Bracket structure device and method for unmanned aerial vehicle to perform aeromagnetic horizontal gradient measurement

Abstract

The present invention discloses a support structure device and method for a drone to perform aeromagnetic horizontal gradient measurement. The support structure device has a left-right symmetrical structure and includes a fixing component, a balance support component, and a flow elimination and shock absorption component: The balance support component is in the shape of the letter "T" and includes a load-bearing support pipe. One end of the load-bearing support pipe is used to be inserted into the abdominal card position of the drone, and the other end is connected to the middle of the support balance pipe; There are two groups of the fixing components, which are respectively vertically arranged at both ends of the support balance pipe; The fixing component is used to install the aeromagnetic sensor; There are two groups of the flow elimination and shock absorption components, which are symmetrically distributed on the left and right on the support balance pipe and are non-rigidly connected between the support balance pipe and the drone. This device has the function of eliminating or reducing the influence of vibration on the sensor and can offset or reduce the influence of the air vortex in the windward direction of the drone on the aeromagnetic sensor.

Description

Technical Field

[0001] The present invention relates to the field of airborne magnetic measurement, and particularly relates to a support structure device and method for airborne magnetic horizontal gradient measurement using an unmanned aerial vehicle (UAV). Background Art

[0002] Airborne magnetic measurement uses flight platforms such as helicopters, UAVs, and airships as carriers. By carrying airborne magnetic measurement sensors and their auxiliary equipment, flight measurement is carried out within the work area to obtain the magnetic parameters of the geomagnetic field. Through processing, calculation, analysis, and mapping of the measurement data, an airborne geophysical prospecting method is used to judge the underground geological structure or the prospecting target area. Traditional airborne magnetic measurement usually uses fixed-wing or rotary-wing aircraft, which requires professional flight personnel. Limited by factors such as weather, terrain, and equipment, the operation cost is relatively high, and the personnel risk is also relatively large. The advantages of airborne magnetic measurement being efficient, convenient, and fast compared to land magnetic method measurement cannot be fully utilized. In recent years, with the maturity of electromechanical and flight control technologies, UAV equipment has become increasingly popular, enabling the rapid development of UAVs in many industries such as industry, agriculture, and the service industry. Due to its many advantages such as miniaturization, intelligence, low cost, and low personnel casualties, the research and application of UAV airborne magnetic measurement systems have become a research hotspot for aviation geophysical companies at home and abroad.

[0003] Traditional airborne magnetic measurement devices such as Figure 1 As shown, the sensor mainly uses an optically pumped magnetometer as the main component and a three-axis fluxgate magnetometer as an auxiliary for magnetic compensation to measure the total field intensity of the geomagnetic field. Due to the influence of factors such as geomagnetic daily variation and environment, it is difficult to ensure high-precision total geomagnetic field intensity. Especially in marine magnetic measurement, the quality of geomagnetic daily variation data is crucial. To overcome the influence of these factors, the method of airborne magnetic horizontal gradient measurement is used to obtain the magnetic total field horizontal gradient value of the target area. Compared with traditional total magnetic field measurement, the total field gradient data has multi-parameter data information and has better interpretability for geomagnetic anomalies, which is of great value for resource exploration, unexploded ordnance detection, archaeological salvage, and anti-submarine warning. However, the air vortices generated during the high-speed flight and scientific research operation of the UAV will resonate with the support device of the sensor, and the resulting jitter and vibration will cause great interference to the numerical value of airborne magnetic horizontal gradient measurement, and even cause the airborne magnetic sensor to be unusable and equipment damage. Therefore, a support structure device suitable for small UAVs for airborne magnetic horizontal gradient measurement has high practical value.

