (a) is a circular transmitting, compensating coil and circular receiving coil sensor, (b) is a circular transmitting, compensating coil and fluxgate (or bar magnet) receiving sensor, (c) is a square transmitting, compensating coil and square receiving coil sensor, and (d) is a square transmitting, compensating coil and fluxgate (bar magnet) receiving sensor.
Fig. 3 is a schematic connection diagram and an equivalent circuit diagram of a primary field compensation type device, as shown in fig. 3, after a transmitting coil and a compensating coil in the primary field compensation type device in the present embodiment are reversely connected in series, two end connections are respectively connected to a positive output connection port and a negative output connection port of a transmitting system; the wiring at the two ends of the receiving sensor is connected to the signal input end of the receiving system. Two ends of the compensation coil are connected with a resistor R in parallel, and the resistance value of the resistor is obtained through indoor correction test according to parameters and processes of the primary field compensation type device.
The method for the correction test comprises the following steps: under the shielding environment without interference and magnetic field, the primary field compensation type stable suspension is adopted, the transmitting system transmits a current signal with fixed frequency and amplitude to the transmitting coil and the compensating coil, and the receiving system measures the amplitude of the received signal through the receiving sensor. When the resistance value of the parallel resistor R is adjusted, the resistance value when the amplitude of the received signal is infinitely close to zero is the determined resistance value of the parallel resistor R.
This embodiment is through a field compensation formula device parameter adjustment, process design to and the regulation of the parallel resistance R resistance size at compensation coil both ends, the magnetic induction intensity of transmitting coil and compensation coil should satisfy strictly:
|Blaunching|＝|BCompensation| (1)
Because transmitting coil and compensating coil are anti-series connection, the electric current opposite direction, then the magnetic induction direction is opposite, then:
Blaunching＝-BCompensation (2)
Taking a circular coil as an example: setting the number of turns of the round transmitting coil as nLaunchingRadius of the transmitting coil is rLaunchingVacuum magnetic permeability of mu0The emission current is I, which can be deduced according to Biot-Savart law, and the magnetic induction intensity of the center position of the emission coil is as follows:
setting the radius of a circular compensation coil:
the following equations (1) and (3) can be obtained:
the transmitting system transmits a unipolar pulse waveform commonly used in the time domain and a bipolar pulse waveform mixed waveform commonly used in the frequency domain, as shown in fig. 4. Bipolar pulse waveforms include, but are not limited to, single frequency waves, based on anPseudo-random signal waveforms (such as those disclosed in patent nos. CN201811309318.2, CN202010344733.2, and CN202010344576.5, which are not described in detail herein), and m-sequence waveforms. The period of the mixed waveform transmitted by the transmitting system is T, the level of a transmitting signal in the first T/3 period is 0, the level of a bipolar pulse wave in the second T/3 period is 0, and the level of a transmitting signal in the third T/3 period is 0. The transmitting system and the receiving system adopt GPS or high-precision high-stability quartz crystal synchronization.
In this embodiment, the operation mode of the receiving system includes: a calibration mode and a measurement mode, as shown in fig. 5, in the calibration mode, the primary field compensation device is placed in a relatively non-interference and non-magnetic environment. In the first T/3 period, as the emission signal is 0, recording an environmental noise waveform at the stage, and performing noise spectrum analysis, which is marked as S0; in the second T/3 period, because target medium excitation response hardly exists, only compensation residues exist in the process (the resistance value of the parallel resistor R is adjusted, the amplitude of the compensated received signal can only be infinitely close to zero, and because the coil has deformation, the compensation residues exist at all under the influence of factors such as temperature change and the like in the use process), compensation residue spectrum analysis is carried out at the stage and is marked as S1; in the third T/3 period, since there is almost no target medium excitation response, the compensation residual and environmental secondary field time domain waveforms are recorded at this stage, denoted as S2. And obtaining a compensation residual spectrum S1 'after the environmental noise is removed from S1-S0, and obtaining a compensation residual secondary field time domain waveform S2' after the environmental noise is removed from S3-S0.
