CN107045150A - A kind of multi-rotor unmanned aerial vehicle helium optical pumping magnetic airborne survey system - Google Patents
A kind of multi-rotor unmanned aerial vehicle helium optical pumping magnetic airborne survey system Download PDFInfo
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- CN107045150A CN107045150A CN201611186945.2A CN201611186945A CN107045150A CN 107045150 A CN107045150 A CN 107045150A CN 201611186945 A CN201611186945 A CN 201611186945A CN 107045150 A CN107045150 A CN 107045150A
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- magnetic
- carbon fiber
- optical pumping
- helium
- spy bar
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
- G01V3/15—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation specially adapted for use during transport, e.g. by a person, vehicle or boat
- G01V3/165—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation specially adapted for use during transport, e.g. by a person, vehicle or boat operating with magnetic or electric fields produced or modified by the object or by the detecting device
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/30—Parts of fuselage relatively movable to reduce overall dimensions of aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/32—Rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Environmental & Geological Engineering (AREA)
- Geology (AREA)
- General Life Sciences & Earth Sciences (AREA)
- General Physics & Mathematics (AREA)
- Geophysics (AREA)
- Measuring Magnetic Variables (AREA)
Abstract
The invention provides a kind of multi-rotor unmanned aerial vehicle helium optical pumping magnetic airborne survey system, including carbon fiber spiral oar, band magnetic screen brushless electric machine, carbon fiber horn, carbon fiber frame, outer cover, magnetic spy bar, battery, digitlization helium light pump magnetic apparatus main frame, magnetic spy bar jack, flight control data communication module, remote bluetooth communication, gps antenna, helium optical pumping probe, magnetic compensation coil, magnetometer monitoring flat board and winged control flat board；Beneficial effects of the present invention are：Many rotor helium optical pumping magnetic airborne survey systems require low to landing site, hovering fixed point magnetic-field measurement can be carried out, possesses hardware magnetic compensation function, magnetic spy bar possesses draw-in and draw-off function, the advantages of horn foldable transportation, it is highly suitable for the occasion of the small area magnetic airborne surveies such as archaeology, the search of river course pipeline detection, non-explosive.
Description
Technical field
The present invention relates to a kind of magnetic airborne survey system in magnetic prospecting field, more particularly to a kind of multi-rotor unmanned aerial vehicle helium
Optical pumping magnetic airborne survey system.
Background technology
Helium light pump magnetic apparatus are occurred based on helium atom in external magnetic field based on Zeeman splitting, at the same using optical action and
Electromagnetic induction phenomenon is developed, and it is widely equipped on fixed wing aircraft, dynamic-delta-wing, unmanned airship, unmanned plane etc.
Various flying platforms are used for magnetic prospecting and airborne antisubmarine.
Chinese patent CN201410160830.0- is " a kind of based on the magnetic airborne survey device of fixed-wing unmanned plane and measurement side
Method ", CN104808250A- " a kind of aeromagnetics detection device and method based on unmanned plane " teach a kind of based on fixation
Wing unmanned plane magnetic airborne survey device, it is relatively specific for the larger magnetic airborne survey of area, fixed-wing unmanned plane magnetic airborne survey device
Requirement to take-off venue is high, it is impossible to realizes low-speed operations and hovers, is not suitable for archaeology, river course pipeline detection, non-explosive
The occasion of the small area magnetic airborne surveies such as search.In addition, this kind of unmanned plane magnetic airborne survey device is automatic using software general at present
Magnetic compensation, it is limited to the great magnetic disturbance compensation ability of unmanned platform.Chinese patent CN201410649362.3- " is applied to boat
Eight rotor wing unmanned aerial vehicles of magnetic measurement ", CN102156302A- " a kind of mini helium light pump magnetic apparatus suitable for small aircraft " is
Complete gyroplane magnetic airborne survey system is not constituted.
The content of the invention
It is an object of the invention to overcome the shortcomings of that prior art is present, and provide a kind of multi-rotor unmanned aerial vehicle helium optical pumping boat
Magnetic measurement system, it requires low to landing site, can carry out hovering fixed point magnetic-field measurement, possess hardware magnetic compensation function, magnetic spy
The advantages of bar possesses draw-in and draw-off function, foldable transportation, is highly suitable for archaeology, the search of river course pipeline detection, non-explosive etc. small
The occasion of area magnetic airborne survey.
