CN114114432B - Unmanned aerial vehicle-based frequency domain multi-frequency electromagnetic detection system and method - Google Patents
Unmanned aerial vehicle-based frequency domain multi-frequency electromagnetic detection system and method Download PDFInfo
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Abstract
The invention discloses a frequency domain multi-frequency electromagnetic detection system and method based on an unmanned aerial vehicle. The transmitting module is used for generating and transmitting a pulse type primary electromagnetic field so as to enable the measuring area to generate a secondary electromagnetic field; the receiving module is used for receiving the secondary electromagnetic field; the compensation module is used for filtering the primary electromagnetic field and the interference electromagnetic field generated by the system; the central control module is used for setting the sampling frequency of each transmitting module and each receiving module and the transmitting frequency of each primary electromagnetic field, receiving and storing the data of the secondary electromagnetic field, and setting the filtering frequency of the compensating module for filtering the reverse electromagnetic field of the primary electromagnetic field and the interference electromagnetic field; the auxiliary measuring module is used for measuring position information and time information when the secondary electromagnetic field is received. The method has the advantages of simplicity, low cost, less flight limited area and capability of simultaneously measuring multiple frequencies.
Description
Technical Field
The invention relates to the technical field of aviation electromagnetic investigation, in particular to a frequency domain multi-frequency electromagnetic detection system and method based on an unmanned aerial vehicle.
Background
In the geophysical prospecting technology, electromagnetic prospecting is a common geophysical prospecting method, and is mainly used for UXO detection, groundwater investigation, underground solid waste and pollutant detection, archaeology, soil evaluation, urban pipeline detection and the like. The method is mainly applied to time domain aviation electromagnetic measurement systems at present, and comprises a fixed wing aviation electromagnetic measurement system and a helicopter aviation electromagnetic measurement system. Commercial fixed wing time domain digital aero-electromagnetic systems are mainly GEOTEMR, GEOTEMDEEPTM, TEMPEST, MEGATEM, QUESTEMR and SPECTREM systems. Commercial helicopter time domain digital aviation electromagnetic systems mainly comprise AeroTEM, VTEM, THEM, explorHEM, hoisTEM, NEWTEM, heliGEOTEM, skyTEM systems, ORAGS-TEM systems and the like. The time domain aviation electromagnetic measurement system is large in system, complex in structure, mostly based on man-machine development, high in cost of manpower and material resources and limited in flight operation airspace.
Disclosure of Invention
Therefore, the invention provides a frequency domain multi-frequency electromagnetic detection system and method based on an unmanned aerial vehicle, which are used for solving the technical problems that the existing time domain aviation electromagnetic measurement system depends on an unmanned aerial vehicle, the system is huge, the structure is complex, the cost of manpower and material resources is high and the space of flight operation is limited, and can realize synchronous measurement of a plurality of frequencies.
In order to achieve the above object, the present invention provides the following technical solutions:
a first aspect of the present invention provides a frequency domain multi-frequency electromagnetic detection system based on an unmanned aerial vehicle, comprising:
a plurality of transmitting modules for generating and transmitting a pulsed primary electromagnetic field to the measurement region, such that conductors within the measurement region generate eddy currents based on the primary electromagnetic field to generate a secondary electromagnetic field;
the compensation module is used for filtering out the primary electromagnetic field and the interference electromagnetic field generated by the system in real time through the reverse electromagnetic field generated by the compensation coil;
the receiving modules are in one-to-one correspondence with the transmitting modules and are used for receiving the secondary electromagnetic field;
the central control module is used for setting the sampling frequency of each transmitting module and each receiving module and the transmitting frequency of each primary electromagnetic field, so that the frequencies of the primary electromagnetic fields transmitted by different transmitting modules are different, the different transmitting modules alternately transmit the primary electromagnetic fields, the data of the secondary electromagnetic fields received by the receiving modules are received and stored, and the filtering frequency of the reverse electromagnetic field of the compensating module is set;
unmanned aerial vehicle, transmitting module, receiving module and well accuse module with unmanned aerial vehicle can dismantle the connection.
