CN115097528A - Aerial electromagnetic signal observation device and system carried by unmanned aerial vehicle - Google Patents
Aerial electromagnetic signal observation device and system carried by unmanned aerial vehicle Download PDFInfo
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- CN115097528A CN115097528A CN202210689399.3A CN202210689399A CN115097528A CN 115097528 A CN115097528 A CN 115097528A CN 202210689399 A CN202210689399 A CN 202210689399A CN 115097528 A CN115097528 A CN 115097528A
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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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
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- Y02A90/30—Assessment of water resources
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Abstract
The application provides aerial electromagnetic signal observation device and system that unmanned aerial vehicle carried on, the device includes: the cable comprises an inner frame, an outer frame and a flexible bracket which are connected with each other, wherein the surface of the outer frame is provided with a plurality of hanging points for connecting cables; the flexible support is arranged below the unmanned aerial vehicle, the flexible support is of a multi-spoke umbrella-shaped structure, and the top end of each spoke is connected to a hanging point of the outer frame through a cable; the outer frame is of a hollow closed structure, and each electronic unit of the receiver is arranged in the pipe of the outer frame; one or more cable interfaces are arranged on the surface of the outer frame and used for connecting a sensor output signal cable; the inner frame is used for accommodating an inductive magnetic sensor. Stability of the sensor in flight can be enhanced, and motion noise can be greatly and remarkably suppressed.
Description
Technical Field
The invention relates to the technical field of geophysical exploration, in particular to an aerial electromagnetic signal observation device and system carried by an unmanned aerial vehicle.
Background
The artificial source electromagnetic method utilizes the grounding conducting wire or the closed loop as an emitting device to excite the earth, and extracts the electrical parameter distribution information of the earth by observing the earth response signal. The traditional electromagnetic method device is arranged on the ground surface, and the rapid work is difficult to be carried out in desert, gobi, mountain land, wetland and dense water network areas. In order to overcome the limitation of topographic and geomorphic conditions, two types of aviation electromagnetic observation methods have appeared in sequence since the last seventy years: all-Aviation Electromagnetic Method (AEM) and Semi-aviation electromagnetic method (SAEM).
All detection equipment is carried on the flying platform by the AEM, the working efficiency is high, and parameters such as the transmitting power, the antenna size and the like are limited by the power supply and carrying capacity of the flying platform, so that the detection depth is relatively limited. Unlike AEM, the SAEM method typically places the transmitting end (transmitter + antenna) of the system on the ground and the receiving end (receiver + sensor) on the flying platform. The parameters such as weight, power and the like of the transmitting end can be unlimited in principle, so that the detection depth larger than that of AEM can be realized; meanwhile, the observation device is carried on the flying platform, so that the movement observation of the earth response can be realized, and the higher working efficiency can be achieved.
According to different application requirements, a receiving end of the SAEM generally has two design schemes:
1) the multi-field quantity and multi-component composite sensor can acquire more detection information in one flight, however, the whole weight of the sensor nacelle is usually larger due to the design, a helicopter or a heavy unmanned aerial vehicle is required to be carried, and the detection cost is higher.
2) Although the single-field quantity and single-component sensor can only be used for observing Z-axis magnetic field response generally, the system is relatively simple in structure and light in overall weight, a civil light and small unmanned aerial vehicle can be used for carrying the system, and the storage, operation and maintenance costs are very low.
In contrast, the second solution is more attractive for small and medium-sized users and economically less developed areas.
Currently, a mainstream mounting form of a single field amount and a single component amount is shown in fig. 1. Mounting an SAEM receiver at the bottom of the unmanned aerial vehicle; one end of a main cable structure is connected to the bottom of the unmanned aerial vehicle, and the other end of the main cable structure is connected with an umbrella-shaped cable structure used for mounting an SAEM sensor; and the data cable is adopted to connect the SAEM receiver and the sensor, so that the observation data can be recorded and stored. The carrying form has simple structure and easy realization, and has been widely used.
