A turntable for attitude calibration of drone aeromagnetic

Abstract

The present invention discloses a turntable for attitude calibration of an unmanned aerial vehicle (UAV) in aeromagnetic surveys, which comprises a fixed frame. A yaw assembly for the yaw rotation of the UAV is arranged at the bottom of the fixed frame, and a plurality of buffer assemblies for the pitch and roll tests of the UAV are arranged on the fixed frame. The yaw assembly includes a chassis with a rotation angle scale arranged at the bottom of the fixed frame. The purpose of this product is to solve the model compensation coefficient. Before the UAV conducts aeromagnetic flight operations, the operator uses this product on the ground to perform rotational operations on the UAV in different attitudes, simulating the swaying attitudes of the aircraft during aerial operations. When the attitude of the rotorcraft changes, the magnetic field interference can be decomposed into different components. It is possible to control the attitude change of the rotorcraft so that other components remain unchanged, and only project the interference onto a certain component. Then, a series of maneuvering actions are selected and combined with the magnetic compensator for compensation until the interference amounts of all components are completely compensated, simulating the FOM route of four-sided flight.

Description

[0001] The present invention relates to the technical field of attitude calibration of unmanned aerial vehicle (UAV) aeromagnetic surveys, and specifically provides a turntable for UAV aeromagnetic attitude calibration. Background Art

[0002] Aeromagnetic surveys were first used by the navy to detect magnetic anomalies caused by submarines and later for civilian aerophysical exploration work. In the field of physical exploration, aeromagnetic surveys are characterized by high speed, high precision, and being unaffected by surface interference. They are widely used in geological mapping, large-scale geological structure research, evaluation of iron ore and other metal ore resources, prediction of oil and gas metallogenic prospective areas, engineering geology, and environmental monitoring.

[0003] Since most of the materials used in aircraft are metals, they all have weak magnetism to some extent. The magnetic field generated by the movement of the engine rotor during flight, as well as the induced magnetic field generated after the avionics system on the aircraft is powered on, will interfere with the magnetometer. The constant magnetic field refers to the residual magnetism generated by the magnetic components and ferromagnetic materials on the aircraft. The induced magnetic field is mainly generated by the soft magnetic materials on the aircraft body being magnetized in the geomagnetic field. The magnitude of this magnetic field is proportional to the external magnetic field that causes it. Therefore, in the coordinate system of the three-axis fluxgate sensor, the magnitude and direction of the induced magnetic field will change with the attitude of the UAV. The eddy current magnetic field is generated when the metal body cuts the geomagnetic field during flight, and its components are proportional to the change rate of the geomagnetic field projected onto each coordinate axis. To obtain high-precision magnetic survey data, it is necessary to compensate for the above-mentioned interferences. For this reason, we propose a turntable for UAV aeromagnetic attitude calibration. Summary of the Invention

[0004] The purpose of the present invention is to provide a turntable for UAV aeromagnetic attitude calibration to solve the problems raised in the above background art.

[0005] To achieve the above purpose, the present invention provides the following technical solution: A turntable for UAV aeromagnetic attitude calibration includes a fixed frame. A yaw component for the yaw rotation of the UAV is provided at the bottom of the fixed frame, and a plurality of buffer components for the pitch and roll tests of the UAV are provided on the fixed frame.

[0006] Preferably, the yaw component includes a chassis with a rotation angle scale provided at the bottom of the fixed frame. A rotating seat is rotatably connected to the chassis. A hand-tightening bolt is helically connected between the rotating seat and the fixed frame, and threaded grooves matching the hand-tightening bolt are provided on both the rotating seat and the fixed frame.

[0007] Preferably, the buffer assembly includes a plurality of buffer blocks of the same size movably connected to the fixed frame. A moving seat is fixedly installed on the outer side of each buffer block. A one-way lead screw one is screwed on each moving seat. Two symmetric side blocks are fixedly installed on one side wall of the fixed frame. The one-way lead screw one is rotatably connected to the side blocks. The bottom end of the one-way lead screw one extends to the outside of the side blocks and is connected with a bevel gear one. An adjusting assembly for adjusting the base according to the size of the drone is arranged at the top end of the fixed frame. A transmission assembly for rotational transmission adjustment is arranged between the adjusting assembly and the buffer assembly.