The purpose of the present invention is completed by following technical solution.This multi-rotor unmanned aerial vehicle helium optical pumping magnetic airborne survey
System, including carbon fiber spiral oar, band magnetic screen brushless electric machine, carbon fiber horn, carbon fiber frame, outer cover, magnetic spy bar, electricity
Pond, digitlization helium light pump magnetic apparatus main frame, magnetic spy bar jack, flight control data communication module, remote bluetooth communication,
Gps antenna, helium optical pumping probe, magnetic compensation coil, magnetometer monitoring flat board, winged control flat board；The end peace of four carbon fiber horns
Equipped with band magnetic screen brushless electric machine and carbon fiber spiral oar, the brushless electric machine with magnetic screen is included outside brushless electric machine and magnetic screen
Cover, carbon fiber spiral oar is fixed on brushless electric machine, employs magnetic screen outer cover and be wrapped in around brushless electric machine, for shielding electricity
The magnetic disturbance that machine permanent magnet and current strap are come；Placing battery and winged control circuit in outer cover；Gps antenna is arranged on top；Fly control number
The both sides of carbon fiber frame are separately mounted to according to communication module, remote bluetooth communication；Digitize helium light pump magnetic apparatus master
Machine is arranged on the middle part of carbon fiber frame；Magnetic spy bar is fixed in carbon fiber frame by magnetic spy bar jack；Helium optical pumping is visited
Head is fixed on the end of magnetic spy bar, and magnetic compensation coil is arranged on the outside that helium optical pumping is popped one's head in, on compensation machine magnetisable material and
The magnetic disturbance that current strap is come；Fly control flat board to control for aircraft flight, magnetometer monitoring flat board is used for magnetometer data monitoring, control
Magnetometer processed monitors flat board in unmanned plane takeoff and landing, and the folding and unfolding for carrying out magnetic spy bar is grasped by magnetic spy bar jack
Make.
Four carbon fiber horns are connected in carbon fiber frame by Quick Release foldable structure, transport when before can be by carbon
Fiber horn is put down to reduce packing case volume, is readily transported.
It is mounted with to include the magnetic compensation coil of three windings outside helium optical pumping is popped one's head in, monitoring flat board remote control by magnetometer sets
The compensation electric current of three windings is put, the hardware compensating to magnetic disturbance on machine is completed.
Described magnetic spy bar jack includes retracting motor, reduction box, motor driving plate, power transmission shaft and position encoded
Device, magnetic spy bar is in horizontality before take-off, and monitoring flat board by magnetometer by operator after flight to working depth sends out
Go out magnetic spy bar folding and unfolding instruction, be changed into after vertical state carrying out magnetic method from horizontality by magnetic spy bar from driving plate control retracting motor
Measurement；Operator is also required to before landing magnetic spy bar is changed into horizontality from vertical state.
Beneficial effects of the present invention are：Many rotor helium optical pumping magnetic airborne survey systems require low to landing site, can carry out
Hovering fixed point magnetic-field measurement, possesses hardware magnetic compensation function, the advantages of magnetic spy bar possesses draw-in and draw-off function, horn foldable transportation,
It is highly suitable for the occasion of the small area magnetic airborne surveies such as archaeology, the search of river course pipeline detection, non-explosive.
Brief description of the drawings
Accompanying drawing 1 is multi-rotor unmanned aerial vehicle helium optical pumping magnetic airborne survey system composition schematic diagram；
Accompanying drawing 2 is the profile with magnetic screen brushless electric machine；
Accompanying drawing 3 is magnetic spy bar folding structure schematic diagram；
Accompanying drawing 4 is magnetic compensation coil structure；
Accompanying drawing 5 is hardware magnetic compensation composition schematic diagram；
Accompanying drawing 6 is the magnetic airborne survey system after folding.