In application, the carrying form has certain problems, mainly as follows:
1) the single main cable structure causes the sensor to easily generate reciprocating oscillation in a vertical advancing direction on a horizontal plane in flight. This phenomenon is particularly evident when the unmanned aerial vehicle is turning (when entering a new survey line) and there is a survey wind. In practical observation, it is found that the amplitude of such oscillations is often large, and the duration is long, which can cause the projection area of the sensor (coil) on the horizontal plane to change dramatically for a long time, thereby having a serious influence on the observed data.
2) The receiver is installed in the unmanned aerial vehicle below, and the electromagnetic noise and the mechanical shock of unmanned aerial vehicle itself can produce the apparent interference to the data of receiving. Meanwhile, a long data cable is adopted to connect the receiver and the sensor, so that the intrusion probability of external noise is increased, the weight of the system is increased, and the data quality is influenced finally.
The current design option for longer main lines (typically more than 10 meters) is based primarily on the following considerations: place the sensor in the place far away from unmanned aerial vehicle to reduce the influence of unmanned aerial vehicle electromagnetic noise to data. However, practice proves that: on one hand, the motion noise introduced by the swinging of the sensor is far stronger in amplitude and more complex in characteristics than the electromagnetic noise of the unmanned aerial vehicle; on the other hand, the simple distance of pulling open unmanned aerial vehicle and sensor, and install the receiver in the unmanned aerial vehicle below, can not solve the problem completely, unmanned aerial vehicle's interference still can get into data through the receiver.
Disclosure of Invention
The invention provides an aerial electromagnetic signal observation device and system carried by an unmanned aerial vehicle, which can obviously enhance the flying stability of a sensor and greatly inhibit motion noise.
In order to achieve the purpose of the invention, the technical scheme adopted by the invention is as follows:
in a first aspect, the present invention provides an airborne electromagnetic signal observation apparatus carried by an unmanned aerial vehicle, including:
the cable comprises an inner frame, an outer frame and a flexible bracket which are connected with each other, wherein the surface of the outer frame is provided with a plurality of hanging points for connecting cables; the flexible support is arranged below the unmanned aerial vehicle, the flexible support is of a multi-spoke umbrella-shaped structure, and the top end of each spoke is connected to a hanging point of the outer frame through a cable;
the outer frame is of a hollow closed structure, and each electronic unit of the receiver is arranged in the pipe of the outer frame; one or more cable interfaces are arranged on the surface of the outer frame and used for connecting a sensor output signal cable; the inner frame is used for accommodating an inductive magnetic sensor.
Preferably, the inner frame is horizontally coplanar and concentric with the outer frame.
Preferably, the overall shape of the outer frame comprises a circle and a square, and the cross-sectional shape of the outer frame tube comprises a circle and a square.
Preferably, the device of claim 1, wherein: the inner frame and the outer frame are connected by adopting a damping material.
Preferably, the number of cable ports on the surface of the outer frame is set according to the number of sensors accommodated by the inner frame.
Preferably, the inner frame houses a single Z-axis inductive magnetic sensor, or a dual axis inductive magnetic sensor, or a triple axis inductive magnetic sensor.
Preferably, the number of the spokes in the flexible support is the same as that of the hanging points on the outer frame, and one end of each cable is connected to the top end of each spoke, and the other end of each cable is connected to the hanging points on the outer frame.
