Atomic magnetometer adaptive to unmanned aerial vehicle

Abstract

According to the atomic magnetometer adaptive to the unmanned aerial vehicle in the field of magnetic field detection equipment, during detection, a first driving mechanism mounted in a mounting cylinder drives a rotating cylinder and a rotating pipe to rotate, and the rotating pipe drives a probe to be away from an unmanned aerial vehicle body; furthermore, the electromagnetic interference of airborne electromagnetic equipment of the unmanned aerial vehicle on the probe during detection is reduced, and the detection accuracy is improved; meanwhile, magnetic shielding protection is carried out on the probe in a non-operation state through the shielding cylinder installed in the rotating pipe and the telescopic frame, the service life of the magnetometer is further prolonged, the durability of the magnetometer is improved, in addition, a closed magnetic shielding structure is defined by the shielding cylinder and the shielding cover, zero calibration is conveniently carried out on the magnetometer, and the reliability of the magnetometer is improved. The detection accuracy is improved; in addition, through the demagnetizing coil arranged on the outer side of the shielding cylinder, the shielding cylinder is demagnetized before zero calibration, and the calibration accuracy is improved.

Description

Technical Field

[0001] The present invention relates to a magnetometer for unmanned aerial vehicles, and in particular to an atomic magnetometer suitable for unmanned aerial vehicles and applied in the field of magnetic field detection equipment. Background Art

[0002] As a passive magnetic measurement device, the atomic magnetometer's core components include lasers, glass vapor chambers containing gaseous sensing atoms, and photodetectors. Although it is known for its high sensitivity and high precision, it is relatively rare in actual deployment in the field of aeromagnetic detection. This is mainly due to the complexity of the field operation environment, which imposes strict requirements on the magnetometer for lightweight, high stability and durability. The problem is particularly prominent when the atomic magnetometer is carried on an unmanned aerial vehicle platform. The drone itself is usually equipped with a variety of electromagnetic devices, which will generate magnetic fields when working, which will significantly interfere with the atomic magnetometer's ability to accurately sense the environmental magnetic field and may weaken its measurement stability.

[0003] The existing patent with publication number CN216485551U discloses a magnetometer distance adjustable type unmanned aerial vehicle magnetic detection device, including an unmanned aerial vehicle body, a magnetometer, a rigid telescopic rod between the unmanned aerial vehicle body and the magnetometer, the telescopic rod is arranged in the vertical direction, the unmanned aerial vehicle body and the magnetometer are connected through the telescopic rod, the telescopic rod includes a fixed rod and a sliding rod connected to each other in a sliding manner, a wire box is installed on the fixed rod, a rope is wound in the wire box, the rope is connected to the sliding rod, and a height adjustment power device for driving the rope to wind up and loosen is provided on the wire box. The device has the advantages of being able to automatically adjust the length and being rigid.

[0004] The above patent discloses a telescopic rod for adjusting the distance between the magnetometer and the drone, which reduces the impact of the airborne electromagnetic equipment on the magnetometer. However, the telescopic rod has a complex structure, which increases the weight of the drone. At the same time, the manual fixing bolt adjustment operation is cumbersome, which affects the take-off and landing operation of the drone. Summary of the invention

[0005] In view of the above-mentioned prior art, the technical problem to be solved by the present invention is that the existing magnetometers for unmanned aerial vehicles are easily interfered by airborne electromagnetic equipment, which affects the accuracy, stability and durability of the magnetometers.