[0004] Patent document CN103941297A discloses a aeromagnetic measurement device and method based on a fixed-wing unmanned aerial vehicle (UAV). Although this solution uses the UAV to solve problems such as high cost, high personnel risk in manned aeromagnetic measurement work, low working efficiency and large environmental interference in ground magnetic method measurement work, since this solution uses the UAV, the above-mentioned technical problems still exist. Summary of the Invention

[0005] To solve the problem that the air eddy current generated during the high-speed flight and scientific research operation of the existing UAV will resonate with the support device of the sensor, and the resulting jitter and vibration will cause great interference to the numerical value of the aeromagnetic horizontal gradient measurement, and even cause the aeromagnetic sensor to be unusable and equipment damage, the present invention provides a support structure device and method for UAV to perform aeromagnetic horizontal gradient measurement.

[0006] To achieve the above object, the technical solution of the present invention is:

[0007] In the first aspect, the present invention provides a support structure device for UAV to perform aeromagnetic horizontal gradient measurement. The support structure device is a left-right symmetric structure, including a fixing component, a balance support component and a flow elimination and shock absorption component:

[0008] The balance support component is in the shape of the letter "T", including a load-bearing support tube. One end of the load-bearing support tube is used to be inserted into the abdominal position of the UAV, and the other end is connected to the middle of the support balance tube;

[0009] There are two groups of the fixing components, which are respectively vertically arranged at both ends of the support balance tube; the fixing components are used to install the aeromagnetic sensor;

[0010] There are two groups of the flow elimination and shock absorption components, which are symmetrically distributed on the left and right of the support balance tube and are non-rigidly connected between the support balance tube and the UAV.

[0011] Further, the fixing component includes a flow guiding positioning cap, a sensor sleeve and a limiting lining tube; the sensor sleeve is used to install the aeromagnetic sensor, the flow guiding positioning cap is used to press and lock the positioning hole of the aeromagnetic sensor, and the limiting lining tube is used to be sleeved from the bottom of the aeromagnetic sensor.

[0012] Further, the balance support component further includes cable fixing rings. There are two cable fixing rings, which are symmetrically sleeved and fixed on the left and right sides of the support balance tube.

[0013] Further, the flow elimination and shock absorption component includes shock absorption cables. One end of the shock absorption cable is connected to the cable fixing ring, and the other end is connected to the fuselage of the UAV.

[0014] Further, the balance support assembly further includes a fairlead elbow, a reinforcing liner tube, and a tee sleeve; the support balance tube is an integral carbon fiber long tube that is inserted into two jacks of the tee sleeve that are on the same straight line, and the load-bearing support tube is inserted into the third jack of the tee sleeve; the fairlead elbow is in the shape of the letter "L", one end is sleeved and locked in the limit liner tube, and the other end is sleeved and locked in the reinforcing liner tube, and the reinforcing liner tube is inserted into the support balance tube.

[0015] Further, the flow elimination and shock absorption assembly further includes a pitot tube and a fixed sealing pin.

[0016] Further, each group of flow elimination and shock absorption assemblies is provided with two shock absorption cables.

[0017] In a second aspect, the present invention provides a method for reducing vibration during the process of a drone performing aeromagnetic horizontal gradient measurement. Based on the above device, the method includes:

[0018] Install the aeromagnetic sensor into the sensor sleeve, press and lock the diversion positioning cap against the positioning hole of the aeromagnetic sensor, and sleeve the limit liner tube from the bottom of the aeromagnetic sensor and fasten it tightly to one end of the fairlead elbow;

[0019] Connect the support balance tube and the load-bearing support tube properly with the tee sleeve, sleeve the cable fixing rings from both ends of the support balance tube, sleeve the reinforcing liner tube from the other end of the fairlead elbow and lock it tightly, then screw the combined fairlead elbow and reinforcing liner tube into the support balance tube from both sides and lock it, and install the load-bearing support tube into the abdominal position of the drone. At this time, the shock absorption cables on the cable fixing rings are in a free state;

[0020] Adjust the tensile strength of the shock absorption cables according to the number and weight of the loads carried by the drone each time it flies, so as to adjust the anti-vibration moment of the balance support assembly to achieve the effect of flow elimination and shock absorption