Preferably, when the inner frame is used for accommodating a single induction type magnetic sensor, the overall shape of the inner frame comprises a circle and a square, the cross-sectional shape of an inner frame pipe comprises a circle and a square, the inner frame pipe is internally provided with electronic units for installing the induction type magnetic sensor, and the surface of the inner frame is provided with a cable interface for connecting a sensor output signal cable;
when the inner frame is used for accommodating a double-shaft induction type magnetic sensor, the inner frame is formed by combining two orthogonal tubular frames, wherein one frame is used for observing electromagnetic signals in the advancing direction of the unmanned aerial vehicle, and the other frame is used for observing electromagnetic signals in the vertical direction; the overall shape of each of the two orthogonal tubular frames of the inner frame comprises a circle, a square; the cross section shapes of the pipes of the two orthogonal tubular frames of the inner frame comprise a circle and a square, electronic units for installing the induction type magnetic sensor are arranged in the two orthogonal tubular frames of the inner frame, and the surfaces of the two orthogonal tubular frames are respectively provided with a cable interface for connecting a sensor output signal cable;
when the inner frame is used for accommodating a three-axis induction type magnetic sensor, the inner frame is formed by combining three orthogonal tubular frames and is respectively used for observing an electromagnetic signal in the advancing direction of the unmanned aerial vehicle, an electromagnetic signal in the vertical direction and an electromagnetic signal in the horizontal direction perpendicular to the advancing direction of the unmanned aerial vehicle; the overall shape of each of the three orthogonal tubular frames of the inner frame comprises circular, square; the cross section shapes of the pipes of the three orthogonal tubular frames of the inner frame comprise a circle and a square, electronic units for installing the induction type magnetic sensor are arranged in the three orthogonal tubular frames of the inner frame, and the surfaces of the three orthogonal tubular frames are respectively provided with a cable interface for connecting a sensor output signal cable.
In a second aspect, the present invention further provides an aerial electromagnetic signal observation system carried by an unmanned aerial vehicle, including: the unmanned aerial vehicle comprises an unmanned aerial vehicle, an inner frame, an outer frame and a flexible support, wherein the inner frame, the outer frame and the flexible support are connected with each other; the flexible support is arranged below the unmanned aerial vehicle, the flexible support is of a multi-spoke umbrella-shaped structure, and the top end of each spoke is connected to a hanging point of the outer frame through a cable;
the outer frame is of a hollow closed structure, and the interior of a pipe of the outer frame is used for mounting each electronic unit of the receiver; one or more cable interfaces are arranged on the surface of the outer frame and used for connecting a sensor output signal cable; the inner frame is used for accommodating an inductive magnetic sensor.
Preferably, the inner frame and the outer frame are connected by a shock-absorbing material.
Compared with the prior art, the invention has the following beneficial effects:
the invention provides an aerial electromagnetic signal observation device and system carried by an unmanned aerial vehicle, wherein a receiver-sensor adopts an integrated structure, and an umbrella-shaped flexible support is utilized, so that the stability of the sensor in flight is obviously enhanced while the electromagnetic noise of the unmanned aerial vehicle is fully avoided, and the motion noise is greatly and obviously inhibited, thereby having important significance for improving the quality of semi-aerial observation data.
Drawings
FIG. 1 is a schematic view of an airborne electromagnetic signal observation apparatus mounted on a machine in the related art;
fig. 2 is a schematic structural diagram of an aerial electromagnetic signal observation device mounted on an unmanned aerial vehicle according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the following description of the embodiments of the present invention with reference to the accompanying drawings is provided, and it should be noted that, in the case of conflict, features in the embodiments and the embodiments in the present application may be arbitrarily combined with each other.
As shown in fig. 2, an embodiment of the present invention provides an airborne electromagnetic signal observation device carried by an unmanned aerial vehicle, including:
the cable comprises an inner frame, an outer frame and a flexible bracket which are connected with each other, wherein the surface of the outer frame is provided with a plurality of hanging points for connecting cables; the flexible support is arranged below the unmanned aerial vehicle, the flexible support is of a multi-spoke umbrella-shaped structure, and the top end of each spoke is connected to a hanging point of the outer frame through a cable;
the outer frame is of a hollow closed structure, and each electronic unit of the receiver is arranged in the pipe of the outer frame; one or more cable interfaces are arranged on the surface of the outer frame and used for connecting a sensor output signal cable; the inner frame is used for accommodating an inductive magnetic sensor.
