Unmanned aerial vehicle three-component full-airborne transient electromagnetic detection system and method

Abstract

The present disclosure provides a kind of unmanned aerial vehicle three-component full airborne transient electromagnetic detection system and method.The unmanned aerial vehicle three-component full airborne transient electromagnetic detection system includes air detection system and ground auxiliary system, wherein the air detection system includes unmanned aerial vehicle, receiving device, transmitting device and connecting device.The transmitting device includes transmitting sub-device, transmitting coil and compensation coil;The receiving device includes receiving sub-device and three-component magnetic sensor;Connecting device includes signal and rope composite cable, for connecting unmanned aerial vehicle, transmitting device and receiving device;Wherein, three-component magnetic sensor is used to obtain three-component electromagnetic data, compensation coil is arranged in the inside of transmitting coil, and the coil winding mode of transmitting coil and compensation coil makes the current direction through transmitting coil and the current direction of compensation coil opposite, to reduce the electromagnetic field interference of transmitting device to receiving device.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of electromagnetic detection, and more particularly to a UAV three-component full-airborne transient electromagnetic detection system and method. BACKGROUND

[0002] With the gradual development of the economic society, the urban underground space is increasingly developed and utilized, and numerous man-made infrastructures (such as civil air defense, subways, various pipelines, etc.) are built. In the process of further development and reuse of the underground space, the physical performance parameters of the underground space need to be detected, and the underground facility structure image needs to be obtained, so as to realize safer development of the urban underground space.

[0003] At present, the detection of the underground space is mainly performed by using electromagnetic detection technology. The traditional ground electromagnetic detection technology needs to emit electromagnetic field signals on the ground, and the underground space information is obtained according to the received secondary electromagnetic field signal data. The ground electromagnetic detection technology is easily affected by the terrain and is not suitable for the detection of the underground space under relatively complex terrain conditions. SUMMARY

[0004] Therefore, the present disclosure provides a UAV three-component full-airborne transient electromagnetic detection system and method.

[0005] One aspect of the present disclosure provides a UAV three-component full-airborne transient electromagnetic detection system, comprising an air detection system and a ground auxiliary system, wherein the air detection system comprises: a UAV; a receiving device comprising a receiving sub-device and a three-component magnetic sensor; a transmitting device comprising a transmitting sub-device, a transmitting coil and a compensation coil; a connecting device comprising a signal and rope composite cable, the connecting device being used to connect the UAV, the transmitting device and the receiving device; wherein the three-component magnetic sensor is used to obtain three-component electromagnetic data, the compensation coil is arranged on the inner side of the transmitting coil, and the coil winding mode of the transmitting coil and the compensation coil is such that the current direction of the transmitting coil is opposite to the current direction of the compensation coil, so as to reduce the electromagnetic field interference of the transmitting device on the receiving device.

[0006] According to an embodiment of the present disclosure, the three-component magnetic sensor comprises: a first receiving coil, a plane in which the first receiving coil is located forms a first plane, and a direction perpendicular to the first plane forms a first component; a second receiving coil, a plane in which the second receiving coil is located forms a second plane, and a direction perpendicular to the second plane forms a second component; and a third receiving coil, a plane in which the third receiving coil is located forms a third plane, and a direction perpendicular to the third plane forms a third component; wherein the first receiving coil, the second receiving coil and the third receiving coil are fixedly connected by buckling, and any two components of the first component, the second component and the third component are perpendicular, and are used to obtain three-component electromagnetic data; wherein the three-component electromagnetic data comprises electromagnetic data obtained on the first component, the second component and the third component.

[0007] According to an embodiment of the present disclosure, the receiving sub-device comprises: a first acquisition module, configured to acquire three-component electromagnetic data of the three-component magnetic sensor; a second acquisition module, configured to acquire a transmitting current signal; and a receiving main control module, configured to execute a preset receiving instruction to realize electromagnetic data acquisition, transmission and storage of the receiving device.

[0008] According to an embodiment of the present disclosure, the receiving sub-device further comprises: a signal conditioning module, configured to filter and amplify the obtained three-component electromagnetic data; a storage module, configured to store the three-component electromagnetic data and the transmitting current signal; a transmission module, configured to transmit electromagnetic data from the three-component magnetic sensor to the receiving sub-device, and from the receiving sub-device to a ground auxiliary system; and a low-power power conversion module, configured to convert a direct current voltage to a first preset voltage, so as to power the receiving sub-device.

[0009] According to an embodiment of the present disclosure, the transmitting coil and the compensation coil are arranged in the same plane, the transmitting coil and the compensation coil are configured in a ring shape, and the transmitting coil and any one of the first receiving coil, the second receiving coil or the third receiving coil of the three-component magnetic sensor are arranged in the same plane.

[0010] According to an embodiment of the present disclosure, the transmitting sub-device comprises: a power inversion module, configured to generate a transmitting current signal of a preset frequency and amplitude, and load the transmitting current signal into the transmitting coil; a driving module, configured to control the power inversion module to generate the transmitting current signal of the preset frequency and amplitude; a detection module, configured to detect a waveform of the transmitting current signal; and a high-power power conversion module, configured to convert a direct current voltage to a second preset voltage, so as to power a circuit in the power inversion module, the driving module and the transmitting sub-device.

[0011] According to an embodiment of the present disclosure, the transmitting sub-device further comprises a transmitting master module configured to execute preset transmitting instructions to realize electromagnetic field excitation of the transmitting device; a synchronization module configured to synchronize instructions of the transmitting device and the receiving device; a constant-voltage double-clamp module configured to clamp rising edges and falling edges of a transmitting current signal at the same time to reduce turn-off time of a circuit, wherein the rising edge represents a time period during which the current signal rises from zero to a preset current, the falling edge represents a time period during which the current signal falls from the preset current to zero, the clamping represents limiting a voltage of the current signal at a third preset voltage, and the turn-off time represents duration information of the falling edge.

