CN110979672B - Transient electromagnetic emission loop wiring device and method carried by unmanned aerial vehicle - Google Patents
Transient electromagnetic emission loop wiring device and method carried by unmanned aerial vehicle Download PDFInfo
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- CN110979672B CN110979672B CN201911242768.9A CN201911242768A CN110979672B CN 110979672 B CN110979672 B CN 110979672B CN 201911242768 A CN201911242768 A CN 201911242768A CN 110979672 B CN110979672 B CN 110979672B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D9/00—Equipment for handling freight; Equipment for facilitating passenger embarkation or the like
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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
- G01V3/08—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices
- G01V3/10—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices using induction coils
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Abstract
The invention discloses a transient electromagnetic emission loop wiring device and method carried by an unmanned aerial vehicle, and the device comprises the following steps: the unmanned aerial vehicle comprises an unmanned aerial vehicle body and a controller arranged on the unmanned aerial vehicle body, wherein the unmanned aerial vehicle is connected with a wire releasing part; mechanical arms connected with the unmanned aerial vehicle are arranged on two sides of the pay-off part respectively; the tail end of one mechanical arm is provided with a storage bin and a pay-off length metering device, and the tail end of the other mechanical arm is provided with an assembling mechanical arm; when the cable is paid off, the free end of the cable passes through the paying off length metering device. The invention can automatically complete the paying-off work of various terrains without manual wiring, greatly improves the working efficiency and simultaneously can prevent personal accidents from occurring when dangerous terrains such as mountainous regions and the like are detected.
Description
Technical Field
The invention relates to the technical field of transient electromagnetic emission loop wiring, in particular to a transient electromagnetic emission loop wiring device and method carried by an unmanned aerial vehicle.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The transient electromagnetic method is a geological exploration method commonly used in the field of current engineering construction. In the tunnel, due to space limitation, the transmitting loop can only adopt a multi-turn coil with smaller side length, so the detection distance is shorter; if adopt from the downward mode of surveying of tunnel top earth's surface, though can realize the long distance in face the place ahead and survey, nevertheless to the great tunnel of buried depth, need adopt great transmitting coil, lead to cable heavy, inconvenient carrying. This becomes one of the main difficulties in transient electromagnetic surveying on relatively rugged ground.
At present, the transmission return line of big length of side generally adopts the manual work to lay, and is inefficient, and is difficult to guarantee at rugged topography that each limit of coil is isometric, influences the detection precision. In addition, in the actual probing operation, the wiring time occupies most of the overall operation time. Therefore, the design of the accurate wiring device and method which can be independent of manpower is the core for improving the efficiency and the accuracy of the transient electromagnetic detection work of the long-side emission return wire.
Disclosure of Invention
In order to solve the problems, the invention provides a transient electromagnetic emission loop wiring device and method carried by an unmanned aerial vehicle, which can realize aerial wiring work and is not influenced by topographic factors; meanwhile, the device has a pay-off length metering function, can ensure that the side length of each transmitting return line conforms to the parameter setting, and ensures the detection precision; the efficiency and the quality of transient electromagnetic detection work of the large-side-length transmitting loop can be improved.
In some embodiments, the following technical scheme is adopted:
a transient electromagnetic emission return wire wiring device carried by an unmanned aerial vehicle comprises: the unmanned aerial vehicle comprises an unmanned aerial vehicle body and a controller arranged on the unmanned aerial vehicle body, wherein the unmanned aerial vehicle is connected with a wire releasing part; mechanical arms connected with the unmanned aerial vehicle are arranged on two sides of the pay-off part respectively; the tail end of one mechanical arm is provided with a storage bin and a pay-off length metering device, and the tail end of the other mechanical arm is provided with an assembling mechanical arm; when the cable is paid off, the free end of the cable passes through the paying off length metering device.
As a further improvement, the pay-off portion includes: the winding reel is driven to rotate by the rotating motor, a locker gear is arranged on a rotating shaft of the winding reel, telescopic locker telescopic teeth are arranged below the locker gear and in a position corresponding to the locker gear, and the winding reel is locked by the telescopic locker telescopic teeth and the locker gear in a meshed mode.
As a further improvement, a weight is arranged in the storage bin, and the controller can control the assembling manipulator to take out the weight from the storage bin and fix the weight to a set position of the cable.
As a further improvement, the weight member includes: a cable clamp, a spherical seat and a weight member; the cable clamp is connected with the counterweight member through the spherical support.
