CN117284518A - Multi-rotor unmanned aerial vehicle aviation full-axis magnetic gradient measurement device - Google Patents
Multi-rotor unmanned aerial vehicle aviation full-axis magnetic gradient measurement device Download PDFInfo
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- CN117284518A CN117284518A CN202311323454.8A CN202311323454A CN117284518A CN 117284518 A CN117284518 A CN 117284518A CN 202311323454 A CN202311323454 A CN 202311323454A CN 117284518 A CN117284518 A CN 117284518A
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- probe rod
- aerial vehicle
- unmanned aerial
- axis magnetic
- light pump
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- 238000005259 measurement Methods 0.000 title claims abstract description 20
- 239000000523 sample Substances 0.000 claims abstract description 57
- 238000004891 communication Methods 0.000 claims abstract description 9
- 239000010720 hydraulic oil Substances 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 6
- 230000007547 defect Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R33/00—Arrangements or instruments for measuring magnetic variables
- G01R33/02—Measuring direction or magnitude of magnetic fields or magnetic flux
- G01R33/032—Measuring direction or magnitude of magnetic fields or magnetic flux using magneto-optic devices, e.g. Faraday or Cotton-Mouton effect
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U20/00—Constructional aspects of UAVs
- B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
-
- 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
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Power Engineering (AREA)
- Condensed Matter Physics & Semiconductors (AREA)
- General Physics & Mathematics (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Measuring Magnetic Variables (AREA)
Abstract
The invention discloses a multi-rotor unmanned aerial vehicle aviation full-axis magnetic gradient measuring device which comprises a mounting frame fixed at the bottom of an unmanned aerial vehicle, wherein the mounting frame comprises a first probe rod transversely arranged at the bottom of the unmanned aerial vehicle and a mounting plate fixedly connected with the bottom of a head of the unmanned aerial vehicle, a second probe rod is connected between the first probe rod and the mounting plate, a plurality of retainers are detachably arranged on the first probe rod, two ends of the first probe rod are respectively provided with a chromatic light pump magnetometer, a aeromagnetic compensation recorder, a preamplifier and a radar altimeter are arranged on the mounting plate, the mounting plate is connected with a chromatic light pump magnetometer through a main rope, the chromatic light pump magnetometer connected with the main rope is connected with the second probe rod through an auxiliary rope, the chromatic light pump magnetometer is connected with the preamplifier in a communication way, and the preamplifier and the radar altimeter are connected with the aeromagnetic compensation recorder in a communication way. The invention can improve the defects of the prior art and improve the measurement accuracy of the aeromagnetic measurement system based on the unmanned plane.
Description
Technical Field
The invention relates to the technical field of aeromagnetic measurement, in particular to a multi-rotor unmanned aerial vehicle aviation full-axis magnetic gradient measurement device.
Background
The traditional aeromagnetic measurement system integrated installation is mainly based on modification and integration of a manned aircraft, and although the aircraft can provide more modification schemes, the flying height is difficult to maintain due to factors such as self performance and the like, and meanwhile, a stable airport with relatively good conditions is required to be used as a base so as to increase the measurement cost, and meanwhile, the aircraft is restricted in aspects such as flying height, flying speed and operability, so that the investigation task of a high-precision large scale is difficult to meet. With the development of unmanned aerial vehicle technology, unmanned aerial vehicle-based aeromagnetic measurement system gradually appears in recent years, but current unmanned aerial vehicle aeromagnetic measurement system still has paddle rotational vibration great and the great problem of flight process fuselage rocking, has directly influenced the measurement accuracy.
Disclosure of Invention
The invention aims to solve the technical problem of providing a multi-rotor unmanned aerial vehicle aviation full-axis magnetic gradient measuring device, which can solve the defects of the prior art and improve the measurement accuracy of an aeromagnetic measuring system based on an unmanned aerial vehicle.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows.