[0012] According to an embodiment of the present disclosure, the transmitting master module comprises a waveform control unit configured to control the constant-voltage double-clamp module and the driving module to generate a preset transmitting current signal.

[0013] According to an embodiment of the present disclosure, the aerial detection system further comprises a positioning device configured to position the aerial detection system in real time to obtain real-time position information of the aerial detection system, and a power supply device configured to supply power to the aerial detection system, and the ground auxiliary system comprises a monitoring device configured to monitor electromagnetic data and position information of the aerial detection system in real time.

[0014] Another aspect of the embodiment of the present disclosure provides a UAV three-component full-airborne transient electromagnetic detection method applied to the UAV three-component full-airborne transient electromagnetic detection system as described above, and the method comprises: performing a safe flight test on the aerial detection system to ensure detection safety of the aerial detection system during flight; setting detection parameters and flight parameters of the UAV three-component full-airborne transient electromagnetic detection system based on detection requirements, wherein the detection parameters comprise a transmitting current amplitude, a transmitting current frequency and a signal acquisition frequency, and the flight parameters comprise a flight height, a flight speed and a flight route; executing preset transmitting and receiving instructions to enable the UAV three-component full-airborne transient electromagnetic detection system to perform a detection operation on a target detection site according to the detection requirements, wherein the detection operation comprises acquisition and storage of three-component electromagnetic data and transmitting current signals; and performing data processing on the three-component electromagnetic data and the transmitting current signals to obtain underground space information of the target detection site.

[0015] According to the embodiment of the present disclosure, the electromagnetic data in three directions can be acquired through the three-component magnetic sensor, the obtained electromagnetic data is more comprehensive, and the underground space information obtained through analysis is more comprehensive; the electromagnetic field interference of the transmitting device on the receiving device is reduced through the compensation coil arranged in the transmitting device, relatively pure electromagnetic data can be obtained, and the underground space information obtained through analysis is more accurate; after the electromagnetic data is acquired, the data is collected, transmitted and stored through the receiving device, so as to obtain the underground space information after subsequent data analysis. Therefore, the unmanned aerial vehicle three-component full-airborne transient electromagnetic detection system based on the unmanned aerial vehicle realizes the transmission of the electromagnetic field signal in the air and the reception of the three-component electromagnetic data in the air, so that the problem that the traditional ground electromagnetic method detection technology is easily affected by the terrain and cannot detect the underground space under complex terrain conditions is at least partially overcome, and the applicability and accuracy of the underground space detection are improved. BRIEF DESCRIPTION OF DRAWINGS

[0016] The above and other objects, features and advantages of the present disclosure will become more apparent from the following description of embodiments of the present disclosure, taken in conjunction with the accompanying drawings, in which:

[0017] Figure 1 A working scene schematic diagram of the unmanned aerial vehicle three-component full-airborne transient electromagnetic detection system according to the embodiment of the present disclosure is schematically shown.

[0018] Figure 2 A structure schematic diagram of the air detection system of the unmanned aerial vehicle three-component full-airborne transient electromagnetic detection system according to the embodiment of the present disclosure is schematically shown.

[0019] Figure 3 A structure schematic diagram of the three-component magnetic sensor according to the embodiment of the present disclosure is schematically shown.

[0020] Figure 4 A block diagram of the receiving device according to the embodiment of the present disclosure is schematically shown.

[0021] Figure 5 A schematic diagram of the center primary field compensation technology of the unmanned aerial vehicle three-component full-airborne transient electromagnetic detection system according to the embodiment of the present disclosure is schematically shown.

[0022] Figure 6 A contrast effect diagram processed through the center primary field compensation technology according to the embodiment of the present disclosure is schematically shown.

[0023] Figure 7 A block diagram of the transmitting sub-device of the unmanned aerial vehicle three-component full-airborne transient electromagnetic detection system according to the embodiment of the present disclosure is schematically shown.

[0024] Figure 8A schematic diagram of a constant voltage double-clamp module transmitting current pulse waveforms of a UAV three-component full-airborne transient electromagnetic detection system is shown.

[0025] Figure 9 A flowchart of a UAV three-component full-airborne transient electromagnetic detection method is shown. DETAILED DESCRIPTION

[0026] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. It should be understood, however, that the description which follows is merely exemplary and is not intended to limit the scope of the present disclosure. In the following detailed description of the embodiments of the present disclosure, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure. However, it would be apparent to one skilled in the art that the present disclosure can be practiced without these specific details. In other instances, well-known structures and functions have not been described in detail in order to avoid obscuring the concepts of the present disclosure.

[0027] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the present disclosure. As used herein, the term "includes" and tautological expressions thereof, such as "including," "includes," "include," "contains," "containing," and so forth, shall not be taken to exclude

[0028] All terms used herein (including technical and scientific terms) have meanings that are commonly understood by one of ordinary skill in the art unless otherwise defined. It should be noted that the terms used herein are to be interpreted as having a meaning that is consistent with the understanding of those terms by those in the relevant art, and not in an overly legal or formal sense.

[0029] In the case where expressions similar to "at least one of A, B, and C, etc." are used, it generally should be interpreted to include any of one, all, or a combination thereof. In the case where expressions similar to "at least one of A, B, or C, etc." are used, it generally should be interpreted to include any of one, all, or a combination thereof. In the case where expressions similar to "at least one of A, B, and C, etc." are used, it generally should be interpreted to include any of one, all, or a combination thereof. In the case where expressions similar to "at least one of A, B, or C, etc." are used, it generally should be interpreted to include any of one, all, or a combination thereof.