[0021] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0022] This device has the function of eliminating or reducing the influence of vibration on the sensor, and can offset or reduce the influence of the air vortex in the windward direction of the drone on the aeromagnetic sensor. When the self-rotation axis of the drone is fixed during the horizontal gradient measurement of the aeromagnetic system carried by the drone, the two sensors are always in the same horizontal plane. Therefore, the influence of the air vortex generated during the high-speed flight of the drone on the horizontal gradient measurement of the aeromagnetic system can be offset or reduced. Description of the Drawings

[0023] Figure 1 It is a schematic structural diagram of an existing traditional drone aeromagnetic support device;

[0024] Figure 2Schematic diagram of the bracket structure device for the UAV to perform aeromagnetic horizontal gradient measurement provided by the embodiment of the present invention;

[0025] Figure 3 For Figure 2 Explosion separation schematic diagram of the left-side symmetric structure in;

[0026] In the figure: 1, diversion positioning cap; 2, sensor sleeve; 3, limit liner; 4, cable guide elbow; 5, reinforcement liner; 6, cable fixing ring; 7, support balance pipe; 8, tee sleeve; 9, load-bearing support pipe; 10, shock-absorbing cable; 11, airspeed tube; 12, fixed sealing pin. Specific implementation mode

[0027] Embodiment:

[0028] In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "installation" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or a signal connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be said that the interiors of two components are connected. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations. The technical solutions of the present invention will be further described below with reference to the drawings and embodiments.

[0029] Refer to Figure 2-3 As shown, the bracket structure device for the UAV to perform aeromagnetic horizontal gradient measurement provided in this embodiment is a left-right symmetric structure, mainly including a fixing component, a balance support component, and a flow elimination and shock absorption component.

[0030] The balance support component is in the shape of the letter "T", including a load-bearing support pipe 9. One end of the load-bearing support pipe 9 is used to be inserted into the abdominal position of the UAV, and the other end is connected to the middle of the support balance pipe 7. The balance support component provides the core rigid connection for the entire device, and the symmetric structure in the shape of the letter "T" can offset the disturbance caused by wind resistance to ensure that the attitude of the UAV itself is not affected.

[0031] The fixing component is used to install the aeromagnetic sensor, and there are two groups, which are respectively vertically arranged at both ends of the support balance pipe 7; that is to say, the aeromagnetic sensors are symmetrically distributed at both ends of the support balance pipe 7, so as to ensure that the aeromagnetic sensors are always in the same horizontal plane during measurement.

[0032] There are also two sets of the flow elimination and shock absorption components, which are symmetrically distributed on the left and right sides of the support balance tube 7 and are non-rigidly connected between the support balance tube and the drone. The non-rigid connection characteristic of the flow elimination and shock absorption components can effectively offset or reduce the vibration impact on the aeromagnetic sensor caused by the air vortex generated near the support balance tube when the drone flies against the wind, so as to avoid damaging the entire device and the aeromagnetic sensor carried in the support structure.

[0033] It can be seen that this device has the function of eliminating or reducing the influence of vibration on the sensor, can offset or reduce the influence of the air vortex in the upwind direction of the drone on the aeromagnetic sensor, and ensures that when the aeromagnetic system carried by the drone performs horizontal gradient measurement and the self-rotation axis is fixed, the two sensors are always in the same horizontal plane. Therefore, it can offset or reduce the influence of the air vortex generated during the high-speed flight of the drone on the horizontal gradient measurement of the aeromagnetic system.

[0034] In a specific embodiment, the fixing component includes a diversion positioning cap 1, a sensor sleeve 2, and a limit lining tube 3; the sensor sleeve 2 is used to install the aeromagnetic sensor, the diversion positioning cap 1 is used to press and lock the positioning hole of the aeromagnetic sensor, and the limit lining tube 3 is used to be sleeved from the bottom of the aeromagnetic sensor. That is to say, the entire fixing component is detachable and can achieve rapid assembly; at the same time, under the cooperative action of the diversion positioning cap 1 and the limit lining tube 3, the aeromagnetic sensor can be firmly assembled in the sensor sleeve 2 to reduce vibration.

