CN108680961B - Unmanned aerial vehicle transient electromagnetic probe carrying device and carrying method - Google Patents
Unmanned aerial vehicle transient electromagnetic probe carrying device and carrying method Download PDFInfo
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- CN108680961B CN108680961B CN201810288398.1A CN201810288398A CN108680961B CN 108680961 B CN108680961 B CN 108680961B CN 201810288398 A CN201810288398 A CN 201810288398A CN 108680961 B CN108680961 B CN 108680961B
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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
Abstract
The invention discloses a transient electromagnetic probe device carried by an unmanned aerial vehicle, which comprises an unmanned aerial vehicle body, wherein a cross is arranged at the lower part of a battery compartment of the unmanned aerial vehicle body and is connected with the battery compartment through a damping device; two rods of the cross can stretch out and draw back along four directions, a rotating shaft which can rotate front and back and left and right is arranged at the end part of each rod, and a mounting seat for mounting a magnetic probe is arranged on the rotating shaft. The damping device comprises an upper plate, a lower plate, a connecting rod, a damping ring and a rigid upright post, wherein the bottom of the upper plate is connected with the connecting rod, the lower end of the connecting rod penetrates through the lower plate to be connected to the cross position of the cross, the lower plate is non-fixedly connected with the connecting rod, and the diameter of a hole in the lower plate, through which the connecting rod penetrates, is larger than that of the connecting rod; the lower plate can move relative to the connecting rod; the damping ring is arranged at the bottom of the lower plate and is arranged on the connecting rod; the rigid upright post is inserted on the lower plate.
Description
Technical Field
The invention relates to the technical field of aviation and aviation measurement, in particular to an unmanned aerial vehicle carried transient electromagnetic probe device.
Background
The aviation transient electromagnetism adopts the unmanned aerial vehicle as an aerial platform, and the related sensor is installed through the nacelle, while the unmanned aerial vehicle is easy to be affected by outside weather or change course to make the airplane carrying the sensor unstable.
At present, there is great disadvantage in unmanned aerial vehicle's carrying device, and the device of carrying is heavier, is not very suitable for carrying of unmanned aerial vehicle, especially longer time's work, and carrying device can not automatically regulated magnetic probe's position along with unmanned aerial vehicle's flight gesture in addition, neither does not benefit to the measuring precision like this, also does not benefit to unmanned aerial vehicle's flight balance. And the carrying devices are relatively fixed and cannot be changed due to detection of the terrain.
Disclosure of Invention
In order to solve the technical problems in the prior art, the invention discloses a transient electromagnetic probe device carried by an unmanned aerial vehicle.
In order to achieve the purpose, the invention adopts the following scheme:
an unmanned aerial vehicle carries a transient electromagnetic probe device, which comprises an unmanned aerial vehicle body, wherein a cross is arranged at the lower part of a battery compartment of the unmanned aerial vehicle body, and the cross is connected with the battery compartment through a damping device; the two rods of the cross can stretch out and draw back along four directions, the end part of each rod is provided with a rotating shaft which can rotate front and back, left and right, and the rotating shaft is provided with a mounting seat for mounting a magnetic probe.
Furthermore, the damping device comprises an upper plate, a lower plate, a connecting rod, a damping ring and a rigid upright post, wherein the bottom of the upper plate is connected with the connecting rod, the lower end of the connecting rod penetrates through the lower plate to be connected to the cross position of the cross, the lower plate is in non-fixed connection with the connecting rod, and the diameter of a hole through which the connecting rod penetrates in the lower plate is larger than that of the connecting rod; the lower plate can move relative to the connecting rod; the damping ring is arranged at the bottom of the lower plate and is arranged on the connecting rod; the rigid upright post is inserted on the lower plate.
Further, the connecting rods comprise a plurality of connecting rods, and the plurality of connecting rods are arranged along the circumferential direction of the lower plate.