In the embodiment of the present invention, the overall shape of the outer frame includes, but is not limited to, circular and square, and the cross-sectional shape of the outer frame tube includes, but is not limited to, circular and square. And inside the outer frame pipe, the electronic units of the receiver are installed. The surface of the outer frame is provided with cable interfaces, and the number of the cable interfaces is determined according to the number of the sensors accommodated in the inner frame and is used for connecting the sensor output signal cables. The surface of the outer frame is provided with a plurality of hanging points for connecting cables. The inner frame is functional to accommodate an inductive magnetic sensor (air core coil).
In the embodiment of the invention, the flexible support is a multi-spoke umbrella-shaped structure formed by a plurality of semi-rigid tubular or columnar materials, and the number of spokes is the same as that of the hanging points designed on the outer frame. The flexible support is integrally installed on the unmanned aerial vehicle. One end of the cable is connected to the top end of each spoke, and the other end of the cable is connected to a hanging point designed on an outer frame of the receiver-sensor integrated structure.
In an embodiment of the invention, the inner frame is horizontally coplanar and concentric with the outer frame.
In the embodiment of the invention, the overall shape of the outer frame comprises a circle and a square, and the cross-sectional shape of the outer frame tube comprises a circle and a square.
In the embodiment of the invention, the inner frame and the outer frame are connected by adopting a damping material.
The embodiment of the invention comprises an inner frame and an outer frame, wherein the two frames are connected by adopting a damping material.
In the embodiment of the invention, the number of cable interfaces on the surface of the outer frame is set according to the number of sensors accommodated in the inner frame.
In an embodiment of the invention, the inner frame houses a single inductive magnetic sensor, or a two-axis inductive magnetic sensor, or a three-axis inductive magnetic sensor.
In the embodiment of the invention, the number of the spokes in the flexible support is the same as that of the hanging points on the outer frame, one end of each cable is connected to the top end of each spoke, and the other end of each cable is connected to the hanging points on the outer frame.
In the embodiment of the invention, when the inner frame is used for accommodating a single induction type magnetic sensor, the overall shape of the inner frame comprises a circle and a square, the cross section shape of an inner frame pipe comprises a circle and a square, the inner frame pipe is internally provided with electronic units for installing the induction type magnetic sensor, and the surface of the inner frame is provided with a cable interface for connecting a sensor output signal cable;
when the inner frame is used for accommodating a double-shaft induction type magnetic sensor, the inner frame is formed by combining two orthogonal tubular frames, wherein one frame is used for observing an electromagnetic signal in the advancing direction of the unmanned aerial vehicle, and the other frame is used for observing an electromagnetic signal in the vertical direction; the overall shape of each of the two orthogonal tubular frames of the inner frame comprises circular, square; the cross section shapes of the pipes of the two orthogonal tubular frames of the inner frame comprise a circle and a square, electronic units of the induction type magnetic sensor are arranged in the two orthogonal tubular frames of the inner frame, and the surfaces of the two orthogonal tubular frames are respectively provided with a cable interface for connecting a sensor output signal cable;
when the inner frame is used for accommodating the three-axis induction type magnetic sensor, the inner frame is formed by combining three orthogonal tubular frames and is respectively used for observing an electromagnetic signal in the advancing direction of the unmanned aerial vehicle, an electromagnetic signal in the vertical direction and an electromagnetic signal in the horizontal direction perpendicular to the advancing direction of the unmanned aerial vehicle; the overall shape of each of the three orthogonal tubular frames of the inner frame comprises circular, square; the cross section shapes of the pipes of the three orthogonal tubular frames of the inner frame comprise a circle and a square, electronic units for installing the induction type magnetic sensor are arranged in the three orthogonal tubular frames of the inner frame, and the surfaces of the three orthogonal tubular frames are respectively provided with a cable interface for connecting a sensor output signal cable.