In figure, 1 represents carbon fiber spiral oar, and 2 represent band magnetic screen brushless electric machine, and 3 represent carbon fiber horn, and 4 represent carbon
Fiber frame, 5 represent outer cover, and 6 represent magnetic spy bar, and 7 represent battery, and 8 represent digitlization helium light pump magnetic apparatus main frame, and 9 represent magnetic
Feeler lever jack, 10 represent flight control data communication module, and 11 represent remote bluetooth communication, and 12 represent gps antenna, 13
Helium optical pumping probe is represented, 14 represent magnetic compensation coil, and 15 represent magnetometer monitoring flat board, and 16 represent to fly control flat board；201 represent magnetic
Outer cover is shielded, 202 represent brushless electric machine；901 represent retracting motor, and 902 represent reduction box, and 903 represent motor driving plate, 904
Power transmission shaft is represented, 905 represent position coder.
Embodiment
The present invention will be further described with reference to the accompanying drawings and examples.
In Fig. 1, this multi-rotor unmanned aerial vehicle helium optical pumping magnetic airborne survey system, including carbon fiber spiral oar 1, band magnetic screen without
Brush motor 2, carbon fiber horn 3, carbon fiber frame 4, outer cover 5, magnetic spy bar 6, battery 7, digitlization helium light pump magnetic apparatus main frame 8,
Magnetic spy bar jack 9, flight control data communication module 10, remote bluetooth communication 11, gps antenna 12, helium optical pumping probe
13rd, magnetic compensation coil 14, magnetometer monitoring flat board 15, winged control flat board 16；The end of four carbon fiber horns 3 is provided with magnetic cup
Brushless electric machine 2 and carbon fiber spiral oar 1 are covered, the brushless electric machine 2 with magnetic screen includes brushless electric machine 202 and magnetic screen outer cover 201,
Carbon fiber spiral oar 1 is fixed on brushless electric machine 202, is employed magnetic screen outer cover 201 and is wrapped in around brushless electric machine 202, is used
The magnetic disturbance come in shield electric machine permanent magnet and current strap；Placing battery 7 and winged control circuit in outer cover 5；Gps antenna 12 is arranged on
Top；Flight control data communication module 10, remote bluetooth communication 11 are separately mounted to the both sides of carbon fiber frame 4；Numeral
Change the middle part that helium light pump magnetic apparatus main frame 8 is arranged on carbon fiber frame 4；Magnetic spy bar 6 is fixed on carbon by magnetic spy bar jack 9
In fiber frame 4；Helium optical pumping probe 13 is fixed on the end of magnetic spy bar 6, and magnetic compensation coil 14 is arranged on helium optical pumping probe 13
Outside, the magnetic disturbance that magnetisable material and current strap are come on compensation machine；Fly control flat board 16 to control for aircraft flight, magnetometer
Monitoring flat board 15 is used for magnetometer data monitoring, and control magnetometer monitors flat board 15 in unmanned plane takeoff and landing, passes through magnetic
9 pairs of feeler lever jack carries out the retractable operation of magnetic spy bar 6.
In Fig. 2, band magnetic screen brushless electric machine 2 includes brushless electric machine 202 and magnetic screen outer cover 201, and carbon fiber spiral oar 1 is consolidated
It is scheduled on brushless electric machine 202, magnetic screen outer cover 201 is wrapped in around brushless electric machine 202, it can shield nothing to a certain degree
The magnetic disturbance that the permanent magnet of brush motor 202 and operating current are brought.
In Fig. 3, by retracting motor 901, reduction box 902, motor driving plate 903, power transmission shaft 904, position coder 905 is total to
With composition magnetic spy bar jack 9.Magnetic spy bar 6 is in horizontality before take-off, by operator after flight to working depth
By magnetometer monitor flat board 15 send the folding and unfolding of magnetic spy bar instruct, by driving plate 903 control retracting motor 901 by magnetic spy bar 6 by
Horizontality is changed into after vertical state carrying out magnetic survey；Operator is also required to before landing to become magnetic spy bar 6 by vertical state
For horizontality.
In Fig. 4, magnetic compensation coil 14 includes vertical winding Z1403, horizontal winding X1401, horizontal winding Y1402.It is mounted in
The magnetic disturbance that magnetometer on unmanned plane is subject to is very big, may result in magnetometer response saturation and nonlinear distortion, unsuitable
, should be by the way of hardware compensating by the way of software compensation, i.e., three windings to magnetic compensation coil 14 are passed to specifically
Electric current is with the permanent field magnetic disturbance on counteracting machine.