Furthermore, the rigid columns comprise a plurality of columns, the rigid columns are arranged along the circumferential direction of the lower plate, the upper parts of the rigid columns penetrate through the lower plate, and the lower parts of the rigid columns are installed on the cross.
Furthermore, the upper plate and the lower plate are coaxially arranged, the area of the upper plate is smaller than that of the lower plate, and a through hole is formed in the center of the lower plate.
Furthermore, the vibration reduction ring is a circular ring, the circular ring is arranged on the connecting rod, and the axis of the connecting rod is coincided with the diameter of the circular ring.
Furthermore, each connecting rod is provided with a plurality of vibration reduction rings.
Further, the carrying device of cross can carry four magnetic probes, perhaps two magnetic probes of portability, as long as lay the position symmetry on the device and just can satisfy unmanned aerial vehicle's balance, also can install four, if when surveying, have a magnetic probe to break down, can utilize the probing head continuation work of other symmetric position, alleviate the unmanned aerial vehicle load, improve work efficiency.
Further, the cross be the installation of 90 degrees angles by four sections telescopic links and constitute, every section telescopic link includes two subsections, first section is its length of carbon fiber and is 2.3 meters, the second section is its length of glass fiber and is 1.2 meters, the second section can stretch out and draw back and be carved with certain scale on the second section.
Furthermore, the two rotating shafts comprise a motor rolling shaft I which is arranged at the tail end of the telescopic rod and can rotate left and right, and the other rotating shaft is a motor rolling shaft II which is arranged on the motor rolling shaft I and is vertical to the telescopic rod; the motor rolling shaft I and the motor rolling shaft II are mutually independent, the two rolling shafts are automatically controlled by the integrated circuit, the magnetic probe can be automatically adjusted in flight, the magnetic probe is always kept vertically downwards, the axis of the magnetic probe is vertically downwards, and the high quality and the application range of data measured by the magnetic probe can be guaranteed.
Furthermore, the mounting seat comprises a circular ring connected with a motor rolling shaft II, and a bolt for the magnetic probe is arranged on the circular ring, so that the safety of the magnetic probe is ensured.
According to the invention, a telescopic device similar to a cross is arranged below a battery cabin of the unmanned aerial vehicle, and each end of the telescopic device is provided with two rotating shafts which can rotate left and right and rotate front and back, so that a magnetic probe is automatically adjusted to be vertically downward in the flight process of the aircraft. Unmanned aerial vehicle surveys the new aerial platform of aeromagnetic survey through ground control system alright in order to control unmanned aerial vehicle to observe appointed regional geomagnetic field, supplements current measurement control system, makes the aeromagnetic survey more perfect.
Adopt damping device at unmanned aerial vehicle and carrying device's junction, carrying device has great inertia when unmanned aerial vehicle is flying or just starts, and damping device can play the cushioning effect. The damping device is of a composite type, and can not only achieve the stretching effect in the vertical direction but also achieve the shearing and twisting effect in the horizontal plane.
In order to allow the instrument to be conveniently carried, each section of the device is made into two small sections, the first section is made of carbon fiber, the second section is made of glass fiber, the second section is energy-saving and telescopic, certain scales are marked on the second section, the purpose of doing so is that the four sections can be extended to the same length, and the unmanned aerial vehicle can fly in balance during flying. In addition, in order to reduce the interference of the unmanned aerial vehicle on the detection precision of the magnetic probe, the distance from the magnetic probe to the unmanned aerial vehicle must be not less than 3 meters so as to ensure that the detection precision of the magnetic probe cannot be affected by the interference of the magnetic waves generated by the unmanned aerial vehicle.
In addition, in order to fix the magnetic probe better, the mounting seat is designed into a circular ring, a small notch is arranged on the circular ring, connecting lugs are arranged at the notches respectively, the connecting lugs are tightly connected through screws and nuts, and the safety of the magnetic probe is guaranteed.