[0008] Preferably, the adjusting assembly includes a cross-shaped movable frame movably connected to the fixed frame. A plurality of annularly arrayed positioning seats are installed on the movable frame. Fixed feet for placing the drone in position are arranged on each positioning seat. Sliders are slidably connected to the bottom ends of the fixed feet. A chute matching with the slider is provided on each positioning seat. A one-way lead screw two is rotatably connected in the chute. One end of the one-way lead screw two extends to the outside of the positioning seat and is connected with a screwing head. The other end of the one-way lead screw two extends to the outside of the positioning seat and is installed with a bevel gear two.

[0009] Preferably, the transmission assembly includes an inverted U-shaped mounting frame installed at the top end of the fixed frame. A rotating rod one is rotatably connected between the mounting frame and the fixed frame. A bevel gear three is installed on the rotating rod one. One end of the rotating rod one extends to the outside of the fixed frame and is connected with a runner. Two symmetric bevel gears four are meshed and connected to the outside of the bevel gear three. A rotating rod two is connected in the mounting hole of the installation shaft of each bevel gear four. One ends of the rotating rod two and the rotating rod one extend to the outside of the fixed frame and are installed with bevel gears five. A bevel gear six installed on the rotating rod one is arranged on the outside of the bevel gear three. A bevel gear seven is meshed and connected to the outside of the bevel gear six. A telescopic rod is installed at the top end of the bevel gear seven. The telescopic rod is rotatably connected to the mounting frame.

[0010] Preferably, each bevel gear five is meshed with the corresponding bevel gear one. A concave retaining frame is installed at the bottom end of the movable frame. A connecting sleeve is rotatably connected to the retaining frame. A bevel gear eight is installed at the top end of the connecting sleeve. The bevel gear eight is meshed with a plurality of bevel gears two.

[0011] Preferably, a leveling assembly for resetting and leveling the drone is arranged at the bottom end of the movable frame. A limiting assembly for rotating or positioning the movable frame is arranged between the movable frame and the fixed frame.

[0012] Preferably, the leveling assembly includes a plurality of water collecting cups arranged in an annular array at the bottom end of the movable frame. A water inlet pipe for introducing external raw water is installed at the water inlet of each water collecting cup. A water outlet pipe for discharging the raw water is connected to the water outlet of each water collecting cup.

[0013] Preferably, the limiting component includes a positioning pin connected between the movable frame and the fixed frame. Positioning grooves matching the positioning pin are formed on the movable frame, and through holes matching the positioning pin are formed on the fixed frame.

[0014] Preferably, a movable sleeve is movably connected to the outer side of the positioning pin. Two symmetrically arranged positioning columns are fixedly installed on the movable sleeve, and positioning holes matching the positioning columns are formed on the movable frame.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0016] 1. In the present invention, the purpose of this product is to solve the model compensation coefficient. Before the unmanned aerial vehicle (UAV) magnetic navigation flight operation, the operator rotates the UAV in different postures on the ground by using this product to simulate the shaking posture of the aircraft during in-air operation. When the posture of the rotorcraft changes, the magnetic field interference can be decomposed into different components. It is possible to control the change of the rotorcraft posture to keep other components unchanged and only project the interference onto a certain component. Then, a series of maneuvering actions are selected and combined with the magnetic compensator for compensation until the interference of all components is completely compensated, simulating the four-sided flight FOM route. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic diagram of the overall structure of the present invention;

[0018] Figure 2 is of the present invention Figure 1 schematic diagram of the rear view partial structure;

[0019] Figure 3 is of the present invention Figure 2 schematic diagram of the top view partial structure;

[0020] Figure 4 is of the present invention Figure 3 schematic diagram of the structure at the buffer component;

[0021] Figure 5 is of the present invention Figure 2 schematic diagram of the structure at the limiting component;

[0022] Figure 6 is of the present invention Figure 2 schematic diagram of the structure at the yaw component;

[0023] Figure 7 is of the present invention Figure 3 schematic diagram of the structure at the horizontal component;

[0024] Figure 8 is the enlarged schematic diagram of part A of the present invention;

[0025] Figure 9Schematic diagram of the enlarged structure at position B of the present invention;

[0026] Figure 10 Schematic diagram of the structure at the connection between the telescopic rod and the connecting sleeve of the present invention.