[0030] With the gradual development of economic society, urban underground space is increasingly developed and utilized, and many man-made infrastructures (such as civil air defense, subway, various pipelines, etc.) are built. At the same time, it also brings safety hazards to the further development and reuse of underground space (such as various underground caves formed by human or nature, road surface void or soft structure, etc.). Therefore, in the process of further development and reuse of underground space, the physical performance parameters of underground space need to be detected, and the underground facility structure image needs to be obtained, so as to realize safer development of urban underground space.

[0031] At present, the detection of underground space is mainly carried out by using electromagnetic detection technology. The traditional ground electromagnetic detection technology needs to transmit electromagnetic field signals on the ground, then receive secondary electromagnetic field signal data, and obtain underground space information by analyzing and processing the data. The ground electromagnetic detection technology is easily affected by the terrain and is not suitable for underground space detection under complex terrain conditions. In addition, the semi-airborne electromagnetic detection technology transmits electromagnetic field signals on the ground and receives secondary electromagnetic field signal data in the air, which also cannot detect underground space under complex terrain conditions.

[0032] Therefore, the embodiments of the present disclosure provide a UAV three-component full-airborne transient electromagnetic detection system and method to at least partially overcome the above problems.

[0033] Figure 1 The working scene schematic diagram of the UAV three-component full-airborne transient electromagnetic detection system according to the embodiments of the present disclosure is schematically shown.

[0034] As shown in Figure 1 The UAV three-component full-airborne transient electromagnetic detection system according to the embodiments of the present disclosure includes an airborne detection system and a ground auxiliary system, which can be used to detect underground space structure and obtain underground space information including underground space image. Specifically, the UAV three-component full-airborne transient electromagnetic detection system transmits electromagnetic field signals (also referred to as primary electromagnetic field signals) to the ground surface. The electromagnetic field signals have good penetration and can pass through the ground surface to cause electromagnetic induction of underground structure bodies including underground facilities, underground water and underground cavities. The electromagnetic induction signals of the underground structure bodies (also referred to as secondary electromagnetic field signals) can pass through the ground surface and be received by the airborne detection system. By analyzing the received secondary electromagnetic field signal data, the underground space information including the underground space image can be obtained.

[0035] According to the embodiments of the present disclosure, the airborne detection system of the UAV three-component full-airborne transient electromagnetic detection system can carry a three-component magnetic sensor, so that the airborne detection system can receive secondary electromagnetic field signals in three mutually perpendicular component directions. In a specific embodiment, as shown in Figure 3As shown, the secondary electromagnetic field signals in three mutually perpendicular component directions can be X and Y components in the horizontal direction and a Z component in the vertical direction.

[0036] Figure 2 A structural schematic diagram of an aerial detection system of a three-component full-airborne transient electromagnetic detection system of a UAV is schematically shown according to an embodiment of the present disclosure.

[0037] As shown, Figure 2 the aerial detection system can include a UAV 100, a receiving device, a transmitting device, and a connecting device.

[0038] According to an embodiment of the present disclosure, as shown, Figure 2 the UAV 100 is a flight device of the aerial detection system, used to carry the transmitting device and the connecting device to realize aerial flight, so that the aerial detection system can detect the detection ground according to a target detection path. The UAV 100 can be a flight device convenient for an operator to control, and the specific form of the UAV is not limited here.

[0039] According to an embodiment of the present disclosure, as shown, Figure 2 the receiving device includes a receiving sub-device 210 and a three-component magnetic sensor 220, used to acquire secondary electromagnetic field signals and collect, transmit, and store data thereof. In a specific embodiment, the receiving sub-device 210 can be fixed to the lower side of the UAV 100 by a lock buckle, so that the UAV 100 carries the receiving sub-device 210 to work.

[0040] According to an embodiment of the present disclosure, as shown, Figure 2 the transmitting device includes a transmitting sub-device 310, a transmitting coil 320, and a compensation coil 330, used to transmit primary electromagnetic field signals to the ground. In a specific embodiment, the transmitting sub-device 310 can be fixed to the lower side of the UAV 100 by a lock buckle, so that the UAV 100 carries the transmitting sub-device 310 to work.

[0041] According to an embodiment of the present disclosure, the compensation coil 330 can be arranged on the inner side of the transmitting coil 320, and the coil winding manner of the transmitting coil 320 and the compensation coil 330 is such that the current direction of the transmitting coil 320 is opposite to that of the compensation coil 330, so as to reduce the electromagnetic field interference of the transmitting device on the receiving device 200.

[0042] According to an embodiment of the present disclosure, as shown, Figure 2 the transmitting coil 320 can be formed by overlapping multiple turns of metal wires, and the periphery is wrapped with an insulating material.

[0043] According to an embodiment of the present disclosure, as shown, Figure 2 the connecting device can include a signal and rope composite cable 410.

[0044] According to an embodiment of the present disclosure, the transmitting coil 320 can be placed below the unmanned aerial vehicle 100 through the signal and rope composite cable 410. The transmitting coil 320 is connected to the transmitting sub-device 310 through the signal and rope composite cable 410, for realizing excitation of the primary electromagnetic field signal.

[0045] According to an embodiment of the present disclosure, the material of the metal wire of the transmitting coil 320 can be a metal material including copper, and the material of the metal wire of the transmitting coil 320 is not limited herein.

[0046] According to an embodiment of the present disclosure, the transmitting device of the unmanned aerial vehicle three-component full-airborne transient electromagnetic exploration system realizes excitation of the primary electromagnetic field signal through the center primary field compensation technology.