The invention has the following advantages:
(1) adopt glass fiber and the material as carrying device that carbon fiber combines to use, be favorable to alleviateing unmanned aerial vehicle's load, the secondary magnetic field that also is favorable to producing disturbs magnetic probe, influences the quality of gathering the electromagnetic wave, and advantage with glass fiber lies in intensity great, and high temperature resistant and insulating nature are also better, still can not produce the interference to magnetic probe.
(2) The purpose of adopting the telescopic device for the carrying device is to change according to the change of the terrain, and to continue working in some places with narrow working space, thereby increasing the working range. The telescoping device is also in order to reduce unmanned aerial vehicle to the interference of magnetic probe, reinforcing signal-to-noise ratio.
(3) The fixing device of the magnetic probe also adopts a flexible fixing method, so that the magnetic probes with different powers can be more favorably replaced, and the fixing device can not be easily loosened to damage the instrument.
(4) The control system adopts an integrated circuit board, the integrated circuit has a function of controlling and adjusting the magnetic probe to keep vertically downward forever, and the speed of the control system cannot be too high when the magnetic probe is adjusted to be vertically downward, otherwise, the airplane cannot be balanced but is unstable, and the adjusting speed is reduced as uniformly as possible.
(5) Adjusting device can be better the position of regulation magnetic probe, makes unmanned aerial vehicle flight more steady, also is favorable to gathering better electromagnetic wave, and the axis of instrument is vertical downwards, can guarantee that the data quality that the magnetic probe measurement obtained is higher and application scope. And the control system and the rotating system of the four magnetic probes are independent respectively, so that the purpose of installing the magnetic probes at two symmetrical positions can be realized simultaneously, and the four magnetic probes can be installed to increase the working progress. If one magnetic probe fails during working, the magnetic probe can continue to work.
(6) Adding damping device on carrying device and unmanned aerial vehicle's connection, damping device is compound damping device, and spring damping is at the ascending cushioning effect of vertical side, and the spring alleviates this great buffer power when unmanned aerial vehicle rises or the falling speed is too fast. The effect of the four bars is less shear and torsion during cornering. Make unmanned aerial vehicle have when great gesture changes can the shock attenuation can alleviate the impact to carrying device and instrument thereof in the air.
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.
Fig. 1 is a schematic top view of a magnetic probe apparatus mounted on an unmanned aerial vehicle according to the present invention;
fig. 2 is a schematic side view of a magnetic probe apparatus mounted on an unmanned aerial vehicle according to the present invention;
fig. 3 is a schematic front view of a magnetic probe device mounted on an unmanned aerial vehicle according to the present invention;
FIG. 4 is an enlarged schematic view of a cross intersection of the vehicle;
FIG. 5 is a schematic view showing the telescoping device;
fig. 6 is a schematic rotation diagram at the rotation axis 1;
fig. 7 is a schematic rotation diagram at the rotation axis 2;
FIG. 8 is a schematic view of a mounting device;
FIG. 9 is a schematic view of two magnetic probes mounted and the telescopic device retracted;
FIGS. 10 and 11 show a damper;
FIG. 12 is a control device of the mounting device;
in the figure: 1. the device comprises a motor rolling shaft, 2 motor rolling shafts, 3 magnetic probes, 4 mounting seats, 5 glass fiber rods, 6 carbon fiber rods, 7 damping rings, 8 lower plates, 9 steel iron column circular holes, 10 rigid stand columns, 11 upper plates, 12 connecting rods, 13 control systems, 14 control circuits and 15 gyroscopes.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
Just as the background art introduces, exist among the prior art, unmanned aerial vehicle's carrying device has great disadvantage, and the device of carrying is heavier, is not very suitable for unmanned aerial vehicle's carrying, especially longer time work, and carrying device can not automatically regulated magnetic probe's position along with unmanned aerial vehicle's flight gesture in addition, neither does not benefit to the precision of measurement like this, also does not benefit to unmanned aerial vehicle's flight balance yet. Carrying device all is relatively fixed can not make the change because of surveying the topography in addition, for solving above technical problem, this application has proposed an unmanned aerial vehicle carries on transient electromagnetic probe device.