In Fig. 5, magnetometer monitoring flat board can send the digitlization helium light on the setting instruction of the electric current of magnetic compensation coil 14, machine
Pump magnetometer main frame 8 receives and parses through instruction by remote bluetooth module 11, passes through X, Y, Z-direction controller, Z, Y, Z constant-current source
The electric current for completing coil is set.Magnetic disturbance difference by aircraft in north and south course can determine the compensation electric current of X windings, pass through
Magnetic disturbance difference of the aircraft in thing course can determine the compensation electric current of Y windings, can be with by magnetic disturbance during air maneuver
The compensation electric current of Z windings is determined, the hardware compensating of magnetic disturbance permanent field is finally completed.
In Fig. 6, four horns 3 are connected in carbon fiber frame 4 by Quick Release foldable structure, can put four horns 3
Under, reduce packing case volume, be readily transported.
It is understood that it will be understood by those skilled in the art that being subject to technical scheme and inventive concept
It should all belong to the protection domain of appended claims of the invention with replacing or changing.
Claims (4)
1. a kind of multi-rotor unmanned aerial vehicle helium optical pumping magnetic airborne survey system, it is characterised in that：Including carbon fiber spiral oar (1), band magnetic
Shield brushless electric machine (2), carbon fiber horn (3), carbon fiber frame (4), outer cover (5), magnetic spy bar (6), battery (7), digitlization
Helium light pump magnetic apparatus main frame (8), magnetic spy bar jack (9), flight control data communication module (10), remote bluetooth communication
(11), gps antenna (12), helium optical pumping probe (13), magnetic compensation coil (14), magnetometer monitoring flat board (15), winged control flat board
(16)；The end of four carbon fiber horns (3) is provided with magnetic screen brushless electric machine (2) and carbon fiber spiral oar (1), band magnetic cup
The brushless electric machine (2) covered includes brushless electric machine (202) and magnetic screen outer cover (201), and carbon fiber spiral oar (1) is fixed on brushless electricity
On machine (202), employ magnetic screen outer cover (201) and be wrapped in around brushless electric machine (202), for shield electric machine permanent magnet and electricity
The magnetic disturbance that stream is brought；Outer cover (5) interior placing battery (7) and winged control circuit；Gps antenna (12) is arranged on top；Flight control data
Communication module (10), remote bluetooth communication (11) are separately mounted to the both sides of carbon fiber frame (4)；Digitize helium optical pumping
Magnetometer main frame (8) is arranged on the middle part of carbon fiber frame (4)；Magnetic spy bar (6) is fixed on carbon by magnetic spy bar jack (9)
In fiber frame (4)；Helium optical pumping probe (13) is fixed on the end of magnetic spy bar (6), and magnetic compensation coil (14) is arranged on helium optical pumping
The outside of probe (13), the magnetic disturbance that magnetisable material and current strap are come on compensation machine；Fly control flat board (16) for aircraft to fly
Row control, magnetometer monitoring flat board 15 is used for magnetometer data monitoring, and control magnetometer monitoring flat board (15) takes off in unmanned plane
During with landing, pass through retractable operation of the magnetic spy bar jack (9) to progress magnetic spy bar 6.
2. multi-rotor unmanned aerial vehicle helium optical pumping magnetic airborne survey system according to claim 1, it is characterised in that：Four carbon
Fiber horn (3) is connected in carbon fiber frame (4) by Quick Release foldable structure.
3. multi-rotor unmanned aerial vehicle helium optical pumping magnetic airborne survey system according to claim 1, it is characterised in that：Visited in helium optical pumping
The magnetic compensation coil (14) for including three windings is mounted with outside head (13), monitoring flat board (15) remote control by magnetometer sets three
The compensation electric current of winding, completes the hardware compensating to magnetic disturbance on machine.