[0027] In the figure: 1 - fixed frame; 2 - yaw assembly; 21 - chassis; 22 - rotating seat; 23 - hand-tightening bolt; 3 - buffer assembly; 31 - buffer block; 32 - moving seat; 33 - one-way lead screw one; 34 - side block; 35 - bevel gear one; 4 - adjustment assembly; 41 - movable frame; 42 - positioning seat; 43 - fixed foot; 44 - slider; 45 - one-way lead screw two; 46 - turning head; 47 - bevel gear two; 5 - transmission assembly; 51 - mounting frame; 52 - rotating rod one; 53 - bevel gear three; 54 - runner; 55 - bevel gear four; 56 - rotating rod two; 57 - bevel gear five; 58 - bevel gear six; 59 - bevel gear seven; 510 - telescopic rod; 511 - retaining frame; 512 - connecting sleeve; 513 - bevel gear eight; 6 - horizontal assembly; 61 - water collecting cup; 62 - water inlet pipe; 63 - water outlet pipe; 7 - limiting assembly; 71 - positioning pin; 72 - movable sleeve; 73 - positioning column. Detailed implementation manners

[0028] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0029] Please refer to Figure 1-10 , the present invention provides a technical solution: Embodiment

[0030] A turntable for calibrating the attitude of an unmanned aerial vehicle (UAV) magnetic navigation includes a fixed frame 1. A yaw assembly 2 for the yaw rotation of the UAV is provided at the bottom of the fixed frame 1. A plurality of buffer assemblies 3 for buffering the pitch and roll tests of the UAV are provided on the fixed frame 1. When the tester uses the turntable to test the UAV, the runner 54 in the transmission assembly 5 can be rotated, so that the rotating rod one 52 drives the bevel gear three 53 and the bevel gear six 58 to rotate synchronously, thereby realizing the relative or opposite movement of a plurality of fixed feet 43 in the adjustment assembly 4, effectively enabling quick adjustment according to the size of the UAV bracket, and being able to synchronously drive the positions of a plurality of buffer blocks 31 on the fixed frame 1 to effectively rise or fall, thus facilitating the tester to make reasonable adjustments according to the test angle, and effectively improving the applicability and portability of the turntable during use.

[0031] The yaw assembly 2 includes a chassis 21 with a rotation angle scale provided at the bottom of the fixed frame 1. A rotating seat 22 is rotatably connected to the chassis 21. A hand-tightening bolt 23 is screwed between the rotating seat 22 and the fixed frame 1. Thread grooves matching the hand-tightening bolt 23 are provided on both the rotating seat 22 and the fixed frame 1. Among them, through the scale on the chassis 21 and the pointer on the rotating seat 22, the tester can obtain the yaw angle of the UAV based on the angle value of the movement of the rotating seat 22.

[0032] The buffer assembly 3 includes a plurality of buffer blocks 31 of the same size movably connected to the fixed frame 1. Moving seats 32 are fixedly installed on the outer sides of the buffer blocks 31. One-way lead screws 33 are screwed on the moving seats 32. Two symmetric side blocks 34 are fixedly installed on one side wall of the fixed frame 1. The one-way lead screws 33 are rotatably connected to the side blocks 34. The bottom ends of the one-way lead screws 33 extend to the outside of the side blocks 34 and are connected with bevel gears 35. An adjusting assembly 4 for adjusting the base according to the size of the UAV is provided at the top of the fixed frame 1. A transmission assembly 5 for rotational transmission adjustment is provided between the adjusting assembly 4 and the buffer assembly 3. Among them, the buffer blocks 31 are all made of rubber material, effectively avoiding the phenomenon of damage caused by the large impact force during the pitch angle and roll angle tests of the UAV. And through the position adjustment of the buffer blocks 31, reasonable adjustment can be made according to the positions of the UAV for testing the pitch angle and roll angle.