The embodiment of the invention also provides an aerial electromagnetic signal observation system carried by the unmanned aerial vehicle, which comprises: the unmanned aerial vehicle comprises an unmanned aerial vehicle, an inner frame, an outer frame and a flexible support, wherein the inner frame, the outer frame and the flexible support are connected with each other; the flexible support is arranged below the unmanned aerial vehicle, the flexible support is of a multi-spoke umbrella-shaped structure, and the top end of each spoke is connected to a hanging point of the outer frame through a cable;
the outer frame is of a hollow closed structure, and each electronic unit of the receiver is arranged in the pipe of the outer frame; one or more cable interfaces are arranged on the surface of the outer frame and used for connecting a sensor output signal cable; the inner frame is used for accommodating an inductive magnetic sensor.
In the embodiment of the invention, the inner frame and the outer frame are connected by adopting a damping material.
Examples
In the embodiment, an agricultural plant protection unmanned aerial vehicle is adopted to carry the electromagnetic signal observation device provided by the invention.
As shown in fig. 2, the flexible support is a multi-spoke umbrella-shaped structure formed by 4 carbon fiber pipes and is integrally installed on the landing gear of the unmanned aerial vehicle. The semi-rigid material of carbon fiber pipe is selected, and on one hand, enough supporting capacity can be provided, and on the other hand, vibration of the unmanned aerial vehicle can be restrained. The top end of each carbon fiber tube is connected with a cable, and the other end of the cable is connected with a hanging point on an outer frame of the receiver-sensor integrated structure. Because the hawser is flexible material, unmanned aerial vehicle vibrations will be further filtered off to avoid it to propagate on the receiver-sensor integrated structure. In addition, it is also noted that the diameter of the circumscribed circle of the flexible bracket is much larger than that of the circumscribed circle of the inner frame of the receiver-sensor integrated structure, so that the horizontal swing of the receiver-sensor integrated structure in flight can be effectively avoided.
As shown in fig. 2, the receiver-sensor integrated structure is composed of two frames, namely an inner frame and an outer frame, which are connected by engineering rubber materials. The overall shape of the outer frame is square, and the section shape of the pipe of the outer frame is also square. Within the outer frame, the various electronic units of the receiver are installed in a distributed manner, including: circuit board, battery, memory card reader-writer, pilot lamp etc.. The storage card reader-writer and the battery are provided with openings on the surface of the outer frame so as to facilitate the assembly and disassembly of the battery and the storage card.
As shown in fig. 2, the inner frame of the receiver-sensor integrated structure is in a single Z-axis mode, and the inner and outer frames are horizontally coplanar and concentric. The whole shape of the inner frame is circular, and the cross section shape of the inner frame pipe is also circular. And the inner frame pipe is used for installing each electronic unit of the induction type magnetic sensor. The surface of the inner frame is provided with a cable interface for connecting a sensor output signal cable.
Claims (10)
1. The utility model provides an aerial electromagnetic signal observation device that unmanned aerial vehicle carried on which characterized in that includes:
the cable comprises an inner frame, an outer frame and a flexible bracket which are connected with each other, wherein the surface of the outer frame is provided with a plurality of hanging points for connecting cables; the flexible support is arranged below the unmanned aerial vehicle, the flexible support is of a multi-spoke umbrella-shaped structure, and the top end of each spoke is connected to a hanging point of the outer frame through a cable;
the outer frame is of a hollow closed structure, and each electronic unit of the receiver is arranged in the pipe of the outer frame; one or more cable interfaces are arranged on the surface of the outer frame and used for connecting a sensor output signal cable; the inner frame is used for accommodating an inductive magnetic sensor.
2. The apparatus of claim 1, wherein: the inner frame is horizontally coplanar and concentric with the outer frame.
3. The apparatus of claim 1, wherein: the overall shape of the outer frame comprises a circle and a square, and the cross section shape of the outer frame pipe comprises a circle and a square.
4. The apparatus of claim 1, wherein: the inner frame and the outer frame are connected by adopting a damping material.
5. The apparatus of claim 1, wherein: the number of cable ports on the surface of the outer frame is set according to the number of sensors accommodated by the inner frame.
6. The apparatus of claim 1, wherein: the inner frame houses a single inductive magnetic sensor, or a two-axis inductive magnetic sensor, or a three-axis inductive magnetic sensor.