4. multi-rotor unmanned aerial vehicle helium optical pumping magnetic airborne survey system according to claim 1, it is characterised in that：Described magnetic spy
Bar jack (9) includes retracting motor (901), reduction box (902), motor driving plate (903), power transmission shaft (904) and position
Encoder (905), magnetic spy bar (6) is in horizontality before take-off, and magnetic force is passed through by operator after flight to working depth
Instrument monitoring flat board (15) send the folding and unfolding of magnetic spy bar instruction, by driving plate (903) control retracting motor (901) by magnetic spy bar (6) by
Horizontality is changed into after vertical state carrying out magnetic survey；Operator is also required to before landing by magnetic spy bar (6) by vertical state
It is changed into horizontality.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611186945.2A CN107045150A (en) | 2016-12-20 | 2016-12-20 | A kind of multi-rotor unmanned aerial vehicle helium optical pumping magnetic airborne survey system |
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| CN201611186945.2A CN107045150A (en) | 2016-12-20 | 2016-12-20 | A kind of multi-rotor unmanned aerial vehicle helium optical pumping magnetic airborne survey system |
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| CN107045150A true CN107045150A (en) | 2017-08-15 |
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| CN201611186945.2A Pending CN107045150A (en) | 2016-12-20 | 2016-12-20 | A kind of multi-rotor unmanned aerial vehicle helium optical pumping magnetic airborne survey system |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108227022A (en) * | 2017-12-29 | 2018-06-29 | 吉林大学 | Air-ground magnetic resonance detection device and detection method based on SQUID |
| CN111522067A (en) * | 2020-05-25 | 2020-08-11 | 加泰科(深圳)科技有限公司 | Marine aeromagnetic detection system based on vertical take-off and landing fixed wing unmanned aerial vehicle |
| CN111661329A (en) * | 2020-06-12 | 2020-09-15 | 杭州海康机器人技术有限公司 | Method and device for eliminating magnetic field interference, unmanned aerial vehicle and storage medium |
| CN112009667A (en) * | 2020-07-31 | 2020-12-01 | 彩虹无人机科技有限公司 | Low-magnetism magnetic detection special wing |
| CN112298556A (en) * | 2020-11-06 | 2021-02-02 | 湖南浩天翼航空技术有限公司 | Low latitude magnetic detection unmanned aerial vehicle |
| CN112373689A (en) * | 2020-11-02 | 2021-02-19 | 中国航天空气动力技术研究院 | Aeromagnetic geophysical prospecting unmanned aerial vehicle wing tip mounting device with adjustable posture |
| CN112415612A (en) * | 2020-10-30 | 2021-02-26 | 哈尔滨飞机工业集团有限责任公司 | Helicopter cantilever magnetic probe rod |
| CN112542254A (en) * | 2020-11-24 | 2021-03-23 | 中国科学院合肥物质科学研究院 | Remote leak detection system applied to fusion reactor and leak detection method thereof |
| CN112550706A (en) * | 2020-12-09 | 2021-03-26 | 中国地质科学院地球物理地球化学勘查研究所 | Multipurpose unmanned aerial vehicle aeromagnetic probe rod |
| CN113189654A (en) * | 2021-05-31 | 2021-07-30 | 中国地质科学院 | High-precision aeromagnetic measurement system based on multi-rotor unmanned helicopter |
| CN113514895A (en) * | 2021-07-12 | 2021-10-19 | 两山资源科技(北京)有限公司 | Multi-rotor unmanned aerial vehicle aeromagnetic detection system and method |
| CN113625349A (en) * | 2021-06-23 | 2021-11-09 | 北京航天控制仪器研究所 | Unexploded bomb aerial magnetic method detection system and unexploded bomb aerial magnetic method detection method |
| CN113859561A (en) * | 2021-11-04 | 2021-12-31 | 中国人民解放军32382部队 | Wind energy type unmanned aerial vehicle magnetic detector stretching and collecting device |
| CN114104278A (en) * | 2021-10-19 | 2022-03-01 | 复旦大学 | Many rotor unmanned aerial vehicle horn device with target detection function |
