Unmanned aerial vehicle aeromagnetic horizontal gradient measurement system and its layout method

Abstract

This invention belongs to the field of aeromagnetic measurement technology and discloses an aeromagnetic horizontal gradient measurement system for unmanned aerial vehicles (UAVs) and its deployment method. The system's balancing connection components include a first connector and two second connectors. The first connector is connected to the nose of the UAV, and the two second connectors are connected one-to-one to two symmetrical rotor arms located on the same side as the nose. Both the first connector and the two second connectors extend from the tail to the nose, and the two second connectors are symmetrically distributed relative to the first connector. A compensation sensor is installed at the end of the first connector away from the nose, and data acquisition sensors are installed at the ends of the two second connectors away from the rotor arms. The data acquisition sensors and their corresponding rotor arms are located in the same vertical plane, and the two data acquisition sensors are symmetrically distributed relative to the compensation sensor. When the UAV is in a horizontal attitude, the two data acquisition sensors and the compensation sensor are on the same horizontal plane. This invention can reduce horizontal disturbances caused by air vortices.

Description

Technical Field

[0001] This invention relates to the field of aeromagnetic measurement technology, and in particular to an aeromagnetic horizontal gradient measurement system for unmanned aerial vehicles and its deployment method. Background Technology

[0002] Aerial magnetic surveying is an airborne geophysical exploration method that uses helicopters, drones, airships, and other flying platforms as carriers. Equipped with aerial magnetic sensors and auxiliary equipment, it conducts aerial measurements within a work area to obtain the magnetic parameters of the Earth's magnetic field. The measured data is then processed, calculated, analyzed, and mapped to determine underground geological structures or identify mineral exploration target areas. In recent years, with the maturity of electromechanical and flight control technologies, drone equipment has become increasingly widespread, and its application in aerial magnetic surveying has significantly increased. Drones equipped with aerial magnetic surveying equipment can be deployed quickly and collect data efficiently and with high precision.

[0003] In traditional airborne magnetic surveying devices, the primary sensor is an optically pumped magnetometer, supplemented by a three-axis fluxgate magnetometer for magnetic compensation, to measure the total geomagnetic field strength. However, due to the influence of diurnal variations in the geomagnetic field and environmental factors, ensuring high-precision measurement of the total geomagnetic field strength is difficult, especially in marine magnetic surveys where the quality of diurnal variation data is crucial. To overcome these influences, current technologies generally employ airborne magnetic horizontal gradient measurement to obtain the horizontal gradient value of the total magnetic field in the target area. Compared to traditional magnetic field measurement, airborne magnetic horizontal gradient measurement utilizes more sensors, provides multi-parameter data on the total field gradient, and offers better interpretation of geomagnetic anomalies. This is of significant value for resource exploration, unexploded ordnance excavation, archaeological salvage, and anti-submarine warfare early warning.

[0004] However, during UAV aeromagnetic horizontal gradient measurement, the air eddies generated by the UAV during high-speed flight and scientific research operations can cause airflow disturbances to the aeromagnetic sensor, resulting in shaking and vibration of the aeromagnetic sensor itself. This can greatly interfere with the values ​​of the aeromagnetic horizontal gradient measurement, and may even render the aeromagnetic sensor unusable or damage the equipment.

[0005] Therefore, there is an urgent need to propose an unmanned aerial vehicle (UAV) aeromagnetic horizontal gradient measurement system and its deployment method to solve the above-mentioned technical problems. Summary of the Invention

[0006] The purpose of this invention is to provide an aeromagnetic horizontal gradient measurement system for unmanned aerial vehicles (UAVs) and its deployment method, which can effectively reduce or offset the horizontal disturbances caused by air vortices generated when the UAV flies into the wind to each sensor.

[0007] To achieve this objective, the present invention adopts the following technical solution:

[0008] In a first aspect, the present invention provides an aeromagnetic horizontal gradient measurement system for unmanned aerial vehicles, including a data acquisition sensor, a compensation sensor, a balance connection component, and a fixing component, wherein the fixing component is used to install the data acquisition sensor and the compensation sensor.

[0009] The balancing connection assembly includes a first connector and a second connector. The first connector is connected to the nose of the UAV. There are two second connectors, each connected to one of two symmetrical rotor arms located on the same side as the nose. Both the first connector and the two second connectors extend from the tail to the nose of the UAV, and the two second connectors are symmetrically distributed relative to the first connector. The compensation sensor is installed at the end of the first connector away from the nose. The data acquisition sensor is installed at the end of each of the two second connectors away from the rotor arms. The data acquisition sensor and the corresponding rotor arm are located in the same vertical plane, and the two data acquisition sensors are symmetrically distributed relative to the compensation sensor. When the UAV is in a horizontal attitude, the two data acquisition sensors and the compensation sensor are on the same horizontal plane.