[0006] In order to solve the above problems, the present invention provides an atomic magnetometer adapted for a drone, comprising a drone body and a magnetometer body connected to the drone body through an adjustment mechanism, the magnetometer body comprising a probe and a magnetometer controller, the adjustment mechanism comprising a fixed tube fixedly connected to the lower end surface of the drone body, a mounting tube fixedly connected to the lower end of the fixed tube, a rotating tube rotatably connected to one end of the mounting tube, a first driving mechanism for driving the rotating tube to rotate is arranged in the mounting tube, a rotating tube arranged parallel to the fixed tube is fixedly connected to the rotating tube; the first driving mechanism comprises a rotating motor fixedly connected to the mounting tube, an output shaft of the rotating motor is fixedly connected to a rotating shaft, and the rotating shaft is fixedly connected to a rotating rod fixedly connected to the rotating tube;

[0007] An opening is provided at one end of the rotating tube away from the mounting tube, an insulating tube is fixedly connected to the inner side of the opening, a shielding tube is fixedly connected inside the insulating tube, a telescopic frame is slidably connected inside the shielding tube, the probe is fixedly nested in the telescopic frame, a shielding cover for blocking the shielding tube is fixedly connected to the telescopic frame on the side facing the opening, a moving frame is fixedly connected to the side facing the mounting tube, the moving frame is threadedly connected to a screw rod extending into the rotating tube, the screw rod is connected to a second driving mechanism that drives it to rotate, and the probe is electrically connected to a magnetometer controller fixedly connected to the rotating tube through a flexible cable.

[0008] In the atomic magnetometer adapted for the drone, the magnetometer is kept away from the drone during use and is magnetically shielded in a non-detection state by means of a rotating tube and a telescopic frame that is retractable in the shielding tube.

[0009] As a further improvement of the present application, a first Hall sensor is installed in the rotating motor, and the first Hall sensor monitors the rotation position of the rotating motor in real time, and then monitors the rotation position of the rotating cylinder and the rotating tube in real time; the second driving mechanism is a screw motor, and a second Hall sensor is installed in the screw motor, and the second Hall sensor monitors the rotation position of the screw motor in real time, and then monitors the moving position of the moving frame and the telescopic frame in real time; the first Hall sensor and the second Hall sensor are both electrically connected to the same adjustment controller, and the adjustment controller is fixedly connected to the inner wall of the mounting cylinder.

[0010] As a further improvement of the present application, the screw motor is replaced with a passive transmission assembly, the passive transmission assembly includes a rolling gear fixedly connected to the end of the screw extending into the rotating cylinder, a first fixed gear and a second fixed gear interlaced with the rolling gear are provided below the rolling gear, the first fixed gear and the second fixed gear are fixedly connected by a connecting rod, a fixing rod is fixedly connected to the side wall of the second fixed gear away from the connecting rod, and the fixing rod is fixedly connected to the inner wall of the mounting cylinder;

[0011] The first fixed gear is provided with a plurality of first latching tooth groups arranged at circumferential intervals, and the second fixed gear is provided with a plurality of second latching tooth groups staggered with the first latching tooth groups. Both the first latching tooth group and the second latching tooth group include a plurality of latching teeth distributed at equal intervals. At the same time, one of the first latching tooth group and the second latching tooth group is meshed with the rolling gear.

[0012] As a further improvement of the present application, a landing gear is fixedly connected to the lower part of the drone body, the mounting tube is set at a height higher than the lowest point of the landing gear, and the length of the rotating tube is shorter than the length of the fixed tube; the fixed tube, mounting tube, rotating tube and rotating tube are all made of carbon fiber material.

[0013] As a further improvement of the present application, the telescopic frame is a hollow cylindrical structure and is made of insulating material. The probe is fixedly connected to the inner wall of the hollow cavity of the telescopic frame. The shielding tube and the shielding cover are both made of Permalloy material. The shielding tube is a cylindrical structure with an open end, and the shielding cover is a disc-shaped structure and its diameter is equal to the diameter of the shielding tube.

[0014] As a further improvement of the present application, the insulating cylinder is a cylindrical structure with an open outer end, the insulating cylinder is made of insulating material, the movable frame is a frame-like structure, the movable frame passes through the insulating cylinder and the shielding cylinder and is slidably connected to the two, the screw rod is arranged on the central axis of the rotating tube, and the end of the screw rod facing the probe is rotatably connected to the outer wall of the insulating cylinder through a bearing seat.