Further, the device also comprises strip-shaped substrates which are equal in number to the emission modules, the middle sections of the substrates are stacked, the substrates are distributed at equal angles relative to the stacking points, the substrates are fixed at the bottom or below of the unmanned aerial vehicle, one emission module is fixed at one end of each substrate, a receiving module corresponding to the emission module is fixed at the other end of each substrate, the central control module is arranged on a certain substrate, and the compensation modules are arranged at the stacking points of the substrates.
Further, two base plates are arranged and are arranged in a crisscross mode.
Further, the distance between the transmitting module and the receiving module on the same substrate is 1.5-2m.
Further, the unmanned aerial vehicle is a low-magnetic rotary wing unmanned aerial vehicle, and the transmitting module, the receiving module and the central control module are connected with the unmanned aerial vehicle in a plug-in or locking mode in a quick dismounting mode.
Further, the transmitting module has a transmitting coil, the receiving module has a receiving coil, and the transmitting coil, the receiving coil and the compensating coil are coplanar coils.
Further, the device also comprises an auxiliary measurement module with a positioning unit and a time service unit, wherein the auxiliary measurement module is used for collecting the position information and the time information of each secondary electromagnetic field when the secondary electromagnetic field is received, the auxiliary measurement module and the central control module are fixed on the same substrate, and the central control module synchronously stores the position information, the time information and the secondary electromagnetic field data.
Further, the emission frequency of each primary electromagnetic field is between 30Hz-95 kHz.
The second aspect of the invention provides a frequency domain multi-frequency electromagnetic detection method based on an unmanned aerial vehicle, which adopts the frequency domain multi-frequency electromagnetic detection system based on the unmanned aerial vehicle of the first aspect of the invention, and comprises the following steps:
dividing a measurement area into a plurality of connected rectangular areas according to a target task, determining a flight mode, a flight height, a flight speed and a survey line distance, and planning a unmanned aerial vehicle flight path;
setting sampling frequency of each transmitting module and each receiving module through a central module, setting transmitting frequency of a primary electromagnetic field, and setting filtering frequency of a compensating module for filtering the primary electromagnetic field and a reverse electromagnetic field of an interference electromagnetic field generated by a system;
the unmanned aerial vehicle stably flies according to a planned flight path, and each transmitting module transmits a pulse type primary electromagnetic field according to set settings;
the compensation module generates a reverse electromagnetic field of the primary electromagnetic field and the interference electromagnetic field based on the filtering frequency, and filters the primary electromagnetic field and the interference electromagnetic field in real time;
a receiving module corresponding to the transmitting module receives a secondary electromagnetic field excited by the underground medium in the measuring area based on the primary electromagnetic field;
the auxiliary measurement module synchronously collects position information and time information when the secondary electromagnetic field is received;
the central module synchronously stores the secondary electromagnetic field data and the position information and the time information when receiving the secondary electromagnetic field;
and (5) finishing the flight and finishing the measurement.
The invention has the following advantages:
based on the unmanned aerial vehicle, the unmanned aerial vehicle is not dependent any more, so that the labor cost can be reduced, and the limited area of flight operation is reduced; the whole system mainly comprises an unmanned plane, a transmitting module, a receiving module, a central control module, a substrate, a compensation module and an auxiliary measurement module, and has the advantages of simple structure and low cost; because a plurality of transmitting modules (one transmitting module corresponds to one receiving module) are adopted, the primary electromagnetic field frequency of different transmitting modules can be set through the central control module, and the different transmitting modules are controlled to alternately transmit primary electromagnetic fields, the purpose of measuring the primary flying multi-frequency can be achieved; the data of the secondary electromagnetic field is useful data, and the primary electromagnetic field and electromagnetic interference caused by the system are removed through the compensation module, so that the central control module can only store the data of the secondary electromagnetic field; the measured position and time have great influence on data analysis, real-time position information and time information during measurement can be obtained through the auxiliary measurement module, and the real-time position information and the time information and secondary electromagnetic field data are stored together, so that accuracy during later data analysis (after the unmanned aerial vehicle lands, data analysis is performed through another set of system) is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It will be apparent to those skilled in the art from this disclosure that the drawings described below are merely exemplary and that other embodiments may be derived from the drawings provided without undue effort.