In the measurement mode, the primary field compensation device is placed on the surface above the medium to be probed, as shown in fig. 5. In the first T/3 period, as the emission signal is 0, recording an environmental noise waveform at the stage, and performing noise spectrum analysis, namely V0; in the second T/3 period, because the target medium excitation response exists, excitation response spectrum analysis is carried out at the stage and is marked as V1; in the third T/3 period, a secondary field time domain waveform is recorded at this stage, denoted V2, due to the presence of the target medium excitation response. And obtaining a pure medium excitation response spectrum after removing the environmental noise and compensating the residual spectrum by using V1-V0-S1 ', and obtaining a pure medium excitation response secondary field waveform V2 ' after removing the environmental noise and compensating the residual by using V2-V0-S2 '.
In the embodiment, the defects that shallow information is annihilated and shallow detection blind areas are generated due to the fact that the time domain primary field is doped at the early moment of the secondary field response curve are overcome, and the geological problems detected by a shallow and ultra-shallow electromagnetic method are solved by utilizing the advantages of strong anti-interference capability and large detection depth of frequency domain electromagnetic detection.
In this embodiment, an electronic device is provided, comprising a memory in which a computer program is stored and a processor configured to run the computer program to perform the method in the above embodiments.
The programs described above may be run on a processor or may also be stored in memory (or referred to as computer-readable media), which includes both non-transitory and non-transitory, removable and non-removable media, that implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
These computer programs may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks, and corresponding steps may be implemented by different modules.
Such an apparatus or system is provided in this embodiment.
The system or the apparatus is used for implementing the functions of the method in the foregoing embodiments, and each module in the system or the apparatus corresponds to each step in the method, which has been described in the method and is not described herein again.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (10)
1. The utility model provides a primary field compensation formula time frequency electromagnetic detection device which characterized in that includes: a transmitting coil, a compensating coil, and a receiving sensor, wherein,
the transmitting coil and the compensating coil are in regular shapes, and the transmitting coil and the compensating coil are in the same shape;
the transmitting coil surrounds the compensating coil, which surrounds the receiving sensor;
the transmitting coil and the compensating coil are reversely connected in series, two ends of the wires which are reversely connected in series are respectively connected into a positive output wire port and a negative output wire port of the transmitting system, and two ends of the wires of the receiving sensor are connected into a signal input end of the receiving system;
and two ends of the compensation coil are connected with a resistor R in parallel.
2. The apparatus of claim 1, wherein the resistance of the resistor R is configured to enable a receiving signal of a receiving system to approach zero infinitely when the transmitting system transmits a current signal to the transmitting coil and the compensating coil under a predetermined environment.
3. The apparatus of claim 2, wherein the predetermined environment is a relatively non-interfering and magnetic field-free shielded environment in which the apparatus is suspended.
4. The apparatus of claim 2, wherein the resistance of the resistor R is configured to enable the magnetic induction of the transmitting coil and the compensating coil to be the same and opposite.
5. The apparatus of any one of claims 1 to 4, wherein the transmit coil and the compensation coil are shaped as one of: circular, rectangular, regular polygonal.
6. The apparatus of any one of claims 1 to 4, wherein the receiving sensor is one of: coil, fluxgate, bar magnet.
7. The apparatus of any one of claims 1-4, wherein the waveform transmitted by the transmission system is a mixture of a unipolar pulse waveform and a bipolar pulse waveform.
8. The apparatus according to claim 7, wherein the period of the mixed wave generated by the transmission system is T, and the partial time generation signal level is 0 in the period T.
9. The apparatus of claim 7, wherein the bipolar pulse waveform comprises at least one of: single frequency wave based on anPseudo-random signal waveform, m-sequence waveform.
10. A primary field compensation time-frequency electromagnetic detection method, wherein the detection is performed by using the apparatus of any one of claims 1 to 9, comprising:
the transmit system generates a waveform, wherein the waveform is transmitted by the transmit coil and the compensation coil;
receiving, by the receiving sensor, a waveform;
and the receiving system performs electromagnetic detection according to the waveform received by the receiving sensor.
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