[0015] As a further improvement of the present application, when it is necessary to perform zero point calibration on the magnetometer body, the following steps are included:

[0016] Step 1: start the first driving mechanism by adjusting the controller, and rotate the tube to drive the probe away from the drone body;

[0017] Step 2: start the second driving mechanism by adjusting the controller so that the telescopic frame drives the probe to retract into the shielding tube;

[0018] Step 3, the magnetometer body is started by adjusting the controller, and the probe located in the shielding tube detects the magnetic field in the shielding tube;

[0019] Step 4: When the detected real-time magnetic field strength is not equal to zero, perform zero point calibration and adjust the magnetometer body to zero. When the detected real-time magnetic field strength is equal to zero, no operation is performed.

[0020] As a further improvement of the present application, a degaussing coil is fixedly connected to the inner wall of the insulating cylinder shell, the degaussing coil is electrically connected to a current regulator, the current regulator is fixedly installed in the rotating cylinder, and the current regulator is electrically connected to the regulating controller.

[0021] As a further improvement of the present application, in step three of the above zero point calibration, before starting the magnetometer body, the current regulator is started first, and the current regulator loads current to the demagnetization coil to demagnetize the shielding tube, shielding cover and probe.

[0022] To sum up, during detection, the present invention drives the rotating cylinder and the rotating tube to rotate through the first driving mechanism installed in the installation cylinder, and the rotating tube drives the probe away from the drone body, thereby reducing the electromagnetic interference of the drone's onboard electromagnetic equipment to the probe during detection, thereby improving the accuracy of detection; at the same time, through the shielding cylinder installed in the rotating tube and the retractable telescopic frame, the probe in the non-operating state is magnetically shielded and protected, further extending the service life of the magnetometer and improving the durability of the magnetometer. In addition, the shielding cylinder and the shielding cover are used to enclose a closed magnetic shielding structure, which is convenient for zero point calibration of the magnetometer, thereby improving the accuracy of detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 A schematic diagram of the three-dimensional structure of this application;

[0024] Figure 2 This is a schematic diagram of the transverse cross-sectional structure of the present application;

[0025] Figure 3 for Figure 2 A schematic diagram of the enlarged structure at A in the middle;

[0026] Figure 4 for Figure 2 A schematic diagram of the enlarged structure at B in the middle;

[0027] Figure 5 It is a schematic diagram of the exploded assembly of the adjustment mechanism in this application;

[0028] Figure 6 This is a schematic diagram of the assembly structure of the mobile frame and the probe in this application;

[0029] Figure 7 for Figure 6 Schematic diagram of the enlarged structure at C in the middle;

[0030] Figure 8 is a schematic diagram of the three-dimensional structure of the first fixed gear in this application;

[0031] Fig. 9 is a schematic diagram of the three-dimensional structure of the second fixed gear in this application;

[0032] Fig.10 This is a schematic diagram of the state in which the probe is extended for the first time in this application;

[0033] Fig.11 This is a schematic diagram of the state in which the probe is extended for the second time in this application.

[0034] Description of the numbers in the figure:

[0035] 1. UAV body; 2. Landing gear; 3. Fixed tube; 4. Mounting tube; 5. Rotating tube; 6. Rotating tube; 7. Rotating rod; 8. Rotating shaft; 9. Rotating motor; 10. Probe; 11. Telescopic frame; 12. Shielding tube; 13. Shielding cover; 14. Insulating tube; 15. Degaussing coil; 16. Moving frame; 17. Screw rod; 18. Rolling gear; 19. First fixed gear; 1901, first latching gear group; 20. Connecting rod; 21. Second fixed gear; 2101, second latching gear group; 22. Fixed rod; 23. Magnetometer controller; 24. Adjustment controller. DETAILED DESCRIPTION

[0036] Two implementation modes of the present application are described in detail below with reference to the accompanying drawings.