The structures, proportions, sizes, etc. shown in the present specification are shown only for the purposes of illustration and description, and are not intended to limit the scope of the invention, which is defined by the claims, so that any structural modifications, changes in proportions, or adjustments of sizes, which do not affect the efficacy or the achievement of the present invention, should fall within the scope of the invention.
Fig. 1 is a schematic diagram (bottom view) of a frequency domain multi-frequency electromagnetic detection system based on an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is a schematic circuit diagram of a frequency domain multi-frequency electromagnetic detection system based on an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 3 is a flowchart of a frequency domain multi-frequency electromagnetic detection method based on an unmanned aerial vehicle according to an embodiment of the present invention.
In the figure: the system comprises a 1-unmanned aerial vehicle, a 2-substrate, a 3-transmitting module, a 4-receiving module, a 5-central control module, a 6-compensating module and a 7-auxiliary measuring module.
Detailed Description
Other advantages and advantages of the present invention will become apparent to those skilled in the art from the following detailed description, which, by way of illustration, is to be read in connection with certain specific embodiments, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The terms such as "upper", "lower", "left", "right", "middle" and the like are also used in the present specification for convenience of description, but are not intended to limit the scope of the present invention, and the changes or modifications of the relative relationship thereof are considered to be within the scope of the present invention without substantial modification of the technical content.
As shown in fig. 1 and 2, embodiment 1 provides a frequency domain multi-frequency electromagnetic detection system based on a unmanned aerial vehicle, which comprises a unmanned aerial vehicle 1, two substrates 2, two transmitting modules 3, two receiving modules 4, a central control module 5, a compensation module 6 and an auxiliary measurement module 7. The central control module 5 is provided with a data interface so as to export data; a battery is provided internally to power the modules.
The base plates 2 are strip-shaped, the two base plates 2 are arranged in a cross shape, each base plate is 1.5-2m long, and the middle positions are superposed. Two substrates 2 fixed to each other are fixed to the lower part of the unmanned aerial vehicle or fixed to the lower part of the unmanned aerial vehicle 1 through a fixing rod. It should be noted that three base plates 2 may be provided and distributed in snowflake shape, and at this time, three transmitting modules 3 and three receiving modules 4 are provided; four blocks can be arranged and distributed in a shape of a Chinese character 'mi', and at this time, the transmitting module 3 and the receiving module 4 are all four.