As a further improvement, the pay-off length metering device is arranged on the open side of the storage bin.
As a further improvement, the pay-off length measuring device is in communication with the controller for transmitting the length of the cable therethrough to the controller.
As a further improvement, be equipped with telescopic support on the unmanned aerial vehicle body, when the unmanned aerial vehicle body landed, through telescopic support and ground contact.
In other embodiments, the following technical solutions are adopted:
a transient electromagnetic emission loop wiring method carried by an unmanned aerial vehicle comprises the following steps:
setting a current transmitter placing position, and setting the side length of a transmitting return line, the position of a wiring starting point and the direction of a measuring line of the detection work;
the free end of the cable penetrates through a through hole of the pay-off length metering device, wiring operation is started, and the pay-off length is metered;
stopping the wire defense when the paying-off length reaches a set value, and fixing a counterweight at a set position of the cable to be used as a position of an inflection point of the launching return wire;
and after the inflection point of the launching loop is controlled to be in contact with the ground, the flying height and direction of the unmanned aerial vehicle are adjusted, and the process is repeated until the paying-off work is finished.
As a further improvement, the assembly manipulator is controlled to take out the counterweight piece from the storage bin and fix the counterweight piece at a set position of the cable by using the cable clamp.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention can automatically complete the paying-off work of various terrains without manual wiring, greatly improves the working efficiency and simultaneously can prevent personal accidents from occurring when dangerous terrains such as mountainous regions and the like are detected.
2. The invention can accurately control the side length and the trend of each emission return wire, and can install a counterweight hammer for the cable to ensure that each angular point is not easy to move, thereby ensuring that the emission return wires can keep a square shape and ensuring that the shape of the emission return wires conforms to the preset shape, and further avoiding the influence of errors caused by manual wiring on the detection precision.
Drawings
Fig. 1 is a schematic structural diagram of a transient electromagnetic transmitting loop wiring device carried by an unmanned aerial vehicle in an embodiment of the present invention;
FIG. 2 is a schematic view of a layout structure according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a counterweight hammer according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of the operation of a second apparatus according to an embodiment of the present invention;
the unmanned aerial vehicle comprises an unmanned aerial vehicle body 1, a rotor wing 2, a mechanical arm 3, a storage bin 4, a pay-off length meter 5, cables 6, a mechanical assembly hand 7, a pay-off system nacelle 8, a telescopic support 9, a nacelle arm 10, a nacelle outer wall 11, a rotating motor 12, a winding reel 13, a rotating shaft 14, a locking device telescopic locking tooth 15, a locking device gear 16, a rotating shaft bearing 17, a counterweight hammer cable clamp 18, a spherical support 19, a counterweight component 20 and a current emitter 21.
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.
The embodiments and features of the embodiments of the present invention may be combined with each other without conflict.
Example one
In one or more embodiments, disclosed is a transient electromagnetic emission return wiring device carried with a drone, with reference to fig. 1, comprising: unmanned aerial vehicle body 1, unwrapping wire portion and 3 triplexes of arm.
The unmanned aerial vehicle body 1 is internally provided with a controller and a GPS and carries a rechargeable battery for the whole work of the device; for guaranteeing the holistic stability of device, rotor 2 should be equipped with 2 to and above, and every rotor 2 below sets up a telescopic support 9 simultaneously, can protect the unwrapping wire system nacelle 8 of hanging down when unmanned aerial vehicle lands.
One end of the mechanical arm 3 is assembled below the unmanned aerial vehicle, is arranged on two sides of the assembly part and is distributed in a bilateral symmetry manner, so that the overall balance of the device system is prevented from being influenced, and the other end of the mechanical arm is provided with a counterweight hammer storage bin 4 or a mechanical assembly hand 7; the pay-off length gauge 5 has a wireless transmission function and is provided with a through hole, the length of a cable 6 passing through the hole during pay-off can be recorded and fed back to a central control computer, and the pay-off length gauge 5 is installed on the open side of the storage bin 4 for paying-off.
Referring to fig. 2, the wire discharging portion includes: nacelle outer wall 11, rotating electrical machine 12, spool 13, locker latch teeth 15, locker gear 16, rotating shaft 14, and rotating shaft bearing 17.