[0037] The first implementation method:

[0038] Figure 1-11 An atomic magnetometer adapted for a drone is shown, comprising a drone body 1 and a magnetometer body connected to the drone body 1 through an adjustment mechanism, the magnetometer body comprising a probe 10 and a magnetometer controller 23, the adjustment mechanism comprising a fixed tube 3 fixedly connected to the lower end surface of the drone body 1, a mounting tube 4 fixedly connected to the lower end of the fixed tube 3, a rotating tube 5 rotatably connected to one end of the mounting tube 4, a first driving mechanism for driving the rotating tube 5 to rotate is arranged in the mounting tube 4, and a rotating tube 6 arranged parallel to the fixed tube 3 is fixedly connected to the rotating tube 5;

[0039] See also Figure 3 and Fig.10 The first driving mechanism includes a rotating motor 9 fixedly connected to the mounting cylinder 4, the output shaft of the rotating motor 9 is fixedly connected to a rotating shaft 8, the rotating shaft 8 is fixedly connected to a rotating rod 7 fixedly connected to the rotating cylinder 5, the output shaft of the rotating motor 9 drives the rotating shaft 8 to rotate, the rotating shaft 8 drives the rotating rod 7 to rotate, the rotating rod 7 drives the rotating cylinder 5 to rotate, and the rotating cylinder 5 drives the rotating tube 6 to rotate;

[0040] See also Figure 4 and Figure 5An opening is provided at one end of the rotating tube 6 away from the mounting tube 4, an insulating tube 14 is fixedly connected to the inner side of the opening, a shielding tube 12 is fixedly connected to the insulating tube 14, a telescopic frame 11 is slidably connected to the shielding tube 12, a probe 10 is fixedly nested in the telescopic frame 11, a shielding cover 13 for blocking the shielding tube 12 is fixedly connected to the telescopic frame 11 facing the opening side, a moving frame 16 is fixedly connected to the telescopic frame 11 facing the mounting tube 4 side, the moving frame 16 is threadedly connected to a screw rod 17 extending into the rotating tube 5, the screw rod 17 is connected to a second driving mechanism that drives it to rotate, and the probe 10 is electrically connected to a magnetometer controller 23 fixedly connected to the rotating tube 5 through a flexible cable.

[0041] For details, please refer to Fig.10 and Fig.11 First, after the UAV is launched, the first driving mechanism is started, and the first driving mechanism drives the rotating cylinder 5 to rotate, and the rotating cylinder 5 drives the rotating tube 6 to rotate, so that the rotating tube 6 drives the probe 10 away from the UAV body 1, thereby reducing the interference of the UAV's onboard electromagnetic equipment to the probe 10 during detection, and the magnetic shielding tube 12 and the shielding cover 13 are used to magnetically shield the probe 10 in the non-detection state; second, the second driving mechanism is started, and the second driving mechanism drives the screw rod 17 to rotate, and the screw rod 17 drives the moving frame 16 to move toward the opening direction of the rotating tube 6, and the moving frame 16 drives the telescopic frame 11 to move to the outside of the opening of the rotating tube 6, so that the probe 10 is separated from the magnetic shielding tube 12, and then the magnetic field detection is performed.

[0042] Compared with the traditional atomic magnetometer for UAV, the present invention drives the rotating cylinder 5 and the rotating tube 6 to rotate through the first driving mechanism installed in the installation cylinder 4 during detection, and the rotating tube 6 drives the probe 10 away from the UAV body 1, thereby reducing the electromagnetic interference of the UAV airborne electromagnetic equipment on the probe 10 during detection, and improving the accuracy of detection; at the same time, through the shielding cylinder 12 and the shielding cover 13 arranged at the opening position of the rotating tube 6, the probe 10 is magnetically shielded in the non-detection state, the service life of the probe 10 is extended, and the influence of the airborne electromagnetic equipment on the probe 10 is further reduced; in addition, by providing the telescopic frame 11, the moving frame 16, the screw 17 and the second driving mechanism, when detection is needed, the probe 10 is extended to the outside of the rotating tube 6 along with the telescopic frame 11 for detection.

[0043] See also Figure 2 The lower part of the drone body 1 is fixedly connected with the landing gear 2 , the setting height of the mounting tube 4 is higher than the lowest point of the landing gear 2 , and the length of the rotating tube 6 is less than the length of the fixed tube 3 .