Two ends of each substrate 2 are respectively fixed with a transmitting module 3 and a receiving module 4. The transmitting module 3 and the receiving module 4 on the same substrate 2 are spaced 1.5-2m apart, for example 1.5m apart. The transmitting module 3 comprises a transmitting coil, and the transmitting module 3 is used for generating and transmitting a pulse type primary electromagnetic field to the measuring area so that a conductor in the measuring area generates eddy current based on the primary electromagnetic field to generate a secondary electromagnetic field; the emission frequency of the primary electromagnetic field is between 30Hz and 95kHz, and the sampling frequency of the emission module 3 and the emission frequency of the emitted primary electromagnetic field are set through the central control module 5. The receiving modules 4 are in one-to-one correspondence with the transmitting modules 3, each receiving module 4 is provided with a receiving coil, and the receiving modules 4 are used for receiving the secondary electromagnetic field; the sampling frequency of the receiving module 4 is set through the central control module 5, the receiving module 4 corresponds to the transmitting module 3 one by one, and the sampling frequencies of the corresponding receiving module 4 and the transmitting module 3 are the same. The compensation module 6 is arranged on the overlapped point of the two substrates 2, the compensation module 6 is provided with a compensation coil, and a reverse electromagnetic field generated by the compensation coil is used for filtering out a primary electromagnetic field and an interference electromagnetic field generated by the system in real time; the filtering frequency of the reverse electromagnetic field is set by the central control module 5. For example: the primary electromagnetic field frequency emitted by a certain emission module 3 arranged by the central control module 5 is 500Hz; the subsurface medium in the measurement zone is based on a secondary electromagnetic field excited by a primary electromagnetic field of 500Hz; the filtering frequency of the compensation module 6 is 500Hz and the frequency of an interference electromagnetic field generated by the system, wherein the interference electromagnetic field is an actual measurement electromagnetic field when the unmanned aerial vehicle flies, and the compensation module 6 generates a reverse electromagnetic field to filter out a primary electromagnetic field and the interference electromagnetic field; the receiving module 4 corresponding to the transmitting module 3 receives a secondary electromagnetic field excited by a conductor of the 500Hz primary electromagnetic field in a measuring area and transmits data of the secondary electromagnetic field to the central control module 5; the central control module 5 stores the received data of the secondary electromagnetic field. The transmitting coil, the receiving coil and the compensating coil are coplanar coils. The central control module 5 is disposed on the upper substrate 2, and is configured to set sampling frequencies of the two transmitting modules 3 and the two receiving modules 4 and transmitting frequencies of the two primary electromagnetic fields, so that the frequencies of the primary electromagnetic fields transmitted by the two transmitting modules 3 are different, and the two transmitting modules 3 alternately transmit the primary electromagnetic fields. For example, the emission frequencies are 1s, one emission module 3 emits a primary electromagnetic field of 500Hz at half second time, the other emission module 3 emits a primary electromagnetic field of 60kHz at full second time, and the primary electromagnetic fields emitted by the two emission modules 3 cannot interfere with each other and the two secondary electromagnetic fields cannot interfere with each other due to the pulse signals; correspondingly, the compensation module 6 generates a reverse electromagnetic field of 500Hz and a reverse electromagnetic field of an interference electromagnetic field at half second, and the compensation module 6 generates a reverse electromagnetic field of 60kHz and a reverse electromagnetic field of an interference electromagnetic field at whole second; correspondingly, one receiving module 4 receives the secondary electromagnetic field excited by the primary electromagnetic field of 500Hz at half second time, and the other receiving module 4 receives the secondary electromagnetic field excited by the primary electromagnetic field of 60kHz at full second time. The auxiliary measuring module 7 has a positioning unit and a timing unit, the auxiliary measuring module 7 and the central control module 5 are fixed on the same substrate 2, and in general, the compensating module 6 is at the overlapping point, and the auxiliary measuring module 7 and the central control module 5 are respectively at two sides of the overlapping point for balancing the center of gravity. The auxiliary measurement module 7 is used for collecting position information and time information when each secondary electromagnetic field is received, and the central control module 5 synchronously stores the position information and the time information with the secondary electromagnetic field data; for example: and receiving a secondary electromagnetic field at 9.5s, collecting the position information and the time information at the moment, and synchronously storing the data of the secondary electromagnetic field with the position information and the time information collected at 9.5 s.
The unmanned aerial vehicle is a low-magnetic rotary wing unmanned aerial vehicle, and demagnetizes unnecessary ferromagnetic substances in instrument equipment, so that the dynamic electromagnetic interference of the system is reduced to the minimum; the transmitting module, the receiving module and the central control module are connected with the unmanned aerial vehicle in a plug-in or locking mode in a quick dismounting and mounting mode.