The utility model provides a many rotor unmanned aerial vehicle aviation full axis magnetic force gradient measuring device, includes the mounting bracket of fixing in the unmanned aerial vehicle bottom, the mounting bracket is including horizontal first probe rod in the unmanned aerial vehicle bottom and the mounting panel of fixing with unmanned aerial vehicle aircraft nose bottom, be connected with the second probe rod between first probe rod and the mounting panel, a plurality of fixer is installed to detachable on the first probe rod, a chromatic light pump magnetometer is installed respectively at the both ends of first probe rod, install aeromagnetic compensation recorder, preamplifier and radar altimeter on the mounting panel, be connected with a chromatic light pump magnetometer through the main rope on the mounting panel, be connected with the second probe rod through auxiliary rope with the chromatic light pump magnetometer that main rope is connected, the chromatic light pump magnetometer is connected with preamplifier communication, preamplifier, radar altimeter and aeromagnetic compensation recorder communication connection.
Preferably, the first probe rod is connected with the unmanned aerial vehicle rotor through a buckle.
Preferably, the distance between the color light pump magnetometer on the first probe rod and the center line of the unmanned aerial vehicle is 2.4m, and the length of the main rope is 1.5m.
Preferably, two ends of the second probe rod are respectively connected with the first probe rod and the mounting plate through springs.
Preferably, the second probe rod is connected with the spring through a buffer, the buffer comprises a hard base and a flexible footstock, a rubber slot is formed in the inner side wall of the hard base, the flexible footstock is inserted into the rubber slot, a hydraulic oil bag is installed between the hard base and the flexible footstock and fixedly connected with the hard base, a clamping groove is formed in the top of the flexible footstock, the spring is clamped in the clamping groove, and the hard base is fixedly connected with the second probe rod.
Preferably, the fixer comprises a binding belt bound on the first probe rod, the binding belt is fixed on the bottom surface of the bottom plate, a plurality of through grooves are formed in the bottom plate, a rubber layer is arranged on the top surface of the bottom plate, a plurality of blind holes in the vertical direction are formed in the rubber layer, a hard inner core is inserted in the blind holes, the top of the hard inner core is located inside the blind holes, two supporting rings are fixed on the side wall of the hard inner core and in interference fit with the blind holes, the two supporting rings are symmetrically arranged by taking the middle point of the hard inner core as a symmetrical point, and the ratio of the distance between the two supporting rings to the length of the hard inner core is 4:5.
The beneficial effects brought by adopting the technical scheme are as follows: according to the invention, through optimizing the mounting structure of the color light pump magnetometer, the interference to the color light pump magnetometer in the flight process of the unmanned aerial vehicle is reduced, and the accuracy of aeromagnetic measurement is improved.
Drawings
Fig. 1 is a block diagram of one embodiment of the present invention.
FIG. 2 is an enlarged view of a portion of the connection of the second probe rod to the spring in one embodiment of the present invention.
Fig. 3 is a block diagram of a holder in one embodiment of the present invention.
FIG. 4 is an enlarged view of a portion of a rubber layer in one embodiment of the present invention.
Detailed Description
Referring to fig. 1-4, a specific embodiment of the invention comprises a mounting frame fixed at the bottom of an unmanned aerial vehicle, the mounting frame comprises a first probe rod 1 transversely arranged at the bottom of the unmanned aerial vehicle and a mounting plate 2 fixed at the bottom of a head of the unmanned aerial vehicle, a second probe rod 3 is connected between the first probe rod 1 and the mounting plate 2, a plurality of retainers 6 are detachably arranged on the first probe rod 1, two ends of the first probe rod 1 are respectively provided with a chromatic light pump magnetometer 7, a aeromagnetic compensation recorder 8, a preamplifier 9 and a radar altimeter 10 are arranged on the mounting plate 2, the mounting plate 2 is connected with the chromatic light pump magnetometer 7 through a main rope 11, the chromatic light pump magnetometer 7 connected with the main rope 11 is connected with the second probe rod 3 through an auxiliary rope 12, the chromatic light pump magnetometer 7 is connected with a preamplifier 9 in a communication way, and the preamplifier 9 and the radar altimeter 10 are connected with the aeromagnetic compensation recorder 8 in a communication way. The first probe rod 1 is connected with the unmanned aerial vehicle rotor wing through a buckle 5. The distance from the color pump magnetometer 7 on the first probe rod 1 to the center line of the unmanned aerial vehicle is 2.4m, and the length of the main rope 10 is 1.5m.