[0044] Specifically, during the take-off and landing of the UAV, the first driving mechanism drives the rotating tube 6 back to the initial position, that is, the rotating tube 6 returns to the side of the fixed tube 3, thereby avoiding interference with the take-off and landing of the UAV.

[0045] In this embodiment, the fixed tube 3, the installation tube 4, the rotating tube 5 and the rotating tube 6 are all made of carbon fiber material.

[0046] Specifically, the fixed tube 3, the mounting tube 4, the rotating tube 5 and the rotating tube 6 made of carbon fiber material are not only light and high-strength, but also have good conductivity. The fixed tube 3, the mounting tube 4, the rotating tube 5 and the rotating tube 6 have good electromagnetic wave absorption and rebound effects, further reducing the interference of the airborne electromagnetic equipment to the probe 10.

[0047] See also Figure 4 The telescopic frame 11 is a hollow cylindrical structure and is made of insulating material. The probe 10 is fixedly connected to the inner wall of the hollow cavity of the telescopic frame 11. The shielding tube 12 and the shielding cover 13 are both made of Permalloy material. The shielding tube 12 is a cylindrical structure with one end open, and the shielding cover 13 is a disc-shaped structure and its diameter is equal to that of the shielding tube 12.

[0048] Specifically, when the telescopic frame 11 drives the probe 10 to retract into the shielding tube 12, the shielding cover 13 abuts against the opening of the shielding tube 12, and the shielding cover 13 and the shielding tube 12 are enclosed to form a closed cylindrical shielding structure, which has a good magnetic shielding effect.

[0049] See also Figure 4 and Figure 5 The insulating tube 14 is a cylindrical structure with an open outer end. The insulating tube 14 is made of insulating material. The movable frame 16 is a frame-like structure. The movable frame 16 passes through the insulating tube 14 and the shielding tube 12 and is slidably connected to the two. The screw rod 17 is arranged on the central axis of the rotating tube 6, and the end of the screw rod 17 facing the probe 10 is rotatably connected to the outer wall of the insulating tube 14 through a bearing seat.

[0050] Specifically, the screw rod 17 drives the moving frame 16 to move along the central axis of the rotating tube 6 , and the moving frame 16 drives the probe 10 to extend or retract the rotating tube 6 through the telescopic frame 11 .

[0051] In this embodiment, a first Hall sensor is installed in the rotating motor 9, and the first Hall sensor monitors the rotation position of the rotating motor 9 in real time, and then monitors the rotation position of the rotating cylinder 5 and the rotating tube 6 in real time; the second driving mechanism is a screw motor, and a second Hall sensor is installed in the screw motor. The second Hall sensor monitors the rotation position of the screw motor in real time, and then monitors the moving position of the moving frame 16 and the telescopic frame 11 in real time; the first Hall sensor and the second Hall sensor are both electrically connected to the same adjustment controller 24, and the adjustment controller 24 is fixedly connected to the inner wall of the mounting cylinder 4.

[0052] Specifically, when the magnetometer body needs to be zero-calibrated, the following steps are included:

[0053] Step 1: start the first driving mechanism by adjusting the controller 24, and rotate the tube 6 to drive the probe 10 away from the drone body 1;

[0054] Step 2: Activate the second driving mechanism by adjusting the controller 24 so that the telescopic frame 11 drives the probe 10 to retract into the shielding tube 12;

[0055] Step 3, the magnetometer body is started by adjusting the controller 24, and the probe 10 located in the shielding tube 12 detects the magnetic field in the shielding tube 12;

[0056] Step 4: When the detected real-time magnetic field strength is not equal to zero, perform zero point calibration and adjust the magnetometer body to zero. When the detected real-time magnetic field strength is equal to zero, no operation is performed.

[0057] Compared with the traditional UAV magnetometer, the present invention provides a shielding tube 12 and a shielding cover 13 to perform zero-field shielding on the probe 10, which is convenient for zero-point calibration. There is no need to disassemble the magnetometer for calibration, thereby improving the efficiency of aeromagnetic detection.