[0035] In a specific embodiment, the balance support component further includes a cable fixing ring 6. There are two cable fixing rings 6, which are symmetrically sleeved on the left and right sides of the support balance tube and are fixed by nylon screws. The balance support component further includes a cable guide elbow 4, a reinforcement lining tube 5, a cable fixing ring 6, and a tee sleeve 8; the support balance tube 7 is a whole carbon fiber long tube, which is inserted into two jacks of the tee sleeve 8 located on the same straight line, and the load-bearing support tube 9 is inserted into the third jack of the tee sleeve 8; the cable guide elbow 4 is in the shape of the letter "L", one end is sleeved and locked in the limit lining tube 3, and the other end is sleeved and locked in the reinforcement lining tube 5. The reinforcement lining tube 5 is inserted into the support balance tube 7. That is to say, the entire balance support component is also detachable and can achieve rapid assembly

[0036] In a specific embodiment, the flow elimination and shock absorption assembly includes a shock absorption cable 10. One end of the shock absorption cable 10 is connected to a cable fixing ring 6, and the other end is connected to the fuselage of the drone. Specifically, the flow elimination and shock absorption assembly further includes an airspeed tube 11 and a fixed sealing pin 12. The airspeed tube 11 is inserted and fixed in a tee sleeve 8 through the fixed sealing pin 12. The airspeed tube 11 guides the airflow into the electronic speed controller sensor inside the drone, so as to more accurately determine the flight speed of the drone. During the operation, the flight speed is reasonably adjusted to ensure that the resistance brought by the high-speed airflow is within the bearing range of the aeromagnetic bracket. The fixed sealing pin 12 can not only fix the airspeed tube 11, but also increase the sealing performance between the airspeed tube 11 and the tee sleeve 8, so that the airflow can flow more accurately to the sensor inside the fuselage. A set of flow elimination and shock absorption assemblies is provided with two shock absorption cables 10 to effectively offset or reduce the vibration impact on the aeromagnetic sensor caused by the air vortex generated near the support balance tube when the drone flies against the wind.

[0037] Correspondingly, this embodiment also provides a method for reducing vibration during the aeromagnetic horizontal gradient measurement of the drone. This method is based on the above device and specifically includes the following steps:

[0038] Install the aeromagnetic sensor into the sensor sleeve 2, press and lock the diversion positioning cap 1 against the positioning hole of the aeromagnetic sensor, and sleeved the limit liner 3 from the bottom of the aeromagnetic sensor and fasten one end of the cable guide elbow 4.

[0039] Connect the support balance tube 7 and the load-bearing support tube 9 properly with the tee sleeve 8. Slip the cable fixing ring 6 onto both ends of the support balance tube 7. Slip the reinforcement liner 5 onto the other end of the cable guide elbow 4 and lock it. Then screw the combined cable guide elbow 4 and the reinforcement liner 5 into the support balance tube 7 from both sides and lock them. Position the load-bearing support tube 9 at the belly of the drone. At this time, the cable fixing ring 6 and the shock absorption cable 10 are in a free state.

[0040] Since the load quantity and weight carried by the drone each time it flies are different, and the center of gravity position after the drone is weighted and leveled is also different, it is necessary to adjust the tensile strength of the shock absorption cable 10, so as to adjust the anti-vibration moment of the balance support assembly composed of the cable guide elbow 4, the reinforcement liner 5, the cable fixing ring 6, the support balance tube 7, the tee sleeve 8, and the load-bearing support tube 9, so as to achieve the effect of flow elimination and shock absorption.

[0041] It can be seen that the whole method is simple to use. It only needs to assemble the fixing frame and the limit buckle and adjust the cable strength, then it can be used, which is convenient and fast.

[0042] The above embodiments are only for illustrating the technical concept and features of the present invention, and the purpose is to enable those of ordinary skill in the art to understand the content of the present invention and implement it accordingly, and shall not be used to limit the protection scope of the present invention. Any equivalent changes or modifications made according to the essence of the content of the present invention shall be covered within the protection scope of the present invention.