[0047] According to an embodiment of the present disclosure, through the three-component magnetic sensor, electromagnetic data in three directions can be obtained, the obtained electromagnetic data is more comprehensive, and the obtained underground space information is more comprehensive through analysis; through the compensation coil arranged in the transmitting device, the electromagnetic field interference of the transmitting device on the receiving device is reduced, relatively pure electromagnetic data can be obtained, and the obtained underground space information is more accurate through analysis; after the electromagnetic data is obtained, the data is collected, transmitted and stored through the receiving device, so as to obtain the underground space information through subsequent data analysis. Therefore, the unmanned aerial vehicle three-component full-airborne transient electromagnetic exploration system based on the unmanned aerial vehicle realizes transmission of the electromagnetic field signal in the air and reception of the three-component electromagnetic data in the air, so that at least part of the problems that the traditional ground electromagnetic method exploration technology is easily affected by the terrain and cannot be used for underground space exploration under complex terrain conditions is overcome, and the applicability and accuracy of the underground space exploration are improved.

[0048] Figure 3 A structure schematic diagram of the three-component magnetic sensor according to an embodiment of the present disclosure is schematically shown.

[0049] As shown in Figure 3 The three-component magnetic sensor 220 includes a first receiving coil 221, a second receiving coil 222 and a third receiving coil 223.

[0050] A plane where the first receiving coil 221 is located forms a first plane, and a direction perpendicular to the first plane forms a first component.

[0051] A plane where the second receiving coil 222 is located forms a second plane, and a direction perpendicular to the second plane forms a second component.

[0052] A plane where the third receiving coil 223 is located forms a third plane, and a direction perpendicular to the third plane forms a third component.

[0053] According to an embodiment of the present disclosure, the first receiving coil 221, the second receiving coil 222 and the third receiving coil 223 are fixedly connected by buckling, and any two components of the first component, the second component and the third component are perpendicular, for obtaining three-component electromagnetic data; wherein the three-component electromagnetic data includes electromagnetic data obtained on the first component, the second component and the third component.

[0054] According to an embodiment of the present disclosure, the magnetic field sensor is a device that can convert the amount of various magnetic fields and their changes into an electrical signal output, and can serve as a carrier of various information. Therefore, the magnetic field sensor can detect various information carried in the magnetic field.

[0055] According to an embodiment of the present disclosure, Figure 3 The magnetic field sensor comprises three coils, any one of which can be referred to as a first receiving coil 221, and any one of the remaining two coils can be referred to as a second receiving coil 222. The specific reference relationship of the first receiving coil 221, the second receiving coil 222 and the third receiving coil 223 in the magnetic field sensor is not limited here.

[0056] In an illustrative embodiment, in order to better explain the structure of the magnetic field sensor of the present disclosure, for example, a coil in a horizontal plane can be represented as a first receiving coil 221, and a first component formed in a direction perpendicular to the horizontal plane (i.e. a vertical direction) can be represented as a Z component. A second component and a third component perpendicular to the Z component can be represented as an X component and a Y component, respectively, wherein the X component and the Y component are also perpendicular to each other. Therefore, the magnetic field sensor in the present embodiment can be used to obtain electromagnetic data including X component, Y component and Z component, wherein the electromagnetic data on the Z component can represent electromagnetic data in the vertical direction, and the electromagnetic data on the X component and the Y component can represent electromagnetic data in the horizontal direction.

[0057] According to an embodiment of the present disclosure, the shapes of the first receiving coil 221, the second receiving coil 222 and the third receiving coil 223 can be set to include circular, square and other patterns, and their sizes can be set according to the detection requirements. The shapes and sizes of the first receiving coil 221, the second receiving coil 222 and the third receiving coil 223 are not limited here.

[0058] In an illustrative embodiment, the shapes of the first receiving coil 221, the second receiving coil 222 and the third receiving coil 223 are all set to be circular, and the diameters are all less than 1m, so as to reduce the wind resistance of the magnetic field sensor in the air flight state, and better adapt to the air operation of the unmanned aerial vehicle full-air transient electromagnetic detection system.

[0059] According to an embodiment of the present disclosure, the first receiving coil 221, the second receiving coil 222 and the third receiving coil 223 can each be wound by an N-turn coil, where N is a natural number. The material of the N-turn coil can be a metal material including copper, and the material of the first receiving coil 221, the second receiving coil 222 and the third receiving coil 223 is not limited herein.

[0060] According to an embodiment of the present disclosure, the first receiving coil 221, the second receiving coil 222 and the third receiving coil 223 are fixedly connected by a buckle. The fixing position of the buckle can be arranged at the connection between the first receiving coil 221, the second receiving coil 222 and the third receiving coil 223. The buckle can limit the relative displacement and rotation between the first receiving coil 221, the second receiving coil 222 and the third receiving coil 223, so that any two components of the first component, the second component and the third component remain perpendicular to obtain three-component electromagnetic data meeting the target detection requirements.

[0061] According to an embodiment of the present disclosure, by using the three-component magnetic sensor, the sensor structure is miniaturized, and electromagnetic data in three mutually perpendicular component directions can be obtained, and the obtained electromagnetic data is more comprehensive. Further, when the three-component magnetic sensor is used for underground space detection, more comprehensive and accurate underground space information can be obtained by analyzing the three-component electromagnetic data detected by the three-component magnetic sensor, and the accuracy of underground space detection is improved. In addition, the three-component magnetic sensor realizes high-precision observation of wideband transient electromagnetic response signals through low-noise design and capacitance compensation technology.

[0062] Figure 4 A block diagram of a receiving device according to an embodiment of the present disclosure is schematically shown.

[0063] As shown in Figure 4 The receiving device 200 can include a receiving sub-device 210 and a three-component magnetic sensor 220. The receiving sub-device 210 includes a first acquisition module 211, a second acquisition module 212 and a receiving main control module 213.

[0064] The first acquisition module 211 is configured to acquire three-component electromagnetic data of the three-component magnetic sensor.

[0065] The second acquisition module 212 is configured to acquire a transmitting current signal.

[0066] The receiving main control module 213 is configured to execute a preset receiving instruction to realize electromagnetic data acquisition, transmission and storage of the receiving device.