[0058] See also Figure 4 and Figure 5 A degaussing coil 15 is fixedly connected to the shell wall of the insulating cylinder 14 , and the degaussing coil 15 is electrically connected to a current regulator. The current regulator is fixedly installed in the rotating cylinder 5 , and the current regulator is electrically connected to the regulating controller 24 .

[0059] Specifically, in the above step three, before starting the magnetometer body, the current regulator is started first, and the current regulator loads current to the degaussing coil 15 to degauss the shielding tube 12, the shielding cover 13 and the probe 10, thereby clearing the magnetic field in the closed magnetic shielding structure formed by the shielding tube 12 and the shielding cover 13, further improving the accuracy of the zero point calibration.

[0060] Second implementation method:

[0061] Figure 3 and Figure 6-11 An atomic magnetometer adapted for a drone is shown. On the basis of the first embodiment, the lead screw motor in the first embodiment is replaced by a passive transmission assembly, the passive transmission assembly includes a rolling gear 18 fixedly connected to the end of the lead screw 17 extending into the rotating cylinder 5, a first fixed gear 19 and a second fixed gear 21 interlacedly meshed with the rolling gear 18 are provided below the rolling gear 18, the first fixed gear 19 and the second fixed gear 21 are fixedly connected by a connecting rod 20, a fixing rod 22 is fixedly connected to the side wall of the second fixed gear 21 away from the connecting rod 20, and the fixing rod 22 is fixedly connected to the inner wall of the mounting cylinder 4;

[0062] See also Figure 7-9 The first fixed gear 19 is provided with a plurality of first latching tooth groups 1901 arranged at circumferential intervals, and the second fixed gear 21 is provided with a plurality of second latching tooth groups 2101 staggered with the first latching tooth groups 1901. Both the first latching tooth group 1901 and the second latching tooth group 2101 include a plurality of latching teeth distributed at equal intervals. At the same time, one of the first latching tooth group 1901 and the second latching tooth group 2101 is meshed with the rolling gear 18.

[0063] Specifically, when the first driving mechanism drives the rotating cylinder 5 to rotate, the rotating cylinder 5 drives the screw rod 17 and the rolling gear 18 to make a circular motion, and the rolling gear 18 periodically rolls alternately on the first latch gear group 1901 and the second latch gear group 2101. The rolling directions of the rolling gear 18 when rolling on the first latch gear group 1901 and the second latch gear group 2101 are opposite, thereby causing the screw rod 17 to rotate in the opposite direction, thereby driving the moving frame 16 and the telescopic frame 11 to move in the opposite direction in the rotating tube 6, so that the probe 10 extends or retracts the rotating tube 6. Compared with the use of a screw motor that generates additional electromagnetic interference, the extension and retraction of the probe 10 are achieved through a passive transmission component without magnetic field interference, thereby further improving the detection accuracy of the probe 10.

[0064] For the convenience of explanation, an example is given below. When the rolling gear 18 rolls on the first latching tooth group 1901, the screw 17 rotates, and the rotation direction is defined as forward rotation. It is also defined that at this time, the movable frame 16 and the telescopic frame 11 move toward the opening side of the rotating tube 6 along the central axis of the rotating tube 6, that is, the probe 10 extends out. Therefore, when the rolling gear 18 rolls on the second latching tooth group 2101, the screw 17 reverses, and the movable frame 16 and the telescopic frame 11 move away from the opening side of the rotating tube 6 along the central axis of the rotating tube 6, and the probe 10 retracts into the rotating tube 6.

[0065] It should be noted that, when the zero point calibration is performed in the first embodiment, the first Hall sensor is used to monitor the rotational position of the rotating cylinder 5 and the rotating tube 6, and then the rotational position of the rolling gear 18 is monitored, and then the position of the moving frame 16 and the telescopic frame 11 is monitored, and then the position of the probe 10 is monitored. The zero point calibration is performed only when the probe 10 is retracted into the shielding cylinder 12;

[0066] In addition, the number of the first latch tooth group 1901 and the second latch tooth group 2101 and the transmission ratio between the two and the rolling gear 18 are set according to the detection needs. More specifically, when the number of the first latch tooth group 1901 and the second latch tooth group 2101 is larger, the number of times the probe 10 is extended and retracted during the process of rotating the rotating tube 6 from a vertical state to a maximum tilt angle is greater. Those skilled in the art can make a selection according to their needs, and this application will not go into details.