[0033] The adjusting assembly 4 includes a cross-shaped movable frame 41 movably connected to the fixed frame 1. A plurality of annularly arrayed positioning seats 42 are installed on the movable frame 41. Fixing feet 43 for placing the UAV in position are provided on the positioning seats 42. Sliders 44 are slidably connected to the bottom ends of the fixing feet 43. Chute grooves matching the sliders 44 are provided on the positioning seats 42. One-way lead screws 45 are rotatably connected in the chute grooves. One end of the one-way lead screw 45 extends to the outside of the positioning seat 42 and is connected with a screwing head 46. The other end of the one-way lead screw 45 extends to the outside of the positioning seat 42 and is installed with a bevel gear 47. Among them, through the meshing of the bevel gear 47 and the bevel gear 513, when the user adjusts the position of the buffer block 31, the positions of the four fixing feet 43 can be effectively adjusted at the same time, so as to effectively make a suitable adjustment according to the size of the UAV.

[0034] The transmission assembly 5 includes an inverted U-shaped mounting bracket 51 installed at the top of the fixed bracket 1. A first rotating rod 52 is rotatably connected between the mounting bracket 51 and the fixed bracket 1. A third bevel gear 53 is installed on the first rotating rod 52. One end of the first rotating rod 52 extends to the outside of the fixed bracket 1 and is connected to a runner 54. Two symmetrically arranged fourth bevel gears 55 are meshed and connected to the outside of the third bevel gear 53. A second rotating rod 56 is connected to the inner mounting shaft holes of the fourth bevel gears 55. One ends of the second rotating rod 56 and the first rotating rod 52 extend to the outside of the fixed bracket 1 and are installed with fifth bevel gears 57. A sixth bevel gear 58 installed on the first rotating rod 52 is arranged outside the third bevel gear 53. A seventh bevel gear 59 is meshed and connected to the outside of the sixth bevel gear 58. A telescopic rod 510 is installed at the top of the seventh bevel gear 59. The telescopic rod 510 is rotatably connected to the mounting bracket 51. Among them, through the third bevel gear 53 and the sixth bevel gear 58, when the first rotating rod 52 rotates, the second rotating rod 56 and the telescopic rod 510 rotate synchronously, thus realizing the adjustment of the buffer block 31 and the fixed foot 43.

[0035] The fifth bevel gears 57 are respectively meshed with the corresponding first bevel gears 35. A concave retaining bracket 511 is installed at the bottom end of the movable bracket 41. A connecting sleeve 512 is rotatably connected to the retaining bracket 511. An eighth bevel gear 513 is installed at the top end of the connecting sleeve 512. The eighth bevel gear 513 is meshed with a plurality of second bevel gears 47. Among them, the connecting sleeve 512 and the retaining bracket 511 are connected by a one-way bearing. Therefore, when the synchronous adjustment of the four fixed feet 43 is not appropriate, the wrench 46 can be reversed, thereby driving the second one-way lead screw 45 to rotate alone, so as to effectively adjust the four fixed feet 43 individually. The telescopic rod 510 can be electric or hydraulic, etc., and the telescopic end of the telescopic rod 510 uses a spline shaft, and the connecting sleeve 512 uses a spline sleeve, so that after the movable bracket 41 is tested, it can be connected to the transmission assembly 5 as a whole, thus facilitating the unified adjustment by the tester in the later stage.

[0036] A horizontal assembly 6 for resetting and leveling the drone is provided at the bottom end of the movable bracket 41. A limiting assembly 7 for rotating or positioning the movable bracket 41 is provided between the movable bracket 41 and the fixed bracket 1. Among them, the movable bracket 41 and the fixed bracket 1 are not connected, so as to facilitate the adjustment of the horizontal assembly 6 and the rotation of the limiting assembly 7 in the later stage.