[0067] According to an embodiment of the present disclosure, the receiving device 200 for unmanned aerial vehicle three-component full airborne transient electromagnetic detection can be applied in the field of unmanned aerial vehicle full airborne transient electromagnetic detection technology. The unmanned aerial vehicle full airborne transient electromagnetic detection technology can realize the emission of electromagnetic field signals in the air, the reception of secondary electromagnetic field signal data in the air, and the analysis of the secondary electromagnetic field signal data to obtain underground space information. The receiving device 200 for unmanned aerial vehicle three-component full airborne transient electromagnetic detection can receive secondary electromagnetic field signal data in three mutually perpendicular component directions in the air.

[0068] According to an embodiment of the present disclosure, the three-component magnetic sensor 220 is used to obtain three-component electromagnetic data, which can represent secondary electromagnetic field signal data in three mutually perpendicular component directions. The receiving sub-device 210 can collect the three-component electromagnetic data obtained by the three-component magnetic sensor 220 and the emission current signal in response to a preset receiving instruction, and store the three-component electromagnetic data and the emission current signal.

[0069] According to an embodiment of the present disclosure, the first collection module 211 can execute a collection instruction of three-component electromagnetic data in response to the receiving main control module 213 to realize real-time collection of three-component electromagnetic data of the three-component magnetic sensor.

[0070] According to an embodiment of the present disclosure, when performing unmanned aerial vehicle full airborne transient electromagnetic detection, an electromagnetic field signal needs to be first emitted in the air, which can be excited by an emission current signal emitted by the emission device. The second collection module 212 can execute an emission current signal collection instruction in response to the receiving main control module 213 to realize real-time collection of the emission current signal.

[0071] According to an embodiment of the present disclosure, the first collection module 211 and the second collection module 212 can be analog digital converter (ADC) data sampling circuits.

[0072] According to an embodiment of the present disclosure, the receiving main control module 213 is a core control module of the receiving sub-device 210. A worker can set a receiving instruction in advance before the detection system works. After the detection system starts working, the receiving main control module 213 can execute the pre-set receiving instruction, and control the first collection module 211, the second collection module 212, the storage module, and the transmission module to realize the collection, transmission, and storage of electromagnetic data by the receiving device 200, wherein the electromagnetic data includes three-component electromagnetic data and emission current signals.

[0073] According to an embodiment of the present disclosure, as Figure 4As shown, the receiving sub-device 210 further comprises a signal conditioning module 214, a storage module 215, a transmission module 216 and a low-power power conversion module 217.

[0074] The signal conditioning module 214 is configured to filter and amplify the acquired three-component electromagnetic data.

[0075] The storage module 215 is configured to store the three-component electromagnetic data and the transmitted current signal.

[0076] The transmission module 216 is configured to transmit the electromagnetic data from the three-component magnetic sensor to the receiving sub-device, and from the receiving sub-device to the ground auxiliary system.

[0077] The low-power power conversion module 217 is configured to convert a direct current voltage to a first preset voltage to power the receiving sub-device.

[0078] According to an embodiment of the present disclosure, the three-component electromagnetic data acquired by the three-component magnetic sensor generally contains various noises, which is not conducive to the final imaging effect of electromagnetic exploration. The signal conditioning module 214 is configured to filter and amplify the acquired three-component electromagnetic data, which can greatly reduce the noise of the three-component electromagnetic data collected by the first acquisition module 211, improve the signal-to-noise ratio of the exploration data, and be conducive to the final imaging effect of electromagnetic exploration.

[0079] According to an embodiment of the present disclosure, the storage module 215 can execute an electromagnetic data storage instruction issued by the receiving main control module 213 to realize real-time storage of electromagnetic data, wherein the electromagnetic data includes three-component electromagnetic data and a transmitted current signal.

[0080] According to an embodiment of the present disclosure, the transmission module 216 can execute an electromagnetic data transmission instruction issued by the receiving main control module 213 to realize real-time transmission of electromagnetic data, wherein the electromagnetic data includes three-component electromagnetic data and a transmitted current signal.

[0081] According to an embodiment of the present disclosure, the receiving device 200 can be powered by a direct current power supply, thereby driving the receiving device to work. The normal working voltage of the receiving device is a first preset voltage, which can be a 24V direct current voltage. Through the low-power power conversion module 217, the voltage of the direct current power supply can be converted to the first preset voltage to power the receiving sub-device, so as to ensure the normal working of the receiving device.

[0082] According to an embodiment of the present disclosure, after the three-component magnetic sensor acquires electromagnetic data, the receiving device collects, transmits and stores the electromagnetic data and the transmitted current signal, so as to obtain underground space information including underground space images after subsequent data analysis.

[0083] Figure 5 The diagram illustrates a central primary field compensation technique for a three-component airborne transient electromagnetic detection system for unmanned aerial vehicles according to an embodiment of the present disclosure.

[0084] like Figure 5 As shown, the compensation coil 330 is disposed inside the transmitting coil 320, and the winding method of the transmitting coil 320 and the compensation coil 330 is such that the direction of the current flowing through the transmitting coil 320 is I. T Current direction I of compensation coil 330 B Conversely, by this configuration, the compensation coil 330 can effectively cancel the strong primary field in the secondary electromagnetic field signal received by the three-component magnetic sensor 220, achieving weak coupling between the transmitting and receiving coils and reducing electromagnetic field interference from the transmitting device to the receiving device.

[0085] Figure 6 The illustration shows a comparison of the effects of processing with the central primary field compensation technique according to an embodiment of the present disclosure.