Adopt wireless communication mode exchange information between many rotor unmanned aerial vehicle and the ground measurement and control station, accomplish the transmission of ground control instruction to unmanned aerial vehicle to and many rotor unmanned aerial vehicle platform flight status carries out monitoring control to many rotor unmanned aerial vehicle in real time to ground measurement and control station's transmission. The plane position of the survey line flying is controlled by longitude and latitude provided by a GPS, and the survey line flying height is controlled by a radar. The color light pump magnetometer 7 positioned on the first probe rod 1 collects magnetic field horizontal gradient data, and the color light pump magnetometer 7 positioned on the main rope 11 and the two color light pump magnetometers 7 on the first probe rod 1 collect magnetic field average value to calculate vertical gradient data. The horizontal gradient data can clearly reflect the geologic body structure trend interfered by the background field, and the linear zero value of the vertical gradient data has certain advantages for deducing the boundary of the geologic body.
Because the unmanned aerial vehicle can generate more medium-low frequency vibration and shake in the flying process, aiming at the interference, the structure of the mounting frame is improved, firstly, the second probe rod 3 is arranged to form lateral support for the first probe rod 1, then the auxiliary rope 12 is used for measuring and connecting the suspension with the color light pump magnetometer 7 below the unmanned aerial vehicle, and the mounting stability of the whole aeromagnetic measuring system is effectively improved. Further, two ends of the second probe rod 3 are respectively connected with the first probe rod 1 and the mounting plate 2 through springs 4. The second probe rod 3 is connected with the spring 4 through a buffer, the buffer comprises a hard base 13 and a flexible footstock 14, a rubber slot 15 is formed in the inner side wall of the hard base 13, the flexible footstock 14 is inserted into the rubber slot 15, a hydraulic oil bag 16 is installed between the hard base 13 and the flexible footstock 14, the hydraulic oil bag 16 is fixedly connected with the hard base 13, a clamping groove 17 is formed in the top of the flexible footstock 14, the spring 4 is clamped in the clamping groove 17, and the hard base 13 is fixedly connected with the second probe rod 3. The spring 4 can form a buffer zone between the first probe rod 1 and the second probe rod 3, and absorb medium and low frequency vibration and shaking. The plugging fit between the hard base 13 and the flexible top seat 14 is used for applying damping to the expansion and contraction of the spring 4, and meanwhile, the flexible top seat 14 and the hydraulic oil bag 16 can generate axial elastic deformation of the non-spring 4 (mainly from the pulling force transmitted by the auxiliary rope 12 and the micro torsion of the first probe rod 1 relative to the unmanned plane body caused by the inertia of the first probe rod, so that the buffering effect of the second probe rod 3 on the axial acting force of the non-spring 4 is effectively improved.
The fixer 6 includes the bandage 18 of ligature on first probe rod 1, bandage 18 is fixed in the bottom surface of bottom plate 19, be provided with a plurality of logical groove 20 on the bottom plate 19, the top surface of bottom plate 19 is provided with rubber layer 21, be provided with the blind hole 22 of a plurality of vertical direction in the rubber layer 21, peg graft in the blind hole 22 and have stereoplasm inner core 23, the top of stereoplasm inner core 23 is located inside the blind hole 22, the lateral wall of stereoplasm inner core 23 is fixed with two support rings 24, support ring 24 and blind hole 22 interference fit, the midpoint of two support rings 24 with stereoplasm inner core 23 is symmetrical point symmetry setting, the distance between two support rings 24 is 4:5 with stereoplasm inner core 23 length. The color light pump magnetometer 7 is placed on the rubber layer 21, and is connected with a nut on the bottom surface of the bottom plate 19 after passing through the through groove 20 by using a bolt, so that the color light pump magnetometer 7 is fixedly installed. The rubber layer 21 is used for buffering high-frequency vibration generated during the flight of the unmanned aerial vehicle. The traditional rubber layer can only absorb the high-frequency vibration of a narrower frequency band, and the invention can fully absorb and buffer the high-frequency vibration of a wider frequency band by forming holes in the rubber layer 21 and installing the hard inner core 23, so that the side wall of the hard inner core 23 is in clearance fit with the inner wall of the blind hole 22, and different tensions of different positions of the whole rubber layer 21 are realized.
The first probe rod 1, the mounting plate 2, the second probe rod 3, the fixer 6 and the buffer are all made of nonmagnetic materials.
In the description of the present invention, it should be understood that the terms "longitudinal," "transverse," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the present invention, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.