In a typical implementation of this application, as shown in fig. 1, the carrying device is connected under unmanned aerial vehicle's battery compartment, and this is unmanned aerial vehicle's balance point to with its firmly fix and not let its here take place to rotate or drop at unmanned aerial vehicle in flight process, the structure of specific device is: the unmanned aerial vehicle comprises an unmanned aerial vehicle body, wherein a cross is arranged at the lower part of a battery compartment of the unmanned aerial vehicle body and is connected with the battery compartment through a damping device; two rods of the cross can stretch out and draw back along four directions, the end part of each rod is provided with a rotating shaft which can rotate front and back, left and right, and the rotating shaft is provided with an installation seat 4 for installing the magnetic probe 3.
As shown in fig. 10 and 11, the damping device includes an upper plate 11, a lower plate 8, a connecting rod 12, a damping ring 7 and a rigid upright post 10, the bottom of the upper plate 11 is connected with the connecting rod 12, the lower end of the connecting rod 12 passes through the lower plate and is connected to the crossing position of the cross, the lower plate and the connecting rod are not fixedly connected, and the diameter of a hole through which the connecting rod passes on the lower plate 8 is larger than that of the connecting rod; the lower plate can move relative to the connecting rod; the damping ring 7 is arranged at the bottom of the lower plate 8 and is arranged on the connecting rod 12; the rigid upright 10 is inserted on the lower plate.
During installation, the lower plate 8 is fixed on the cross through the rigid upright post, the upper plate is connected with the lower part of the battery bin, and the upper plate can move up and down in the vertical direction relative to the lower plate to realize shock absorption.
The connecting rods 12 include a plurality of connecting rods 12 arranged along the circumferential direction of the lower plate.
The rigid columns 10 are arranged along the circumferential direction of the lower plate 8, the upper parts of the rigid columns 10 penetrate through the lower plate 8, and the lower parts of the rigid columns 10 are installed on the cross. The upper plate and the lower plate are coaxially arranged, the area of the upper plate is smaller than that of the lower plate, and a through hole is formed in the center of the lower plate.
The damping circle is circular circle, circular circle install the connecting rod on, and the diameter coincidence of the axis of connecting rod and circular circle. Each connecting rod is provided with a plurality of damping rings.
The carrying device using the cross can carry four magnetic probes and can also carry two magnetic probes, the balance of the unmanned aerial vehicle can be met as long as the device is provided with symmetrical placement positions, the four magnetic probes can also be installed, if one magnetic probe breaks down when the unmanned aerial vehicle is detected, the other probe at the symmetrical position can be utilized to continue working, the load of the unmanned aerial vehicle is reduced, and the working efficiency is improved.
In order to consider that the instrument is convenient to carry, each section of the device is made into two small sections, the first section is made of carbon fibers with the length of 2.3 meters, the second section is made of glass fibers with the length of 1.2 meters, the second section is energy-saving and telescopic, certain scales are engraved on the second section, the purpose of doing so is that the four sections can be extended to the same length, and the unmanned aerial vehicle can fly to reach balance during flying. Still in order to reduce the interference of unmanned aerial vehicle to the detection precision of magnetic probe, must be not less than 3 meters with the distance of magnetic probe to unmanned aerial vehicle to ensure that the produced magnetic wave interference of unmanned aerial vehicle can not influence the detection precision of magnetic probe.
The purpose of adopting the telescopic device for the carrying device is to change according to the change of the terrain, and to continue working in some places with narrow working space, thereby increasing the working range. The telescoping device is also in order to reduce unmanned aerial vehicle to the interference of magnetic probe, reinforcing signal-to-noise ratio.