[0086] Figure 6 In the graph (a), the curve represents the change in the magnitude of the transmitted current signal over time. Figure 6 (b) in the figure represents the curve of the magnitude of the secondary electromagnetic field received signal in the z component as a function of time before the first field compensation. Figure 6 In the figure, (c) represents the curve showing the change in the magnitude of the secondary electromagnetic field received signal in the z-component over time after one field compensation. Comparing the results before and after compensation, it can be seen that the magnitude of the secondary electromagnetic field received signal in the z-component is significantly weakened. This is beneficial for reducing the dynamic range of the sensor and improving the quality of the early attenuation signal. Furthermore, the receiving device can obtain relatively pure electromagnetic data, and by processing this electromagnetic data, a clearer image of the underground space can be obtained.

[0087] According to embodiments of this disclosure, the transmitting coil 320 and the compensation coil 330 can be arranged in the same plane, and the shapes of the transmitting coil 320 and the compensation coil 330 are constructed into a ring. The transmitting coil 320 and any one of the receiving coils of the three-component magnetic sensor 220, namely the first receiving coil 221, the second receiving coil 222, or the third receiving coil 223, are in the same plane.

[0088] According to embodiments of this disclosure, the shapes of the transmitting coil 320 and the compensation coil 330 can be configured to include rings, squares, or other shapes, and their sizes can be set according to detection requirements. The shapes and sizes of the transmitting coil 320 and the compensation coil 330 are not limited herein.

[0089] In an illustrative embodiment, the shape of the transmitting coil 320 is set as a circular ring with a radius of 1-2 m to reduce the wind resistance of the magnetic field sensor in the air flight state and better adapt to the aerial operation of the unmanned aerial vehicle full-airborne transient electromagnetic detection system.

[0090] According to an embodiment of the present disclosure, the transmitting coil 320 and the compensation coil 330 can be set in the same plane, and the transmitting coil 320 is in the same plane as any one of the first receiving coil 221, the second receiving coil 222, or the third receiving coil 223 of the three-component magnetic sensor 220, so that the coil system has good aerodynamic performance and ensures that the coil is in a stable state, thereby making the unmanned aerial vehicle full-airborne transient electromagnetic system have good detection performance.

[0091] Figure 7 An illustrative block diagram of a transmitting sub-device of an unmanned aerial vehicle three-component full-airborne transient electromagnetic detection system according to an embodiment of the present disclosure is shown.

[0092] According to an embodiment of the present disclosure, the transmitting sub-device 310 includes a power inverter module 311, a driving module 312, a detection module 313, and a high-power power supply conversion module 314.

[0093] The power inverter module 311 is configured to generate a transmitting current signal with a preset frequency and amplitude and load the transmitting current signal into the transmitting coil 320.

[0094] The driving module 312 is configured to control the power inverter module to generate the transmitting current signal with the preset frequency and amplitude.

[0095] The detection module 313 is configured to detect the waveform of the transmitting current signal.

[0096] The high-power power supply conversion module 314 is configured to convert a direct current voltage to a second preset voltage to supply power to circuits in the power inverter module, the driving module, and the transmitting sub-device.

[0097] According to an embodiment of the present disclosure, the power inverter module 311 can generate a transmitting current signal with a preset frequency and amplitude, and the preset frequency and amplitude can be set according to detection requirements.

[0098] In an illustrative embodiment, the preset frequency range is 0.1 Hz-10 kHz, and the preset current amplitude is 0-50 A. The power inverter module 311 can be a MOSFET (Metal-Oxide-Semiconductor Field-Effect Transistor) power inverter circuit.

[0099] According to an embodiment of the present disclosure, the driving module 312 can control the power inversion module to generate a transmitting current signal with a preset frequency and amplitude.

[0100] In an illustrative embodiment, the driving module 312 can be a MOSFET driving circuit.

[0101] According to an embodiment of the present disclosure, the detecting module 313 is configured to detect a waveform of the transmitting current signal, which can be a current pulse signal. The detecting module 313 detects the waveform of the transmitting current signal, which is then collected by the second collecting module 212 in the receiving device.

[0102] According to an embodiment of the present disclosure, the high-power power conversion module 314 is connected to the power supply device through a cable, and converts a direct current voltage in the power supply device to a second preset voltage, which can include a voltage range of 12V-90V, to supply power to circuits in the power inversion module 311, the driving module 312, and the transmitting sub-device.

[0103] According to an embodiment of the present disclosure, the transmitting sub-device 310 further includes a transmitting master control module 315, a synchronization module 316, and a constant-voltage double-clamp module 317.

[0104] The transmitting master control module 315 is configured to execute a preset transmitting instruction to excite an electromagnetic field of the transmitting device.

[0105] The synchronization module 316 is configured to synchronize instructions of the transmitting device and the receiving device.

[0106] The constant-voltage double-clamp module 317 is configured to clamp rising and falling edges of the transmitting current signal at the same time to reduce a turn-off time of the circuit. The rising edge represents a time period during which the current signal rises from zero to a preset current, the falling edge represents a time period during which the current signal falls from the preset current to zero, the clamping represents limiting a voltage of the current signal to a third preset voltage, and the turn-off time represents duration information of the falling edge.

[0107] According to an embodiment of the present disclosure, the transmitting master control module 315 is a core control module of the transmitting sub-device 310. A worker can preset a transmitting instruction before the detection system works, and the transmitting master control module 315 can execute the preset transmitting instruction to excite an electromagnetic field of the transmitting device after the detection system starts working. Specifically, the transmitting instruction can include a transmitting timing and a transmitting current size.

[0108] According to an embodiment of the present disclosure, the synchronization module 316 is configured to synchronize instructions of the transmitting device and the receiving device, so that the transmitting device and the receiving device can be kept in synchronization.

[0109] Figure 8The diagram illustrates a constant voltage dual-clamping module transmit current pulse waveform of a UAV three-component all-airborne transient electromagnetic detection system according to an embodiment of the present disclosure.