[0010] In some embodiments, the fixing component includes a first clamp, a second clamp, a clamping adapter, and a clamp. The compensation sensor is connected to the first connector via the first clamp; the second clamp is connected to the second connector; the data acquisition sensor is installed inside the clamp; the clamp is connected to the clamping adapter; and the clamping adapter is movably connected to the second clamp.

[0011] In some embodiments, the UAV aeromagnetic horizontal gradient measurement system further includes a shock-absorbing component; the shock-absorbing component is disposed between the clamp and the clamping adapter.

[0012] In some embodiments, the damping assembly includes a first damping plate, a second damping plate, and a damping ball. The damping ball is disposed between the first damping plate and the second damping plate. The outer peripheral surface of the clamp has a flange. The first damping plate is connected to the top of the flange, the second damping plate is connected to the bottom of the flange, and the second damping plate is connected to the clamping adapter.

[0013] In some embodiments, a guide head is provided at the end of the first connector away from the machine head, and the cross-sectional size of the guide head gradually decreases along the extending direction of the first connector.

[0014] In some embodiments, the first connector and the second connector are configured as tubular structures, the interior of which is capable of allowing cables to pass through. The cables connect the data acquisition sensor and the host computer inside the UAV, and also connect the compensation sensor and the host computer.

[0015] In some embodiments, the second connector is connected to the rotor arm via a clamping device.

[0016] In some embodiments, the clamping device includes a first clamping part and a second clamping part connected to each other, the rotor arm passing through the first clamping part, and the second connector passing through the second clamping part.

[0017] In some embodiments, the number of clamping devices is set to multiple.

[0018] Secondly, the present invention also provides a deployment method for the UAV aeromagnetic horizontal gradient measurement system described in the first aspect, comprising the following steps:

[0019] Connect the first connector to the nose of the drone, and connect the two second connectors to the corresponding rotor arms in sequence;

[0020] The compensation sensor is installed to the first connector by fixing the component, and the data acquisition sensor is installed to the second connector by fixing the component, so that the data acquisition sensor and the corresponding rotor arm are in the same vertical plane, and the two data acquisition sensors are symmetrically distributed relative to the compensation sensor. When the UAV is in a horizontal attitude, the two data acquisition sensors and the compensation sensor are in the same horizontal plane.

[0021] The beneficial effects of this invention are:

[0022] The UAV aeromagnetic horizontal gradient measurement system provided by this invention reduces airflow disturbances caused by asymmetrical layout by symmetrically distributing two data acquisition sensors relative to the compensation sensor, ensuring that the UAV's attitude is not affected. Furthermore, the data acquisition sensors and their corresponding rotor arms are located in the same vertical plane, and the two data acquisition sensors and the compensation sensor are on the same horizontal plane, which can maintain the balanced aerodynamic characteristics of the UAV during flight. This effectively reduces or cancels the horizontal disturbances caused by air vortices generated when the UAV flies into the wind on each sensor, which is beneficial to improving the accuracy of aeromagnetic horizontal gradient measurement data. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the assembly structure of the UAV aeromagnetic horizontal gradient measurement system provided in an embodiment of the present invention;

[0024] Figure 2This is an enlarged schematic diagram of the assembly of the compensation sensor and the first connector provided in an embodiment of the present invention;

[0025] Figure 3 This is an enlarged schematic diagram of the data acquisition sensor and the second connector assembled according to an embodiment of the present invention;

[0026] Figure 4 This is an exploded view of the data acquisition sensor assembly structure provided in an embodiment of the present invention;

[0027] Figure 5 This is a schematic diagram of the clamping device provided in an embodiment of the present invention;

[0028] Figure 6 This is a schematic diagram of the cable layout inside the UAV aeromagnetic horizontal gradient measurement system provided in an embodiment of the present invention.