Further preferred, in order to guarantee the precision of magnetic probe, carrying device also adopts the big carbon fiber 6 of first section adoption intensity, the second section adopts the 5 preparation of glass fiber of no magnetism to form the telescopic link, the volume that the minimize adopted the metal, adopt glass fiber and the material as carrying device that carbon fiber combines to use, be favorable to alleviating unmanned aerial vehicle's load, the secondary magnetic field that also is favorable to producing disturbs magnetic probe, the quality of electromagnetic wave is gathered in the influence, it is great to lie in intensity with glass fiber's advantage, high temperature resistant and insulating nature are also better, still can not disturb magnetic probe.
In order to enable the magnetic probe to be capable of vertically downwards all the time in the flying process of the unmanned aerial vehicle, the rotating shafts comprise two rotating shafts, one motor rolling shaft 1 is arranged at the tail end of the telescopic rod and capable of rotating left and right, the other motor rolling shaft 2 perpendicular to the motor rolling shaft is arranged and has the function of controlling the magnetic probe to rotate back and forth, the two rolling shafts are mutually independent, the two rolling shafts are automatically controlled by an integrated circuit, the magnetic probe can be automatically adjusted in the flying process and kept vertically downwards all the time, the axis of the magnetic probe is vertically downwards, and the high quality and the application range of data measured by the magnetic probe can be guaranteed.
Furthermore, in order to fix the magnetic probe well, the device which is made into a circular ring and is provided with a small notch is adopted, and objects with the shapes of ears at the notches are tightly fixed by using a screw and a nut, so that the safety of the magnetic probe is ensured. The fixing device of the magnetic probe also adopts a flexible fixing method, so that the magnetic probes with different powers can be more favorably replaced, and the fixing device can not be easily loosened to damage the instrument.
The control system adopts an integrated circuit board, the integrated circuit has a function of controlling and adjusting the magnetic probe to keep vertical downward forever, the speed of the control system is not too high when the magnetic probe is adjusted to be vertical downward, otherwise, the airplane is not balanced but is unstable, the adjusting speed is uniformly reduced as much as possible, a gyroscope 15 is specifically arranged in the circular ring, the gyroscope 15 detects the angle of the magnetic probe, and then the control system 13 controls the rotation of the two rotating shafts according to the detected angle.
The specific using method comprises the following steps:
after installing carrying device at unmanned aerial vehicle, what the flexible length to the second section was first considered is local topography, if the topography is narrow and small just can not the pursuit of taste reduce unmanned aerial vehicle to the interference of magnetic probe and put the second section to the longest, still consider the factor of wind in addition, the wind is big can not expand it longest either. The appropriate length is selected.
Then, the magnetic probes are installed to use the four magnetic probes as much as possible, the signal-to-noise ratio is high, and the balance of the unmanned aerial vehicle is facilitated. If one magnetic probe is broken, the two magnetic probes are arranged at symmetrical positions, so that measurement can be performed, and the influence on the working progress caused by the damage of an instrument is reduced.
Considering that the installed device is rotated by 60 degrees due to damage during installation of the magnetic probe, the control system sends a signal to the adjusting system to enable the central shaft of the adjusting system to be slowly adjusted to be vertically downward in order to fix the magnetic probe.
The main problems solved by the invention are as follows: how to enable magnetic probe can be vertical downwards all the time at unmanned aerial vehicle in-process of flying, it can the horizontal rotation to have a motor roll axis at the end of pole, still one rather than the other motor roll axis of vertically, its effect is exactly can control the magnetic probe and rotate from beginning to end, these two roll axes are mutually independent, with integrated circuit with these two roll axis automatic control, can automatically regulated magnetic probe in flight, make it keep vertical downwards forever, magnetic probe's axis is vertical downwards, can guarantee that magnetic probe surveys that the data quality that can obtain is higher and application scope.