[0110] like Figure 8 As shown, the constant voltage dual-clamp module transmits a current pulse waveform diagram, including a rising edge, a flat-top segment, and a falling edge. The rising edge represents the time interval from 0 to the preset current flat-top segment, and the falling edge represents the time interval from the preset current flat-top segment to zero. t1 is the pulse's rising edge time, and t2 is the pulse's falling edge time. Clamping represents limiting the voltage of the current signal to a third preset voltage Uc, which can range from 500 to 1000V. The constant voltage dual-clamp module can employ a constant voltage dual-clamping method to clamp both the rising and falling edges of the current, achieving rapid boosting of the rising edge and rapid turn-off of the falling edge.

[0111] According to an embodiment of this disclosure, the transmitting main control module includes a waveform control unit, which controls the constant voltage dual clamping module and the driving module to generate a preset transmitting current signal.

[0112] According to embodiments of this disclosure, the waveform control unit can control the waveform of the transmitted current signal according to the detection requirements, so as to ensure that the transmitted current signal is transmitted according to the required waveform.

[0113] According to embodiments of this disclosure, the aerial detection system further includes a positioning device and a power supply device. The positioning device is used to perform real-time positioning of the aerial detection system to obtain its real-time location information; the power supply device is used to supply power to the aerial detection system.

[0114] According to embodiments of this disclosure, the ground-aided system includes a monitoring device. The monitoring device is used to monitor the electromagnetic data and location information of the airborne detection system in real time.

[0115] In one illustrative embodiment, the positioning device may be a GPS positioning device, and the power supply device may be a battery that provides DC power. Both the positioning device and the power supply device can be mounted on the drone by a latch to ensure a reliable connection between them.

[0116] According to embodiments of this disclosure, the monitoring device can monitor the electromagnetic data and location information of the airborne detection system in real time, so that staff can obtain the latest electromagnetic data and location information as a basis for adjusting flight routes.

[0117] According to the embodiment of the present disclosure, the unmanned aerial vehicle three-component full-airborne transient electromagnetic detection system based on unmanned aerial vehicles realizes the emission and reception of electromagnetic field signals in the air, and therefore at least partially overcomes the problem that the conventional ground electromagnetic detection technology is easily affected by the terrain and cannot detect the underground space under complex terrain conditions, and improves the applicability and accuracy of underground space detection.

[0118] Figure 9 A flowchart of the unmanned aerial vehicle three-component full-airborne transient electromagnetic detection method according to the embodiment of the present disclosure is schematically shown.

[0119] As shown in Figure 9 , the detection method of the unmanned aerial vehicle three-component full-airborne transient electromagnetic detection system includes operations S901-S904.

[0120] In operation S901, a safety flight test is performed on the aerial detection system to ensure the safety of the aerial detection system during flight.

[0121] In operation S902, based on the detection requirements, the detection parameters and flight parameters of the unmanned aerial vehicle three-component full-airborne transient electromagnetic detection system are set, wherein the detection parameters include the emission current amplitude, the emission current frequency and the signal acquisition frequency, and the flight parameters include the flight height, the flight speed and the flight route.

[0122] In operation S903, the preset emission and preset reception instructions are executed to enable the unmanned aerial vehicle three-component full-airborne transient electromagnetic detection system to perform detection operations on the target detection area according to the detection requirements, wherein the detection operations include the acquisition and storage of three-component electromagnetic data and emission current signals.

[0123] In operation S904, the three-component electromagnetic data and the emission current signals are processed to obtain the underground space information of the target detection area.

[0124] According to the embodiment of the present disclosure, operation S901 can include system arrangement and self-checking. Specifically, the emission coil and the three-component magnetic sensor are suspended below the unmanned aerial vehicle through the signal and rope composite cable, and the emission device and the receiving device are fixed on the abdomen of the unmanned aerial vehicle. The self-checking of the emission device, the receiving device and the unmanned aerial vehicle is performed in sequence, and the unmanned aerial vehicle is started to perform flight safety test, to exclude possible flight safety hazards and ensure the smooth progress of the detection operation. If there is no fault, the next step is directly entered; if there is a fault, the next step is entered after the fault is eliminated.

[0125] According to an embodiment of the present disclosure, operation S902 can include setting a detection system parameter and a flight parameter. The detection system parameter includes a transmitting current amplitude, a frequency, and a signal sampling rate, etc., wherein the signal sampling rate is a frequency of signal acquisition, and the acquisition frequency range can include 100 kHz-1 MHz. The flight parameter includes a flight height, a flight speed, and a flight route.

[0126] In an illustrative embodiment, the flight height can be greater than 10 m, and the speed range includes 1-6 m / s. The user can adjust the detection system parameter and the flight parameter according to the requirement to improve the data quality.

[0127] According to an embodiment of the present disclosure, operation S903 can include system operation and data acquisition. The worker sets the transmitting instruction and the receiving instruction in advance, the transmitting and receiving systems work synchronously, and the positioning device is connected. The unmanned aerial vehicle operates on the measurement route planned in advance, and realizes the synchronous acquisition and storage of the transmitting current signal and the three-component electromagnetic data.

[0128] According to an embodiment of the present disclosure, operation S904 can include comprehensive data processing and analysis. After the detection is completed, the data stored in the storage module is imported into a data processing platform for data processing and analysis, wherein the data processing platform can be a MATLAB software processing program. Further, the joint interpretation of the three-component electromagnetic data is realized by means of resistivity inversion imaging to obtain high-resolution and relatively clear underground space information; wherein the resistivity inversion imaging means images the resistivity distribution of the underground medium through an electromagnetic data processing algorithm.