[0029] In the picture:

[0030] 1. Data acquisition sensor;

[0031] 2. Compensation sensor;

[0032] 3. Balanced connection assembly; 31. First connector; 32. Second connector;

[0033] 4. Fixing component; 41. First clamp; 42. Second clamp; 43. Clamping adapter; 44. Clamp; 441. Flange;

[0034] 5. Flow guide head;

[0035] 6. Vibration damping components; 61. First damping plate; 62. Second damping plate; 63. Damping ball;

[0036] 7. Clamping device; 71. First clamping part; 72. Second clamping part;

[0037] 100. Unmanned Aerial Vehicle (UAV); 110. Nose section; 120. Rotor arm; 130. Tail section; 140. Main unit;

[0038] 200. Cables. Detailed Implementation

[0039] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0040] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0041] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0042] In the description of this embodiment, the terms "upper," "lower," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0043] like Figures 1-6 As shown, the UAV aeromagnetic horizontal gradient measurement system provided in this embodiment includes a data acquisition sensor 1, a compensation sensor 2, a balance connection component 3, and a fixing component 4. The fixing component 4 is used to install the data acquisition sensor 1 and the compensation sensor 2.

[0044] The balancing connection assembly 3 includes a first connector 31 and a second connector 32. The first connector 31 is connected to the nose 110 of the UAV 100. There are two second connectors 32, which are connected one-to-one to two symmetrical rotor arms 120 located on the same side as the nose 110. Both the first connector 31 and the two second connectors 32 extend from the tail 130 of the UAV 100 to the nose 110, and the two second connectors 32 are symmetrically distributed relative to the first connector 31. A compensation sensor 2 is installed at the end of the first connector 31 away from the nose 110. Data acquisition sensors 1 are installed at the ends of the two second connectors 32 away from the rotor arms 120. The data acquisition sensors 1 and the corresponding rotor arms 120 are located in the same vertical plane, and the two data acquisition sensors 1 are symmetrically distributed relative to the compensation sensors 2. When the UAV 100 is in a horizontal attitude, the two data acquisition sensors 1 and the compensation sensors 2 are on the same horizontal plane.

[0045] In this embodiment, the direction from the tail 130 to the nose 110 of the UAV 100 is generally the direction of travel of the UAV 100. Therefore, in this embodiment, two data acquisition sensors 1 and compensation sensors 2 are installed at the front end of the UAV 100 through the balance connection component 3 to perform aeromagnetic horizontal gradient measurement.

[0046] Specifically, the data acquisition sensor 1 includes, but is not limited to, an optical pump magnetometer, and the compensation sensor 2 includes, but is not limited to, a triaxial fluxgate magnetometer.

[0047] The basic working principle of UAV 100 flight and aeromagnetic horizontal gradient measurement is a mature existing technology in this field and will not be elaborated here.

[0048] The UAV aeromagnetic horizontal gradient measurement system provided in this embodiment reduces airflow disturbances caused by asymmetrical layout by symmetrically distributing two data acquisition sensors 1 relative to compensation sensor 2, ensuring that the attitude of the UAV 100 itself is not affected. Furthermore, the data acquisition sensors 1 and the corresponding rotor arm 120 are located in the same vertical plane, and the two data acquisition sensors 1 and compensation sensor 2 are located in the same horizontal plane, which can maintain the balanced aerodynamic characteristics of the UAV 100 during flight. This can effectively reduce or cancel the horizontal disturbances caused by the air vortices generated when the UAV 100 flies into the wind to each sensor, which is beneficial to improving the accuracy of aeromagnetic horizontal gradient measurement data.

[0049] like Figure 1 and Figure 2 As shown, in some embodiments, a guide head 5 is provided at the end of the first connector 31 away from the head 110, and the cross-sectional size of the guide head 5 gradually decreases along the extending direction of the first connector 31.

[0050] With this configuration, the air guide head 5 has wind-breaking and airflow guiding properties. When the UAV 100 flies into the wind, the air guide head 5 can smoothly guide the airflow, which helps to reduce airflow resistance and reduce airflow disturbance.

[0051] like Figures 1-4 As shown, in some embodiments, the fixing component 4 includes a first clamp 41, a second clamp 42, a clamping adapter 43, and a clamp 44. The compensation sensor 2 is connected to the first connector 31 via the first clamp 41; the second clamp 42 is connected to the second connector 32; the data acquisition sensor 1 is installed inside the clamp 44; the clamp 44 is connected to the clamping adapter 43; and the clamping adapter 43 is movably connected to the second clamp 42. Specifically, the clamping adapter 43 can rotate relative to the second clamp 42.

[0052] This design makes the overall fixing component 4 detachable, enabling rapid assembly of the data acquisition sensor 1 and the compensation sensor 2. Furthermore, the clamping adapter 43 is movably connected to the second clamp 42, making the clamping adapter 43 adjustable. This allows for fine-tuning of the position of the data acquisition sensor 1 by adjusting the clamping adapter 43, ensuring a symmetrical layout of the data acquisition sensor 1.