Claims

1. A bracket structure device for a drone to perform aeromagnetic horizontal gradient measurement, characterized in that The bracket structure device is a left-right symmetric structure, including a fixing component, a balance support component, and a flow elimination and shock absorption component: The balance support component is in the shape of the letter "T", including a load-bearing support pipe. One end of the load-bearing support pipe is used to be inserted into the abdominal clamping position of the unmanned aerial vehicle, and the other end is connected to the middle of the support balance pipe; There are two groups of the fixing components, which are respectively vertically arranged at both ends of the support balance pipe; the fixing components are used to install the aeromagnetic sensor; There are two groups of the flow elimination and shock absorption components, which are symmetrically distributed on the left and right of the support balance pipe and are non-rigidly connected between the support balance pipe and the unmanned aerial vehicle; The balance support component further includes cable fixing rings. There are two cable fixing rings, which are symmetrically sleeved and fixed on the left and right sides of the support balance pipe; The flow elimination and shock absorption component includes shock-absorbing cables. One end of the shock-absorbing cable is connected to the cable fixing ring, and the other end is connected to the fuselage of the unmanned aerial vehicle.

2. The bracket structure device for magnetic aeromagnetic horizontal gradient measurement by an unmanned aerial vehicle according to claim 1, wherein, The fixing component includes a flow guiding positioning cap, a sensor sleeve, and a limiting lining tube; the sensor sleeve is used to install the aeromagnetic sensor, the flow guiding positioning cap is used to press and lock the positioning hole of the aeromagnetic sensor, and the limiting lining tube is used to be sleeved from the bottom of the aeromagnetic sensor.

3. The bracket structure device for the airborne magnetic horizontal gradient measurement by an unmanned aerial vehicle according to claim 1, characterized in that, The balance support component further includes a cable guiding elbow, a reinforcing lining tube, and a tee sleeve; the support balance pipe is a whole carbon fiber long tube, which is inserted into two jacks of the tee sleeve located on the same straight line, and the load-bearing support pipe is inserted into the third jack of the tee sleeve; the cable guiding elbow is in the shape of the letter "L", one end is sleeved and locked in the limiting lining tube, and the other end is sleeved and locked in the reinforcing lining tube, and the reinforcing lining tube is inserted into the support balance pipe.

4. The bracket structure device for the airborne magnetic horizontal gradient measurement by the unmanned aerial vehicle according to claim 3, wherein, The flow elimination and shock absorption component further includes an airspeed tube and a fixed sealing pin; the airspeed tube is inserted and fixed in the tee sleeve through the fixed sealing pin.

5. The bracket structure device for the airborne magnetic horizontal gradient measurement by an unmanned aerial vehicle according to claim 1 or 4, characterized in that, Each group of flow elimination and shock absorption components is provided with two shock-absorbing cables.

6. A method for reducing vibration during the process of the unmanned aerial vehicle performing aeromagnetic horizontal gradient measurement, based on the device described in claim 3, characterized in that, The method includes: Install the aeromagnetic sensor into the sensor sleeve, align the flow guiding positioning cap with the positioning hole of the aeromagnetic sensor and press to lock it, and sleeve the limiting lining tube from the bottom of the aeromagnetic sensor and tightly fasten it to one end of the cable guiding elbow; Properly connect the support balance pipe and the load-bearing support pipe with the tee sleeve, sleeve the cable fixing rings from both ends of the support balance pipe, sleeve the reinforcing lining tube from the other end of the cable guiding elbow and lock it tightly, then screw the combined cable guiding elbow and reinforcing lining tube into and lock it from both sides of the support balance pipe, and install the load-bearing support pipe into the abdominal clamping position of the unmanned aerial vehicle. At this time, the shock-absorbing cables on the cable fixing rings are in a free state; Adjust the tensile strength of the shock-absorbing cables according to the number and weight of the loads carried by the unmanned aerial vehicle each time it flies, so as to adjust the anti-vibration moment of the balance support component and achieve the effect of flow elimination and shock absorption.

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