[0129] Those skilled in the art can understand that the features described in various embodiments and / or claims of the present disclosure can be combined or / and combined, even if such combinations or combinations are not explicitly described in the present disclosure. In particular, the features described in various embodiments and / or claims of the present disclosure can be combined and / or combined without departing from the spirit and teachings of the present disclosure. All these combinations and / or combinations fall within the scope of the present disclosure.

[0130] The above-described specific embodiments further illustrate the purpose, technical solutions, and advantages of the present application. It should be understood that the above-described embodiments are only specific embodiments of the present application and are not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. An unmanned three-component full-airborne transient electromagnetic surveying system, comprising an airborne surveying system and a ground auxiliary system, wherein, The aerial detection system comprises: an unmanned aerial vehicle; a receiving device comprising a receiving sub-device and a three-component magnetic sensor; a transmitting device comprising a transmitting sub-device, a transmitting coil and a compensation coil; a connecting device comprising a signal and rope composite cable, the connecting device being used to connect the unmanned aerial vehicle, the transmitting device and the receiving device; wherein the three-component magnetic sensor is used to acquire three-component electromagnetic data, the compensation coil is arranged on the inner side of the transmitting coil, and the coil winding mode of the transmitting coil and the compensation coil is such that the current direction through the transmitting coil is opposite to the current direction of the compensation coil, so as to reduce the electromagnetic field interference of the transmitting device on the receiving device; wherein the transmitting coil and the compensation coil are arranged in the same plane, the outer shape of the transmitting coil and the compensation coil is configured as a ring shape, and the transmitting coil is in the same plane as any one of the first receiving coil, the second receiving coil or the third receiving coil of the three-component magnetic sensor; wherein the transmitting sub-device further comprises: a transmitting main control module, used to execute a preset transmitting instruction to realize electromagnetic field excitation of the transmitting device; a synchronization module, used to synchronize the instructions of the transmitting device and the receiving device; a constant voltage double-clamp module, used to clamp the rising edge and the falling edge of the transmitting current signal at the same time, so as to reduce the turn-off time of the circuit; wherein the rising edge represents the time period during which the current signal rises from zero to a preset current, the falling edge represents the time period during which the current signal falls from the preset current to zero, the clamping represents limiting the voltage of the current signal to a third preset voltage, and the turn-off time represents the duration information of the falling edge.

2. The system of claim 1, wherein, The three-component magnetic sensor comprises: a first receiving coil, the plane in which the first receiving coil is located forms a first plane, and the direction perpendicular to the first plane forms a first component; a second receiving coil, the plane in which the second receiving coil is located forms a second plane, and the direction perpendicular to the second plane forms a second component; and a third receiving coil, the plane in which the third receiving coil is located forms a third plane, and the direction perpendicular to the third plane forms a third component; wherein the first receiving coil, the second receiving coil and the third receiving coil are fixedly connected through buckling, and any two components of the first component, the second component and the third component are perpendicular, and are used to acquire three-component electromagnetic data; wherein the three-component electromagnetic data comprises electromagnetic data acquired on the first component, the second component and the third component.

3. The system of claim 1, wherein, The receiving sub-device comprises: a first acquisition module, used to acquire three-component electromagnetic data of the three-component magnetic sensor; a second acquisition module, used to acquire a transmitting current signal; and a receiving main control module, used to execute a preset receiving instruction to realize electromagnetic data acquisition, transmission and storage of the receiving device.

4. The system of claim 3, wherein, The receiving sub-device further comprises: a signal conditioning module, used to filter and amplify the acquired three-component electromagnetic data; a storage module, used to store the three-component electromagnetic data and the transmitting current signal; and a receiving main control module, used to execute a preset receiving instruction to realize electromagnetic data acquisition, transmission and storage of the receiving device. a transmitting module, configured to transmit electromagnetic data from the three-component magnetic sensor to the receiving sub-device and from the receiving sub-device to the ground auxiliary system; and a low-power power conversion module, configured to convert a direct current voltage into a first preset voltage to supply power to the receiving sub-device.

5. The system of claim 1, wherein, The transmitting sub-device comprises: a power inverter module, configured to generate a transmitting current signal with a preset frequency and amplitude and load the transmitting coil; a driving module, configured to control the power inverter module to generate the transmitting current signal with the preset frequency and amplitude; a detection module, configured to detect a waveform of the transmitting current signal; and a high-power power conversion module, configured to convert a direct current voltage into a second preset voltage to supply power to circuits in the power inverter module, the driving module and the transmitting sub-device.

6. The system of claim 5, wherein, The transmitting master module comprises a waveform control unit, configured to control the constant voltage double-clamp module and the driving module to generate a preset transmitting current signal.

7. The system of claim 1, wherein, The aerial detection system further comprises: a positioning device, configured to perform real-time positioning on the aerial detection system to obtain real-time position information of the aerial detection system; a power supply device, configured to supply power to the aerial detection system; The ground auxiliary system comprises: an aerial detection system monitoring device, configured to perform real-time monitoring on electromagnetic data and position information of the aerial detection system.

8. A three-component full-airborne transient electromagnetic detection method of a UAV, applied to the three-component full-airborne transient electromagnetic detection system of any one of claims 1-7, and the method comprises: performing a safety flight test on the aerial detection system to ensure detection safety of the aerial detection system in flight; setting detection parameters and flight parameters of the three-component full-airborne transient electromagnetic detection system of the UAV based on a detection requirement, wherein the detection parameters comprise a transmitting current amplitude, a transmitting current frequency and an acquisition signal frequency, and the flight parameters comprise a flight height, a flight speed and a flight route; executing preset transmitting and preset receiving instructions to cause the three-component full-airborne transient electromagnetic detection system of the UAV to perform a detection operation on a target detection site according to the detection requirement, wherein the detection operation comprises acquisition and storage of three-component electromagnetic data and transmitting current signals; performing data processing on the three-component electromagnetic data and the transmitting current signals to obtain underground space information of the target detection site.

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