[0067] See also Figure 3 The fixed rod 22 is an L-shaped rod, and the rotating rod 7 is a vertical rod passing through the central axis of the rotating cylinder 5. The fixed rod 22 and the rotating rod 7 are staggered.

[0068] Specifically, the fixing rod 22 fixes the first fixed gear 19 and the second fixed gear 21, and before the rotating rod 7 contacts the fixing rod 22, the rotating cylinder 5 can rotate over an angle range exceeding half a circle, so that the rotating tube 6 has a larger rotation range, thereby improving the detection effect.

[0069] In view of current practical needs, the above-mentioned implementation mode adopted in this application is not limited to the scope of protection. Various changes made within the knowledge scope of technical personnel in this field without departing from the concept of this application still fall within the scope of protection of the present invention.

Claims

1. An atomic magnetometer adapted for use with an unmanned aerial vehicle, characterized in that: The invention comprises an unmanned aerial vehicle body (1) and a magnetometer body connected to the unmanned aerial vehicle body (1) via an adjustment mechanism, wherein the magnetometer body comprises a probe (10) and a magnetometer controller (23), wherein the adjustment mechanism comprises a fixed tube (3) fixedly connected to the lower end surface of the unmanned aerial vehicle body (1), wherein the lower end of the fixed tube (3) is fixedly connected to a mounting tube (4), wherein one end of the mounting tube (4) is rotatably connected to a rotating tube (5), wherein a first driving mechanism for driving the rotating tube (5) to rotate is arranged inside the mounting tube (4), wherein a rotating tube (6) arranged parallel to the fixed tube (3) is fixedly connected to the rotating tube (5); wherein the first driving mechanism comprises a rotating motor (9) fixedly connected to the mounting tube (4), wherein the output shaft of the rotating motor (9) is fixedly connected to a rotating shaft (8), wherein the rotating shaft (8) is fixedly connected to a rotating rod (7) fixedly connected to the rotating tube (5); The rotating tube (6) is provided with an opening at one end away from the mounting tube (4), an insulating tube (14) is fixedly connected to the inner side of the opening, a shielding tube (12) is fixedly connected to the insulating tube (14), a telescopic frame (11) is slidably connected to the shielding tube (12), the probe (10) is fixedly nested in the telescopic frame (11), a shielding cover (13) for blocking the shielding tube (12) is fixedly connected to the telescopic frame (11) on the side facing the opening, a moving frame (16) is fixedly connected to the side facing the mounting tube (4), the moving frame (16) is threadedly connected to a screw rod (17) extending into the rotating tube (5), the screw rod (17) is connected to a second driving mechanism for driving the moving frame (16) to rotate, and the probe (10) is electrically connected to a magnetometer controller (23) fixedly connected to the rotating tube (5) via a flexible cable.

2. The atomic magnetometer adapted for use with an unmanned aerial vehicle according to claim 1, characterized in that: The rotating motor (9) is equipped with a first Hall sensor, and the first Hall sensor monitors the rotation position of the rotating motor (9) in real time, thereby monitoring the rotation position of the rotating cylinder (5) and the rotating tube (6) in real time; the second driving mechanism is a screw motor, and the second Hall sensor is equipped with a second Hall sensor, and the second Hall sensor monitors the rotation position of the screw motor in real time, thereby monitoring the movement position of the moving frame (16) and the telescopic frame (11) in real time; the first Hall sensor and the second Hall sensor are both electrically connected to the same adjustment controller (24), and the adjustment controller (24) is fixedly connected to the inner wall of the installation cylinder (4).