Based on the unmanned aerial vehicle, the unmanned aerial vehicle is not dependent any more, so that the labor cost can be reduced, and the limited area of flight operation is reduced; the whole system mainly comprises an unmanned aerial vehicle 1, a substrate 2, a transmitting module 3, a receiving module 4, a central control module 5, a compensating module 6 and an auxiliary measuring module 7, and has the advantages of simple structure and low cost; because a plurality of transmitting modules 3 (one transmitting module 3 corresponds to one receiving module 4) are adopted, the primary electromagnetic field frequency of different transmitting modules 3 can be set through the central control module 5, and the different transmitting modules 3 are controlled to alternately transmit primary electromagnetic fields, the purpose of one-time flying multi-frequency measurement can be realized; the data of the secondary electromagnetic field is useful data, and the primary electromagnetic field and the interference electromagnetic field are removed through the compensation module 6, so that the data of the secondary electromagnetic field can be only saved in the central control module 5; the measured position and time have great influence on data analysis, real-time position information and time information during measurement can be obtained through the auxiliary measurement module 7, and the real-time position information and the time information and secondary electromagnetic field data are stored together, so that accuracy during later data analysis (after the unmanned aerial vehicle falls to the ground, data analysis is carried out through another set of system) is improved.
As shown in fig. 3, embodiment 2 provides a frequency domain multi-frequency electromagnetic detection method based on an unmanned aerial vehicle, and the frequency domain multi-frequency electromagnetic detection system based on the unmanned aerial vehicle in the embodiment is adopted, which comprises the following steps:
step S1, dividing a measurement area into a plurality of connected rectangular areas according to a target task, determining a flight mode, a flight height, a flight speed and a survey line distance, and planning a flight path of the unmanned aerial vehicle. This step may be performed using a drone ground station.
Step S2, setting sampling frequency of each transmitting module and each receiving module through a central module, setting transmitting frequency of a primary electromagnetic field, and setting filtering frequency of a reverse electromagnetic field of a compensating module for filtering the primary electromagnetic field and an interference electromagnetic field generated by the system.
And S3, the unmanned aerial vehicle stably flies according to the planned flight path, and each transmitting module transmits a pulse type primary electromagnetic field according to the set setting. In the step, the unmanned aerial vehicle flies according to a flight path formulated by a ground station of the unmanned aerial vehicle under the positioning of a GPS of the unmanned aerial vehicle.
And S4, the compensation module generates a reverse electromagnetic field of the primary electromagnetic field and the interference electromagnetic field based on the filtering frequency, and filters the primary electromagnetic field and the interference electromagnetic field in real time.
And S5, a receiving module corresponding to the transmitting module receives a secondary electromagnetic field excited by the underground medium in the measuring area based on the primary electromagnetic field. In this step, the receiving module and the transmitting module are located on the same substrate.
And S6, synchronously acquiring position information and time information when the secondary electromagnetic field is received by the auxiliary measurement module.
Step S7, the central module synchronously stores the secondary electromagnetic field data and the position information and the time information when the secondary electromagnetic field is received.
And S8, finishing the flight and finishing the measurement.
Wherein, the steps S1 and S2 can be performed simultaneously or the order can be reversed; in the process of step S3, steps S4-S7 are continuously performed.
While the invention has been described in detail in the foregoing general description and specific examples, it will be apparent to those skilled in the art that modifications and improvements can be made thereto. Accordingly, such modifications or improvements may be made without departing from the spirit of the invention and are intended to be within the scope of the invention as claimed.