| CN115932048A (en) * | 2023-03-10 | 2023-04-07 | 山东大学 | Concrete ultrasonic flaw detection device and method based on unmanned aerial vehicle |
| CN117284518A (en) * | 2023-10-11 | 2023-12-26 | 中国地质科学院地球物理地球化学勘查研究所 | Multi-rotor unmanned aerial vehicle aviation full-axis magnetic gradient measurement device |
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Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108227022A (en) * | 2017-12-29 | 2018-06-29 | 吉林大学 | Air-ground magnetic resonance detection device and detection method based on SQUID |
| CN111522067A (en) * | 2020-05-25 | 2020-08-11 | 加泰科(深圳)科技有限公司 | Marine aeromagnetic detection system based on vertical take-off and landing fixed wing unmanned aerial vehicle |
| CN111661329A (en) * | 2020-06-12 | 2020-09-15 | 杭州海康机器人技术有限公司 | Method and device for eliminating magnetic field interference, unmanned aerial vehicle and storage medium |
| CN112009667A (en) * | 2020-07-31 | 2020-12-01 | 彩虹无人机科技有限公司 | Low-magnetism magnetic detection special wing |
| CN112415612A (en) * | 2020-10-30 | 2021-02-26 | 哈尔滨飞机工业集团有限责任公司 | Helicopter cantilever magnetic probe rod |
| CN112415612B (en) * | 2020-10-30 | 2024-05-24 | 哈尔滨飞机工业集团有限责任公司 | Helicopter cantilever magnetism probe rod |
| CN112373689A (en) * | 2020-11-02 | 2021-02-19 | 中国航天空气动力技术研究院 | Aeromagnetic geophysical prospecting unmanned aerial vehicle wing tip mounting device with adjustable posture |
| CN112298556A (en) * | 2020-11-06 | 2021-02-02 | 湖南浩天翼航空技术有限公司 | Low latitude magnetic detection unmanned aerial vehicle |
| CN112542254A (en) * | 2020-11-24 | 2021-03-23 | 中国科学院合肥物质科学研究院 | Remote leak detection system applied to fusion reactor and leak detection method thereof |
| CN112550706A (en) * | 2020-12-09 | 2021-03-26 | 中国地质科学院地球物理地球化学勘查研究所 | Multipurpose unmanned aerial vehicle aeromagnetic probe rod |
| CN113189654A (en) * | 2021-05-31 | 2021-07-30 | 中国地质科学院 | High-precision aeromagnetic measurement system based on multi-rotor unmanned helicopter |
| CN113189654B (en) * | 2021-05-31 | 2024-06-28 | 中国地质科学院 | High-precision aeromagnetic measurement system based on multi-rotor unmanned helicopter |
| CN113625349B (en) * | 2021-06-23 | 2023-12-12 | 北京航天控制仪器研究所 | System and method for detecting non-explosive bomb by air magnetic method |
| CN113625349A (en) * | 2021-06-23 | 2021-11-09 | 北京航天控制仪器研究所 | Unexploded bomb aerial magnetic method detection system and unexploded bomb aerial magnetic method detection method |
| CN113514895A (en) * | 2021-07-12 | 2021-10-19 | 两山资源科技(北京)有限公司 | Multi-rotor unmanned aerial vehicle aeromagnetic detection system and method |
| CN114104278A (en) * | 2021-10-19 | 2022-03-01 | 复旦大学 | Many rotor unmanned aerial vehicle horn device with target detection function |
| CN113859561A (en) * | 2021-11-04 | 2021-12-31 | 中国人民解放军32382部队 | Wind energy type unmanned aerial vehicle magnetic detector stretching and collecting device |
| CN113859561B (en) * | 2021-11-04 | 2024-04-26 | 中国人民解放军32382部队 | Wind energy unmanned aerial vehicle magnetic detector stretches and receives device |
| CN115932048A (en) * | 2023-03-10 | 2023-04-07 | 山东大学 | Concrete ultrasonic flaw detection device and method based on unmanned aerial vehicle |
| CN117284518A (en) * | 2023-10-11 | 2023-12-26 | 中国地质科学院地球物理地球化学勘查研究所 | Multi-rotor unmanned aerial vehicle aviation full-axis magnetic gradient measurement device |
| CN117284518B (en) * | 2023-10-11 | 2024-03-22 | 中国地质科学院地球物理地球化学勘查研究所 | Multi-rotor unmanned aerial vehicle aviation full-axis magnetic gradient measurement device |
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Application publication date: 20170815 |
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