[0053] like Figure 4 As shown, in some embodiments, the UAV aeromagnetic horizontal gradient measurement system further includes a vibration damping component 6. The vibration damping component 6 is disposed between the clamp 44 and the clamping adapter 43. With this arrangement, the vibration damping component 6 can effectively reduce the vibration impact of air eddies on the data acquisition sensor 1 inside the clamp 44, which is beneficial to extending the service life of the sensor.

[0054] Optionally, such as Figure 4 As shown, the damping assembly 6 includes a first damping plate 61, a second damping plate 62, and a damping ball 63. The damping ball 63 is disposed between the first damping plate 61 and the second damping plate 62. The outer circumferential surface of the clamp 44 has a flange 441. The first damping plate 61 is connected to the top of the flange 441, and the second damping plate 62 is connected to the bottom of the flange 441. The second damping plate 62 is also connected to the clamping adapter 43. The damping ball 63, as the core component of the damping assembly 6, has a certain degree of elasticity and mobility.

[0055] This design allows the damping component 6 to adapt more flexibly to different vibration frequencies and amplitudes, and the damping ball 63 can absorb and reduce vibration transmission in multiple directions, effectively improving the damping effect of the damping component 6 in complex environments.

[0056] Optionally, the first damping plate 61 and the second damping plate 62 can be damping carbon plates, that is, made of carbon fiber composite materials. Alternatively, the first damping plate 61 and the second damping plate 62 can also be made of metal alloy materials. The damping ball 63 can be made of elastic materials such as rubber or silicone. No specific limitation is made here.

[0057] like Figure 6 As shown, in some embodiments, the first connector 31 and the second connector 32 are configured as tubular structures, with the interior of the tubular structure allowing the cable 200 to pass through. The cable 200 connects the data acquisition sensor 1 and the host 140 inside the drone 100, and also connects the compensation sensor 2 and the host 140. This avoids exposing the cable 200, protecting it and preventing it from affecting airflow.

[0058] It should be noted that: cable 200 is... Figure 6 The dashed line is used only to clearly indicate the routing of cable 200 and has no other meaning.

[0059] Specifically, the cable 200 is laid around the motor and engine inside the UAV 100, so that the interference of the motor and engine on the UAV's aeromagnetic horizontal gradient measurement system is minimized when the motor and engine are working.

[0060] The first connector 31 and the second connector 32 include, but are not limited to, carbon nanotubes.

[0061] like Figure 1 As shown, in some embodiments, the second connector 32 is connected to the rotor arm 120 via a clamping device 7. The clamping device 7 enables the second connector 32 to be detachably assembled relative to the rotor arm 120.

[0062] In order to securely connect the second connector 32 to the rotor arm 120, the number of clamping devices 7 is set to multiple, and the multiple clamping devices 7 are spaced apart, such as three, four, etc., without specific limitation.

[0063] Furthermore, such as Figure 1 and Figure 5 As shown, the clamping device 7 includes a first clamping part 71 and a second clamping part 72 connected to each other. The rotor arm 120 passes through the first clamping part 71, and the second connecting member 32 passes through the second clamping part 72. With this configuration, compared to other connection methods such as threaded connections, the clamping device 7 does not require threaded holes in the second connecting member 32 and the rotor arm 120 when assembling the second connecting member 32, making the installation and adjustment process simpler and faster.

[0064] Optionally, the first connector 31 can be connected to the head 110 of the drone 100 via the clamping device 7, or it can be directly inserted into the slot inside the head 110. The specific settings can be determined according to the actual situation.

[0065] Accordingly, this embodiment also provides a deployment method for the above-mentioned UAV aeromagnetic horizontal gradient measurement system, including the following steps:

[0066] S1. Connect the first connector 31 to the nose 110 of the UAV 100, and connect the two second connectors 32 to the corresponding rotor arms 120 in sequence.

[0067] S2. The compensation sensor 2 is installed to the first connector 31 by the fixing component 4, and the data acquisition sensor 1 is installed to the second connector 32 by the fixing component 4, so that the data acquisition sensor 1 and the corresponding rotor arm 120 are located in the same vertical plane, and the two data acquisition sensors 1 are symmetrically distributed relative to the compensation sensor 2, and the two data acquisition sensors 1 and the compensation sensor 2 are on the same horizontal plane when the UAV 100 is in a horizontal attitude.