3. The atomic magnetometer adapted for use with an unmanned aerial vehicle according to claim 2, characterized in that: The screw motor in claim 2 is replaced with a passive transmission assembly, wherein the passive transmission assembly includes a rolling gear (18) fixedly connected to the end of the screw (17) extending into the rotating cylinder (5), a first fixed gear (19) and a second fixed gear (21) interlacedly meshed with the rolling gear (18) are provided below the rolling gear (18), the first fixed gear (19) and the second fixed gear (21) are fixedly connected via a connecting rod (20), a fixing rod (22) is fixedly connected to the side wall of the second fixed gear (21) away from the connecting rod (20), and the fixing rod (22) is fixedly connected to the inner wall of the mounting cylinder (4); The first fixed gear (19) is provided with a plurality of first latching tooth groups (1901) arranged at circumferential intervals, and the second fixed gear (21) is provided with a plurality of second latching tooth groups (2101) staggered with the first latching tooth groups (1901), both the first latching tooth group (1901) and the second latching tooth group (2101) include a plurality of latching teeth distributed at equal intervals, and at the same time, one of the first latching tooth group (1901) and the second latching tooth group (2101) is meshed with the rolling gear (18).

4. The atomic magnetometer adapted for unmanned aerial vehicles according to claim 1, characterized in that: The lower part of the drone body (1) is fixedly connected to a landing gear (2); the installation tube (4) is arranged at a height higher than the lowest point of the landing gear (2); the length of the rotating tube (6) is shorter than the length of the fixed tube (3); and the fixed tube (3), the installation tube (4), the rotating tube (5) and the rotating tube (6) are all made of carbon fiber material.

5. The atomic magnetometer adapted for unmanned aerial vehicles according to claim 1, characterized in that: The telescopic frame (11) is a hollow cylindrical structure and is made of insulating material. The probe (10) is fixedly connected to the inner wall of the hollow cavity of the telescopic frame (11). The shielding tube (12) and the shielding cover (13) are both made of Permalloy material. The shielding tube (12) is a cylindrical structure with one end open, and the shielding cover (13) is a disc-shaped structure and its diameter is equal to that of the shielding tube (12).

6. The atomic magnetometer adapted for use with an unmanned aerial vehicle according to claim 5, characterized in that: The insulating cylinder (14) is a cylindrical structure with an open outer end. The insulating cylinder (14) is made of insulating material. The movable frame (16) is a frame-like structure. The movable frame (16) penetrates the insulating cylinder (14) and the shielding cylinder (12) and is slidably connected to the two. The screw rod (17) is arranged on the central axis of the rotating tube (6), and one end of the screw rod (17) facing the probe (10) is rotatably connected to the outer wall of the insulating cylinder (14) through a bearing seat.

7. The atomic magnetometer adapted for unmanned aerial vehicles according to claim 2, when it is necessary to perform zero point calibration on the magnetometer body, is characterized in that: The steps include: Step 1: activating the first driving mechanism by adjusting the controller (24), and rotating the tube (6) to drive the probe (10) away from the drone body (1); Step 2: activating the second driving mechanism by adjusting the controller (24) so ​​that the telescopic frame (11) drives the probe (10) to retract into the shielding tube (12); Step 3, the magnetometer body is started by adjusting the controller (24), and the probe (10) located in the shielding tube (12) detects the magnetic field in the shielding tube (12); Step 4: When the detected real-time magnetic field strength is not equal to zero, perform zero point calibration and adjust the magnetometer body to zero. When the detected real-time magnetic field strength is equal to zero, no operation is performed.

8. The atomic magnetometer adapted for use with an unmanned aerial vehicle according to claim 7, characterized in that: A degaussing coil (15) is fixedly connected to the shell wall of the insulating cylinder (14), the degaussing coil (15) is electrically connected to a current regulator, the current regulator is fixedly installed in the rotating cylinder (5), and the current regulator is electrically connected to a regulating controller (24).

9. The atomic magnetometer adapted for use with an unmanned aerial vehicle according to claim 8, characterized in that: In step three, before starting the magnetometer body, the current regulator is started first, and the current regulator loads current to the demagnetization coil (15) to demagnetize the shielding tube (12), the shielding cover (13) and the probe (10).

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