The rotating motor 12 is connected with the winding shaft 13 through a rotating shaft 14, and the left side and the right side of the rotating motor are respectively provided with one, so that the torque balance of the left side and the right side is ensured when the winding shaft 13 carries out the wire winding and unwinding work; and a rotating shaft bearing 17 is arranged at the intersection of the rotating shaft 14 and the nacelle outer wall 11 to reduce friction.
The locking gear 16 is fixed on the rotating shaft 14, and a telescopic locking tooth is arranged below the rotating shaft, and when the telescopic locking tooth is extended, the telescopic locking tooth is tightly meshed with the gear teeth of the telescopic locking tooth, so that a locking effect is achieved.
The flexible controller control of setting in unmanned aerial vehicle inside by the setting of locking ware. When the recorded pay-off length reaches a preset value, the pay-off length gauge 5 sends a signal to the controller, and the controller controls the extension of a telescopic rod of the locking device to realize a locking function; and after the wiring steering work is finished, the locking device is reopened and the wiring work of the next side is continued until the square return wire is laid.
The nacelle outer wall 11 is connected to the underside of the drone by a nacelle arm 10, making the system of devices an integral whole.
Referring to fig. 3, the weight hammer includes: a counterweight hammer cable clamp 18, a spherical seat 19, and a counterweight member 20.
The counterweight hammer is placed in the storage bin 4, a counterweight hammer cable clamp 18 is fixed on the cable 6 through a mechanical assembling hand 7 during use, and when the counterweight hammer cable clamp is placed on the ground, the spherical support 19 can ensure that a launching loop is naturally flat without restricting the shape of the launching loop; the weight member 20 can play a role of fixing, preventing the wiring work from affecting the shape of the launching loop.
In the wiring process, the transmitting loop is parallel to the ground. As shown in fig. 3, the spherical seat 19 can freely rotate in a large space (hemispherical space). Because the cable 6 clamp is designed longitudinally and is directly clamped on the cable 6 when in use, if the cable 6 clamp arranged at the corner of the transmitting loop and the counterweight member 20 are rigidly connected, a small section (the small section of the cable 6 clamped by the cable 6 clamp) of the transmitting loop is vertical to the ground at the corner due to the constraint of the cable 6 clamp; if the spherical support 19 is used for connection, the cable 6 clamped by the cable 6 clamp can be leveled by gravity, and the corner cannot be deformed due to the constraint of the cable 6 clamp, so that the launching loop is parallel to the ground as much as possible.
In actual operation the current transmitter 21 can be placed in position and the paying-off operation can be started from there.
The device can accurately control the side length and the trend of each transmitting loop, and meanwhile, a counterweight hammer can be installed on the cable 6 to ensure that each corner point is not easy to move, so that the transmitting loop can keep a square shape, the shape of the transmitting loop is ensured to be in line with the preset shape, and the influence of errors caused by manual wiring on detection precision is avoided.
Example two
In one or more embodiments, a transient electromagnetic transmission loop wiring method carried by an unmanned aerial vehicle is disclosed, and with reference to fig. 4, the method specifically includes the following steps:
1. the current transmitter 21 is placed at a position selected, and the side length of the transmitting loop, the position of the wiring starting point and the direction of the measuring line set by the current detection work are input into a central control computer.
2. Pass the through-wire hole of unwrapping wire length gauge 5 with 6 free ends of cable, unmanned aerial vehicle carries above-mentioned device and begins to lay wire work, and unwrapping wire length gauge 5 begins to work simultaneously.
3. The pay-off length gauge 5 feeds back the length that current cable 6 was played to the central control computer in real time, and when the pay-off length satisfied the requirement, pay-off length gauge 5 sent the signal to the central control computer, and the central control computer commander pay-off system stopped the pay-off, and the locking ware extension is fixed spool 13, and assembly manipulator takes out the counter weight hammer from storage bin 4 and utilizes cable 6 to press from both sides to fix it on cable 6 as the position of transmission return wire inflection point.
4. The unmanned aerial vehicle slowly adjusts the flying height until the inflection point of the launching loop contacts the ground.
5. Unmanned aerial vehicle adjustment flying height and direction to step 2 ~ 4 is repeated, and until the unwrapping wire work is accomplished, 6 fixation clamps of cable on the reel 13 are automatic to be opened.
6. After the detection of the measuring point is completed, any end of the cable 6 penetrates through the wire through hole and is fixed by the cable 6 fixing frame, and the unmanned aerial vehicle finishes the wire take-up work through the reverse process of the process.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.