[0068] It is evident that the deployment method of the UAV aeromagnetic horizontal gradient measurement system is simple. It can be used simply by assembling and connecting the various components, which is convenient and quick. Moreover, the completed measurement system can reduce or offset airflow disturbances during use.

[0069] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art will be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. An unmanned aerial vehicle (UAV) aeromagnetic horizontal gradient measurement system, characterized in that, It includes a data acquisition sensor (1), a compensation sensor (2), a balance connection assembly (3), and a fixing assembly (4), wherein the fixing assembly (4) is used to mount the data acquisition sensor (1) and the compensation sensor (2). The balanced connection assembly (3) includes a first connector (31) and a second connector (32). The first connector (31) is connected to the nose (110) of the UAV (100). There are two second connectors (32), which are connected one-to-one to two symmetrical rotor arms (120) located on the same side as the nose (110). The first connector (31) and the two second connectors (32) extend from the tail (130) of the UAV (100) to the nose (110). The two second connectors (32) are opposite to the first connector. The components (31) are symmetrically distributed; the compensation sensor (2) is installed at the end of the first connector (31) away from the nose (110), and the data acquisition sensor (1) is installed at the end of each of the two second connectors (32) away from the rotor arm (120). The data acquisition sensor (1) and the corresponding rotor arm (120) are located in the same vertical plane. The two data acquisition sensors (1) are symmetrically distributed relative to the compensation sensor (2). When the UAV (100) is in a horizontal attitude, the two data acquisition sensors (1) and the compensation sensor (2) are on the same horizontal plane. The first connector (31) and the second connector (32) are configured as tubular structures, and the tubular structure allows cables (200) to pass through. The cables (200) are connected between the data acquisition sensor (1) and the host (140) inside the UAV (100), and between the compensation sensor (2) and the host (140). The second connector (32) is connected to the rotor arm (120) through a clamping device (7).

2. The UAV aeromagnetic horizontal gradient measurement system according to claim 1, characterized in that, The fixing component (4) includes a first clamp (41), a second clamp (42), a clamping adapter (43), and a clamp (44). The compensation sensor (2) is connected to the first connector (31) through the first clamp (41). The second clamp (42) is connected to the second connector (32). The data acquisition sensor (1) is installed inside the clamp (44). The clamp (44) is connected to the clamping adapter (43). The clamping adapter (43) is movably connected to the second clamp (42).

3. The UAV aeromagnetic horizontal gradient measurement system according to claim 2, characterized in that, It also includes shock absorption components (6); The shock-absorbing component (6) is disposed between the clamp (44) and the clamping adapter (43).

4. The UAV aeromagnetic horizontal gradient measurement system according to claim 3, characterized in that, The shock absorption assembly (6) includes a first shock absorption plate (61), a second shock absorption plate (62), and a shock absorption ball (63). The shock absorption ball (63) is disposed between the first shock absorption plate (61) and the second shock absorption plate (62). The outer peripheral surface of the clamp (44) has a flange (441). The first shock absorption plate (61) is connected to the top of the flange (441), the second shock absorption plate (62) is connected to the bottom of the flange (441), and the second shock absorption plate (62) is connected to the clamping adapter (43).

5. The UAV aeromagnetic horizontal gradient measurement system according to claim 1, characterized in that, The first connector (31) is provided with a guide head (5) at the end away from the machine head (110), and the cross-sectional size of the guide head (5) gradually decreases along the extension direction of the first connector (31).

6. The UAV aeromagnetic horizontal gradient measurement system according to claim 1, characterized in that, The clamping device (7) includes a first clamping part (71) and a second clamping part (72) connected to each other. The rotor arm (120) passes through the first clamping part (71), and the second connector (32) passes through the second clamping part (72).

7. The UAV aeromagnetic horizontal gradient measurement system according to claim 1, characterized in that, The number of clamping devices (7) is set to multiple.

8. A method for deploying the UAV aeromagnetic horizontal gradient measurement system according to any one of claims 1 to 7, characterized in that, Includes the following steps: Connect the first connector (31) to the nose (110) of the UAV (100), and connect the two second connectors (32) to the corresponding rotor arms (120) in sequence. The compensation sensor (2) is installed to the first connector (31) by the fixing component (4), the data acquisition sensor (1) is installed to the second connector (32) by the fixing component (4), and the data acquisition sensor (1) and the corresponding rotor arm (120) are located in the same vertical plane, and the two data acquisition sensors (1) are symmetrically distributed relative to the compensation sensor (2), and the two data acquisition sensors (1) and the compensation sensor (2) are on the same horizontal plane when the UAV (100) is in a horizontal attitude.

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