Claims (2)
1. A frequency domain multi-frequency electromagnetic detection system based on an unmanned aerial vehicle, comprising:
a plurality of transmitting modules for generating and transmitting a pulsed primary electromagnetic field to the measurement region, such that conductors within the measurement region generate eddy currents based on the primary electromagnetic field to generate a secondary electromagnetic field;
the compensation module is used for filtering out the primary electromagnetic field and the interference electromagnetic field generated by the system in real time through the reverse electromagnetic field generated by the compensation coil;
the receiving modules are in one-to-one correspondence with the transmitting modules and are used for receiving the secondary electromagnetic field;
the central control module is used for setting the sampling frequency of each transmitting module and each receiving module and the transmitting frequency of each primary electromagnetic field, so that the frequencies of the primary electromagnetic fields transmitted by different transmitting modules are different, the different transmitting modules alternately transmit the primary electromagnetic fields, the data of the secondary electromagnetic fields received by the receiving modules are received and stored, and the filtering frequency of the reverse electromagnetic field of the compensation module is set so that the reverse electromagnetic field and each primary electromagnetic field are generated simultaneously, and the filtering frequency is the same as the sampling frequency;
the transmitting module, the receiving module and the central control module are detachably connected with the unmanned aerial vehicle;
the frequency domain multi-frequency electromagnetic detection system based on the unmanned aerial vehicle further comprises strip-shaped substrates, wherein the strip-shaped substrates are equal in number with the emission modules, the middle sections of the substrates are overlapped, the substrates are distributed at equal angles relative to the overlapped points, the substrates are fixed at the bottom or below the unmanned aerial vehicle, one emission module is fixed at one end of each substrate, a receiving module corresponding to the emission module is fixed at the other end of each substrate, the central control module is arranged on one substrate, the compensation modules are arranged at the overlapped points of the substrates, the substrates are provided with two substrates, the two substrates are arranged in a crisscross manner, and the distance between the emission modules and the receiving modules on the same substrate is 1.5-2m;
the unmanned aerial vehicle is a low-magnetic rotary wing unmanned aerial vehicle, and the transmitting module, the receiving module and the central control module are connected with the unmanned aerial vehicle in a plug-in or locking mode in a rapid dismounting manner;
the transmitting module is provided with a transmitting coil, the receiving module is provided with a receiving coil, and the transmitting coil, the receiving coil and the compensating coil are coplanar coils;
the frequency domain multi-frequency electromagnetic detection system based on the unmanned aerial vehicle further comprises an auxiliary measurement module with a positioning unit and a time service unit, wherein the auxiliary measurement module is used for collecting position information and time information when each secondary electromagnetic field is received, the auxiliary measurement module and the central control module are fixed on the same substrate, and the central control module synchronously stores the position information, the time information and the secondary electromagnetic field data;
the emission frequency of each primary electromagnetic field is between 30Hz and 95 kHz.
2. The frequency domain multi-frequency electromagnetic detection method based on the unmanned aerial vehicle is characterized by adopting the frequency domain multi-frequency electromagnetic detection system based on the unmanned aerial vehicle as claimed in claim 1, and comprising the following steps:
dividing a measurement area into a plurality of connected rectangular areas according to a target task, determining a flight mode, a flight height, a flight speed and a survey line distance, and planning a unmanned aerial vehicle flight path;
setting sampling frequency of each transmitting module and each receiving module through a central module, setting transmitting frequency of a primary electromagnetic field, and setting filtering frequency of a compensating module for filtering the primary electromagnetic field and a reverse electromagnetic field of an interference electromagnetic field generated by a system;
the unmanned aerial vehicle stably flies according to a planned flight path, and each transmitting module transmits a pulse type primary electromagnetic field according to set settings;
the compensation module generates a reverse electromagnetic field of the primary electromagnetic field and the interference electromagnetic field based on the filtering frequency, and filters the primary electromagnetic field and the interference electromagnetic field in real time;
a receiving module corresponding to the transmitting module receives a secondary electromagnetic field excited by the underground medium in the measuring area based on the primary electromagnetic field;
the auxiliary measurement module synchronously collects position information and time information when the secondary electromagnetic field is received;
the central module synchronously stores the secondary electromagnetic field data and the position information and the time information when receiving the secondary electromagnetic field;
and (5) finishing the flight and finishing the measurement.
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