Claims (9)
1. An unmanned aerial vehicle carries on the electromagnetic probe device of transient state, characterized by, including the unmanned aerial vehicle organism, there is a cross in the inferior part of battery compartment of the said unmanned aerial vehicle organism, the said cross is connected with said battery compartment through a damping device; the two rods of the cross can stretch out and draw back along four directions, the end part of each rod is provided with a rotating shaft which can rotate back and forth and left and right, and the rotating shaft is provided with an installation seat for installing a magnetic probe;
the rotating shafts comprise two motor rolling shafts I which are arranged at the tail end of the telescopic rod and can rotate left and right, and the other motor rolling shaft II which is arranged on the motor rolling shaft I and is vertical to the telescopic rod; the motor rolling shaft I and the motor rolling shaft II are mutually independent, the two rolling shafts are automatically controlled by an integrated circuit, and the magnetic probe can be automatically adjusted in the flying process.
2. The transient electromagnetic probe device carried by the unmanned aerial vehicle as claimed in claim 1, wherein the damping device comprises an upper plate, a lower plate, a connecting rod, a damping ring and a rigid upright post, the connecting rod is connected to the bottom of the upper plate, the lower end of the connecting rod penetrates through the lower plate and is connected to the cross position of the cross, the lower plate is non-fixedly connected with the connecting rod, and the diameter of a hole through which the connecting rod penetrates on the lower plate is larger than that of the connecting rod; the lower plate can move relative to the connecting rod; the damping ring is arranged at the bottom of the lower plate and is arranged on the connecting rod; the rigid upright post is inserted on the lower plate.
3. The unmanned aerial vehicle carries on transient electromagnetic probe device of claim 2, characterized in that, the connecting rod includes a plurality ofly, and a plurality of connecting rods set up along the hypoplastron circumferencial direction.
4. The transient electromagnetic probe device carried by the unmanned aerial vehicle of claim 2, wherein the plurality of rigid columns are arranged along the circumferential direction of the lower plate, the upper part of each rigid column penetrates through the lower plate, and the lower part of each rigid column is mounted on the cross.
5. The transient electromagnetic probe device carried by the unmanned aerial vehicle as claimed in claim 2, wherein the upper plate and the lower plate are coaxially mounted, the area of the upper plate is smaller than that of the lower plate, and a through hole is formed in the center of the lower plate.
6. The transient electromagnetic probe device carried by the unmanned aerial vehicle of claim 2, wherein the damping ring is a circular ring, the circular ring is mounted on the connecting rod, and the axis of the connecting rod coincides with the diameter of the circular ring.
7. The transient electromagnetic probe device of claim 2, wherein each link is provided with a plurality of damping rings.
8. The transient electromagnetic probe device carried by the unmanned aerial vehicle of claim 1, wherein the cross is formed by installing four sections of telescopic rods at an angle of 90 degrees, each section of telescopic rod comprises two small sections, the first section is made of carbon fiber, the second section is made of glass fiber, and the second section can stretch and contract and is provided with certain scales on the second section.
9. The transient electromagnetic probe device carried by the unmanned aerial vehicle as claimed in claim 1, wherein the mounting base comprises a circular ring connected with a motor rolling shaft II, and a bolt is arranged on the circular ring and used for the magnetic probe, so that the safety of the magnetic probe is ensured.
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| CN201810288398.1A CN108680961B (en) | 2018-04-03 | 2018-04-03 | Unmanned aerial vehicle transient electromagnetic probe carrying device and carrying method |
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| WO2022105990A1 (en) * | 2020-11-17 | 2022-05-27 | Umag Solution Aps | Airborne structure for an array of geophysical sensors, to be towed by an aircraft, and kit and method for assembling the same |
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| CN109270579A (en) * | 2018-10-29 | 2019-01-25 | 中国有色金属工业昆明勘察设计研究院有限公司 | Transient electromagnetic reception device for small-sized more rotor low latitudes unmanned plane |
| CN111812724B (en) * | 2020-06-29 | 2021-08-27 | 山东大学 | Hidden karst pipeline detection method and system |
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