7. The apparatus of claim 1, wherein: the number of the spokes in the flexible support is the same as that of the hanging points on the outer frame, one end of each cable is connected to the top end of each spoke, and the other end of each cable is connected to the hanging points on the outer frame.
8. The apparatus of claim 6, wherein: when the inner frame is used for accommodating a single induction type magnetic sensor, the overall shape of the inner frame comprises a circle and a square, the cross-sectional shape of an inner frame tube comprises a circle and a square, the inner frame tube is internally provided with electronic units for installing the induction type magnetic sensor, and the surface of the inner frame is provided with a cable interface for connecting a sensor output signal cable;
when the inner frame is used for accommodating a double-shaft induction type magnetic sensor, the inner frame is formed by combining two orthogonal tubular frames, wherein one frame is used for observing an electromagnetic signal in the advancing direction of the unmanned aerial vehicle, and the other frame is used for observing an electromagnetic signal in the vertical direction; the overall shape of each of the two orthogonal tubular frames of the inner frame comprises a circle, a square; the cross section shapes of the pipes of the two orthogonal tubular frames of the inner frame comprise a circle and a square, electronic units for installing the induction type magnetic sensor are arranged in the two orthogonal tubular frames of the inner frame, and the surfaces of the two orthogonal tubular frames are respectively provided with a cable interface for connecting a sensor output signal cable;
when the inner frame is used for accommodating a three-axis induction type magnetic sensor, the inner frame is formed by combining three orthogonal tubular frames and is respectively used for observing an electromagnetic signal in the advancing direction of the unmanned aerial vehicle, an electromagnetic signal in the vertical direction and an electromagnetic signal in the horizontal direction perpendicular to the advancing direction of the unmanned aerial vehicle; the overall shape of each of the three orthogonal tubular frames of the inner frame comprises circular, square; the cross section shapes of the pipes of the three orthogonal tubular frames of the inner frame comprise a circle and a square, electronic units for installing the induction type magnetic sensor are arranged in the three orthogonal tubular frames of the inner frame, and the surfaces of the three orthogonal tubular frames are respectively provided with a cable interface for connecting a sensor output signal cable.
9. The utility model provides an aerial electromagnetic signal observation system that unmanned aerial vehicle carried on, its characterized in that includes: the unmanned aerial vehicle comprises an unmanned aerial vehicle body, an inner frame, an outer frame and a flexible support, wherein the inner frame, the outer frame and the flexible support are connected with one another; the flexible support is arranged below the unmanned aerial vehicle, the flexible support is of a multi-spoke umbrella-shaped structure, and the top end of each spoke is connected to a hanging point of the outer frame through a cable;
the outer frame is of a hollow closed structure, and each electronic unit of the receiver is arranged in the pipe of the outer frame; one or more cable interfaces are arranged on the surface of the outer frame and used for connecting a sensor output signal cable; the inner frame is used for accommodating an inductive magnetic sensor.
10. The system of claim 9, wherein: the inner frame and the outer frame are connected by adopting a damping material.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210689399.3A CN115097528A (en) | 2022-06-16 | 2022-06-16 | Aerial electromagnetic signal observation device and system carried by unmanned aerial vehicle |
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| CN202210689399.3A CN115097528A (en) | 2022-06-16 | 2022-06-16 | Aerial electromagnetic signal observation device and system carried by unmanned aerial vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117110953A (en) * | 2023-10-24 | 2023-11-24 | 中国科学院地质与地球物理研究所 | Mobile mineral resource rapid investigation method, device and application thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117110953A (en) * | 2023-10-24 | 2023-11-24 | 中国科学院地质与地球物理研究所 | Mobile mineral resource rapid investigation method, device and application thereof |
| CN117110953B (en) * | 2023-10-24 | 2024-01-02 | 中国科学院地质与地球物理研究所 | Mobile mineral resource rapid investigation method, device and application thereof |
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