[0037] The horizontal assembly 6 includes a plurality of water collecting cups 61 arranged in a circular array at the bottom end of the movable bracket 41. A water inlet pipe 62 for introducing external raw water is installed at the water inlet of the water collecting cup 61. A water outlet pipe 63 for discharging the raw water is connected to the water outlet of the water collecting cup 61. A capacity scale is provided on the water collecting cup 61. After the test, the reset can be effectively adjusted through the water collecting cup 61.

[0038] The limiting component 7 includes a positioning pin 71 connected between the movable frame 41 and the fixed frame 1. Positioning grooves matching the positioning pin 71 are respectively formed on the movable frame 41, and through holes matching the positioning pin 71 are respectively formed on the fixed frame 1. Among them, two symmetrically arranged positioning pins 71 form a rotating shaft with the movable frame 41 by means of the pin heads, so that the movable frame 41 can rotate effectively, thus realizing the pitch angle and roll angle tests of the unmanned aerial vehicle.

[0039] An activity sleeve 72 is movably connected to the outer side of the positioning pin 71. Two symmetrically arranged positioning columns 73 are fixedly installed on the activity sleeve 72. Positioning holes matching the positioning columns 73 are respectively formed on the movable frame 41. Among them, through the activity sleeve 72, when the movable frame 41 rotates, the activity sleeve 72 can be pulled, so that the positioning columns 73 are separated from the positioning holes, thus enabling the positioning pin 71 to form a rotating shaft, so that the movable frame 41 rotates effectively. When it is necessary to deflect both ends of the movable frame 41, the positioning pin 71 can be separated from the movable frame 41, so that the movable frame 41 deflects effectively, thus realizing the pitch angle and roll angle tests of the unmanned aerial vehicle.

[0040] Embodiment 2:

[0041] As Figure 7 shown, in the second embodiment, with other structures unchanged, the present invention provides another structural form of the horizontal component 6. The water collecting cup 61, the water inlet pipe 62 and the water outlet pipe 63 are changed to a weight tray. After the activity sleeve 72 in the limiting component 7 is toggled, weights can be correspondingly added to the weight tray, so that the movable frame 41 can also rotate, thus completing the reset after the pitch angle and roll angle tests of the unmanned aerial vehicle. In the second embodiment, in order to prevent the weights from falling off the device easily, the above-mentioned weights can be in the form of magnetic blocks, thus effectively avoiding the weights in the weight tray from falling off.

[0042] In this solution, the driving motor is preferably of the Y80M1-2 model, and the rotating motor is preferably of the Y80M2-2 model. The circuit operation is a conventional existing circuit. The circuits and controls involved in the present invention are all existing technologies and will not be elaborated here too much.

[0043] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprises", "comprising" or any other variation thereof is intended to cover a non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device.

[0044] Although embodiments of the present invention have been shown and described, those of ordinary skill in the art will appreciate that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A turntable for calibrating the attitude of an unmanned aerial vehicle's aeromagnetic survey, comprising a fixed frame (1), characterized in that: A yaw assembly (2) for the yaw rotation of the drone is provided at the bottom of the fixing frame (1), and a plurality of buffer assemblies (3) for the pitch and roll tests of the drone are provided on the fixing frame (1); An adjusting assembly (4) for adjusting the base according to the size of the drone is provided at the top of the fixing frame (1), and a transmission assembly (5) for rotational transmission adjustment is provided between the adjusting assembly (4) and the buffer assembly (3); The adjusting assembly (4) includes a cross-shaped movable frame (41) movably connected to the fixing frame (1). A plurality of annularly arrayed positioning seats (42) are installed on the movable frame (41). Fixed feet (43) for the placement positions of the drone are provided on the positioning seats (42). Sliders (44) are slidably connected to the bottom ends of the fixed feet (43). Chute grooves matching with the sliders (44) are provided on the positioning seats (42). One-way lead screws two (45) are rotatably connected in the chute grooves. One ends of the one-way lead screws two (45) extend to the outside of the positioning seats (42) and are connected with screwing heads (46). The other ends of the one-way lead screws two (45) extend to the outside of the positioning seats (42) and are provided with bevel gears two (47); The transmission assembly (5) includes an inverted U-shaped mounting frame (51) installed at the top of the fixing frame (1). A rotating rod one (52) is rotatably connected between the mounting frame (51) and the fixing frame (1). A bevel gear three (53) is installed on the rotating rod one (52). One end of the rotating rod one (52) extends to the outside of the fixing frame (1) and is connected with a runner (54). Two symmetrically arranged bevel gears four (55) are meshed and connected to the outside of the bevel gear three (53). Rotating rods two (56) are connected in the mounting shaft holes of the bevel gears four (55). One ends of the rotating rods two (56) and the rotating rod one (52) extend to the outside of the fixing frame (1) and are provided with bevel gears five (57). A bevel gear six (58) installed on the rotating rod one (52) is provided on the outside of the bevel gear three (53). A bevel gear seven (59) is meshed and connected to the outside of the bevel gear six (58). A telescopic rod (510) is installed at the top of the bevel gear seven (59). The telescopic rod (510) is rotatably connected to the mounting frame (51).