The foregoing has shown and described the basic principles and main features of the present invention and the advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (6)
1. The utility model provides a many rotor unmanned aerial vehicle aviation full axis magnetic force gradient measuring device, includes the mounting bracket of fixing in unmanned aerial vehicle bottom, its characterized in that: the installation frame comprises a first probe rod (1) transversely arranged at the bottom of the unmanned aerial vehicle and an installation plate (2) fixedly arranged at the bottom of the head of the unmanned aerial vehicle, a second probe rod (3) is connected between the first probe rod (1) and the installation plate (2), a plurality of fixing devices (6) are detachably arranged on the first probe rod (1), a chromatic light pump magnetometer (7) is respectively arranged at two ends of the first probe rod (1), a aeromagnetic compensation recorder (8), a preamplifier (9) and a radar altimeter (10) are arranged on the installation plate (2), a chromatic light pump magnetometer (7) is connected on the installation plate (2) through a main rope (11), the chromatic light pump magnetometer (7) connected with the main rope (11) is connected with the second probe rod (3) through an auxiliary rope (12), the chromatic light pump magnetometer (7) is connected with the preamplifier (9) in a communication mode, and the preamplifier (9), the radar altimeter (10) is connected with the aeromagnetic compensation recorder (8) in a communication mode.
2. The multi-rotor unmanned aerial vehicle aviation full axis magnetic gradient measurement device of claim 1, wherein: the first probe rod (1) is connected with the unmanned aerial vehicle rotor wing through a buckle (5).
3. The multi-rotor unmanned aerial vehicle aviation full axis magnetic gradient measurement device of claim 1, wherein: the distance between the color light pump magnetometer (7) on the first probe rod (1) and the central line of the unmanned aerial vehicle is 2.4m, and the length of the main rope (10) is 1.5m.
4. The multi-rotor unmanned aerial vehicle aviation full axis magnetic gradient measurement device of claim 1, wherein: two ends of the second probe rod (3) are respectively connected with the first probe rod (1) and the mounting plate (2) through springs (4).
5. The multi-rotor unmanned aerial vehicle aviation full axis magnetic gradient measurement device of claim 3, wherein: the second probe rod (3) is connected with the spring (4) through a buffer, the buffer comprises a hard base (13) and a flexible footstock (14), a rubber slot (15) is formed in the inner side wall of the hard base (13), the flexible footstock (14) is inserted into the rubber slot (15), a hydraulic oil bag (16) is installed between the hard base (13) and the flexible footstock (14), the hydraulic oil bag (16) is fixedly connected with the hard base (13), a clamping groove (17) is formed in the top of the flexible footstock (14), the spring (4) is clamped in the clamping groove (17), and the hard base (13) is fixedly connected with the second probe rod (3).
6. The multi-rotor unmanned aerial vehicle aviation full axis magnetic gradient measurement device of claim 5, wherein: the fixer (6) comprises a binding belt (18) bound on the first probe rod (1), the binding belt (18) is fixed on the bottom surface of a bottom plate (19), a plurality of through grooves (20) are formed in the bottom plate (19), a rubber layer (21) is arranged on the top surface of the bottom plate (19), a plurality of blind holes (22) in the vertical direction are formed in the rubber layer (21), a hard inner core (23) is inserted into the blind holes (22), the top of the hard inner core (23) is located inside the blind holes (22), two supporting rings (24) are fixed on the side wall of the hard inner core (23), the supporting rings (24) are in interference fit with the blind holes (22), the middle points of the two supporting rings (24) are symmetrically arranged by taking the middle points of the hard inner core (23) as symmetrical points, and the ratio of the distance between the two supporting rings (24) to the length of the hard inner core (23) is 4:5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311323454.8A CN117284518B (en) | 2023-10-11 | 2023-10-11 | Multi-rotor unmanned aerial vehicle aviation full-axis magnetic gradient measurement device |
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| CN202311323454.8A CN117284518B (en) | 2023-10-11 | 2023-10-11 | Multi-rotor unmanned aerial vehicle aviation full-axis magnetic gradient measurement device |
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| Publication Number | Publication Date |
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| CN117284518A true CN117284518A (en) | 2023-12-26 |
| CN117284518B CN117284518B (en) | 2024-03-22 |
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| Publication number | Publication date |
|---|---|
| CN117284518B (en) | 2024-03-22 |
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