Claims (7)
1. The utility model provides an utilize transition electromagnetic emission return wire wiring arrangement that unmanned aerial vehicle carried on, its characterized in that includes: the unmanned aerial vehicle comprises an unmanned aerial vehicle body and a controller arranged on the unmanned aerial vehicle body, wherein the unmanned aerial vehicle is connected with a wire releasing part; mechanical arms connected with the unmanned aerial vehicle are arranged on two sides of the pay-off part respectively; the tail end of one mechanical arm is provided with a storage bin and a pay-off length metering device, and the tail end of the other mechanical arm is provided with an assembling mechanical arm; when the paying-off is carried out, the free end of the cable passes through the paying-off length metering device;
the controller can control the assembling manipulator to take out the counterweight from the storage bin and fix the counterweight to a set position of the cable;
the weight member includes: a cable clamp, a spherical seat and a weight member; the cable clamp is connected with the counterweight member through the spherical support.
2. The transient electromagnetic launch return wiring device carried by a drone of claim 1, wherein said wire payout portion comprises: the winding reel is driven to rotate by the rotating motor, a locker gear is arranged on a rotating shaft of the winding reel, telescopic locker telescopic teeth are arranged below the locker gear and in a position corresponding to the locker gear, and the winding reel is locked by the telescopic locker telescopic teeth and the locker gear in a meshed mode.
3. The transient electromagnetic launching loop wiring device carried by an unmanned aerial vehicle as claimed in claim 1, wherein the loop length measuring device is mounted on the open side of the storage bin.
4. The transient electromagnetic launch return wiring device carried by a drone of claim 1, wherein said payout length metering device is in communication with the controller for transmitting the length of cable traversed to the controller.
5. The transient electromagnetic launching loop wiring device carried by the unmanned aerial vehicle as claimed in claim 1, wherein the unmanned aerial vehicle body is provided with a telescopic support, and the unmanned aerial vehicle body contacts with the ground through the telescopic support when landing.
6. A transient electromagnetic emission loop wiring method carried by an unmanned aerial vehicle, which is based on the transient electromagnetic emission loop wiring device carried by the unmanned aerial vehicle as claimed in any one of claims 1 to 5, and comprises:
setting a current transmitter placing position, and setting the side length of a transmitting return line, the position of a wiring starting point and the direction of a measuring line of the detection work;
the free end of the cable penetrates through a through hole of the pay-off length metering device, wiring operation is started, and the pay-off length is metered;
stopping paying off after the paying off length reaches a set value, and fixing a counterweight at a set position of the cable to be used as a position of an inflection point of the launching return wire;
and after the inflection point of the launching loop is controlled to be in contact with the ground, the flying height and direction of the unmanned aerial vehicle are adjusted, and the process is repeated until the paying-off work is finished.
7. The transient electromagnetic launching loop routing method carried by the unmanned aerial vehicle as claimed in claim 6, wherein the control assembly manipulator takes out the counterweight member from the storage bin and fixes the counterweight member at a set position of the cable by using a cable clamp.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911242768.9A CN110979672B (en) | 2019-12-06 | 2019-12-06 | Transient electromagnetic emission loop wiring device and method carried by unmanned aerial vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911242768.9A CN110979672B (en) | 2019-12-06 | 2019-12-06 | Transient electromagnetic emission loop wiring device and method carried by unmanned aerial vehicle |
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| CN110979672A CN110979672A (en) | 2020-04-10 |
| CN110979672B true CN110979672B (en) | 2021-04-13 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114620560B (en) * | 2022-04-24 | 2023-04-11 | 中国海洋大学 | Unmanned aerial vehicle-mounted automatic take-up and pay-off device for mineral exploration |
| CN115047527B (en) * | 2022-05-05 | 2024-06-25 | 中国煤炭地质总局物测队 | Method for wiring and detecting ground transient electromagnetic in complex region |
| CN116466734B (en) * | 2023-05-04 | 2024-02-06 | 山东御航智能科技有限公司 | Unmanned aerial vehicle threading method and system |
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| US10329016B1 (en) * | 2015-08-20 | 2019-06-25 | JAXON Enterprises, Inc. | Remote aerial manipulation platform |
| CN108128454A (en) * | 2017-11-10 | 2018-06-08 | 国家电网公司 | Unmanned plane livewire work line-throwing appliance |
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