2. The turntable for calibrating the attitude of an unmanned aerial vehicle's aeromagnetic field according to claim 1, wherein: The yaw assembly (2) includes a chassis (21) with rotation angle scales provided at the bottom of the fixing frame (1). A rotating seat (22) is rotatably connected to the chassis (21). A hand-tightening bolt (23) is spirally connected between the rotating seat (22) and the fixing frame (1). Thread grooves matching with the hand-tightening bolt (23) are provided on the rotating seat (22) and the fixing frame (1).

3. A turntable for attitude calibration of drone aeromagnetic survey according to claim 1, characterized in that: The buffer assembly (3) includes a plurality of buffer blocks (31) of the same size movably connected to the fixing frame (1). A moving seat (32) is fixedly installed on the outer side of each buffer block (31). A one-way lead screw one (33) is screwed on each moving seat (32). Two symmetric side blocks (34) are fixedly installed on one side wall of the fixing frame (1). The one-way lead screw one (33) is rotatably connected to the side blocks (34). The bottom end of the one-way lead screw one (33) extends to the outside of the side blocks (34) and is connected with a bevel gear one (35).

4. A turntable for calibrating the attitude of an unmanned aerial vehicle's aeromagnetic survey according to claim 1, characterized in that: The bevel gear five (57) is meshed with the corresponding bevel gear one (35). The bottom end of the movable frame (41) is provided with a concave retaining frame (511). A connecting sleeve (512) is rotatably connected to the retaining frame (511). The top end of the connecting sleeve (512) is provided with a bevel gear eight (513). The bevel gear eight (513) is meshed with a plurality of bevel gears two (47).

5. A turntable for calibrating the attitude of an unmanned aerial vehicle's aeromagnetic measurement, as claimed in claim 1, wherein: A horizontal assembly (6) for resetting and leveling the drone is arranged at the bottom end of the movable frame (41). A limiting assembly (7) for rotating or positioning the movable frame (41) is arranged between the movable frame (41) and the fixing frame (1).

6. The turntable for calibrating the attitude of an unmanned aerial vehicle's airborne magnetic sensor according to claim 5, wherein: The horizontal assembly (6) includes a plurality of water collecting cups (61) arranged in a circular array at the bottom end of the movable frame (41). A water inlet pipe (62) for introducing external raw water is installed at the water inlet of the water collecting cup (61). A water outlet pipe (63) for discharging the raw water is connected to the water outlet of the water collecting cup (61).

7. A turntable for calibrating the attitude of an unmanned aerial vehicle's airborne magnetic field according to claim 5, characterized in that: The limiting assembly (7) includes a positioning pin (71) connected between the movable frame (41) and the fixing frame (1). A positioning groove matching with the positioning pin (71) is formed in the movable frame (41). A through hole matching with the positioning pin (71) is formed in the fixing frame (1).

8. A turntable for calibrating the attitude of an unmanned aerial vehicle's aeromagnetic measurement, according to claim 7, characterized in that: A movable sleeve (72) is movably connected to the outside of the positioning pin (71). Two symmetric positioning columns (73) are fixedly installed on the movable sleeve (72). A positioning hole matching with the positioning column (73) is formed in the movable frame (41).

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