Airborne aviation electromagnetic method measuring device for unmanned aerial vehicle

Abstract

The invention discloses an airborne aviation electromagnetic method measuring device for an unmanned aerial vehicle, and relates to the technical field of unmanned aerial vehicle airborne equipment.The airborne aviation electromagnetic method measuring device comprises an unmanned aerial vehicle equipment main body, a base plate is fixedly connected to the upper portion of the unmanned aerial vehicle equipment main body, and a parallel balance weight mechanism is arranged in the base plate and comprises a driving motor arranged in the base plate; a driving rod is arranged at the output end of the driving motor, a first bevel gear is fixedly connected to the side, away from the driving motor, of the driving rod, a second bevel gear is meshed with the side edge of the first bevel gear, and a first transmission rod is fixedly connected to the side, away from the first bevel gear, of the second bevel gear; the side, away from the second bevel gear, of the first transmission rod is in transmission connection with a first bevel gear set, the position of a balancing weight can be automatically adjusted when the electromagnetic transceiver moves, it is ensured that the weight above the unmanned aerial vehicle equipment body is kept balanced all the time, flight jolt caused by weight change is effectively avoided, and the service life of the unmanned aerial vehicle equipment body is prolonged. Therefore, the accuracy of data measurement by the electromagnetic method is improved.

Description

Technical Field

[0001] The invention relates to the technical field of unmanned aerial vehicle (UAV) airborne equipment, and in particular to an airborne aerial electromagnetic measurement device for a UAV. Background Art

[0002] UAV-borne airborne electromagnetic measurement is a technology that uses UAVs as flight platforms and carries airborne electromagnetic measurement instruments to measure the earth's magnetic field in the air. Its basic principle is to stimulate the induced current in the underground conductor through the alternating electromagnetic field generated by the transmitting coil, which in turn generates a secondary electromagnetic field. The changes in this secondary electromagnetic field are measured by the receiving coil, and then the nature, location and shape of the underground conductor are inferred.

[0003] After searching, the invention patent with Chinese patent number CN115508896B discloses an airborne electromagnetic measurement device for unmanned aerial vehicles, the device includes a limit assembly and a toggle assembly, the limit assembly includes an annular limit frame, the annular limit frame is used to connect to the bottom of the unmanned aerial vehicle body, the bottom of the annular limit frame is provided with an annular slide, the toggle assembly includes a first telescopic rod and a stabilizer, the top of the first telescopic rod is connected with an electromagnetic slider, the bottom is connected with an electromagnetic transceiver, the electromagnetic slider is slidably matched with the annular slide, the electromagnetic slider can slide along the annular slide under the drive of electromagnetic force, the stabilizer is respectively connected to the annular limit frame and the first telescopic rod, and the stabilizer rotates along the annular limit frame with the first telescopic rod. The present invention cooperates with the electromagnetic slider and the annular slide, so that the electromagnetic transceiver rotates circumferentially, and the height of the electromagnetic transceiver can be changed by the first telescopic rod, thereby expanding the displacement amplitude of the airborne electromagnetic transceiver, improving its receiving range, and improving the accuracy of its receiving measurement information.

[0004] However, in actual use of the above device, the electromagnetic transceiver will cause the weight on the drone to change when it moves, which will cause the drone to shake during flight and affect the accuracy of the electromagnetic measurement data. Therefore, an airborne electromagnetic measurement device for a drone is proposed. Summary of the invention

[0005] The purpose of the present invention is to solve the shortcomings in the prior art that the electromagnetic transceiver will cause the weight on the drone to change when it moves, which will cause the drone to shake during flight and affect the accuracy of electromagnetic measurement data. At the same time, combined with the use of MATRICE350RTK DJI drone (with UFO-CS cesium optical pump aviation magnetometer) in Altay, Xinjiang, an airborne electromagnetic measurement device for drones is proposed.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] An airborne electromagnetic measurement device for a drone, comprising a drone equipment body, a base plate fixedly connected above the drone equipment body, a parallel counterweight mechanism arranged inside the base plate, the parallel counterweight mechanism comprising a drive motor arranged inside the base plate, a drive rod arranged at the output end of the drive motor, a first bevel gear fixedly connected to a side of the drive rod away from the drive motor, a second bevel gear meshingly connected to a side of the first bevel gear, a first transmission rod fixedly connected to a side of the second bevel gear away from the first bevel gear, a first bevel gear set transmission-connected to a side of the first transmission rod away from the second bevel gear, a first threaded rod fixedly connected to a side of the first bevel gear set, a moving plate threadedly connected to a side of the first threaded rod away from the first bevel gear set, an electromagnetic transceiver arranged above the moving plate, a third bevel gear meshingly connected to a side of the first bevel gear away from the second bevel gear, a counterweight block transmission-connected to a side of the third bevel gear away from the first bevel gear;

[0008] After the driving motor is started, it drives the first bevel gear to rotate through the driving rod, the first bevel gear drives the first transmission rod to rotate through the second bevel gear, the first transmission rod drives the first threaded rod to rotate through the first bevel gear set, the first threaded rod drives the moving plate and the electromagnetic transceiver to move through the threaded connection relationship between the first threaded rod and the moving plate, the first bevel gear drives the third bevel gear to rotate in the opposite direction to the second bevel gear, the third bevel gear drives the counterweight block to move in the opposite direction to the electromagnetic transceiver and prevents the main body of the drone equipment from being overweight.

[0009] The above technical solution further includes:

[0010] A square groove is provided inside the base plate, the driving motor is fixedly mounted on the inner wall of the square groove, the first transmission rod is rotatably connected to the square groove, the first threaded rod is rotatably connected to the square groove, and the movable plate is slidably connected to the square groove.

[0011] A second transmission rod is fixedly connected to the side of the third bevel gear, and a second transmission rod is transmission-connected to a second bevel gear set on a side away from the third bevel gear. A second threaded rod is fixedly connected to the side of the second bevel gear set, and the second threaded rod is threadedly connected to the counterweight block, and the counterweight block is slidingly connected to the square groove.

[0012] The second transmission rod is rotatably connected to the square groove, and the second threaded rod is rotatably connected to the square groove.

[0013] A hollow cylinder is fixedly connected above the movable plate, a spring is fixedly connected to a side of the hollow cylinder close to the movable plate, and a control base is arranged on a side of the spring away from the hollow cylinder.

[0014] A sliding rod is fixedly connected to the bottom of the control base, and the sliding rod is slidably connected to the hollow cylinder. The hollow cylinder, the spring and the sliding rod are evenly distributed around the moving plate.

[0015] A connecting rod is arranged above the control base, and the connecting rod is fixedly connected to the electromagnetic transceiver. The control base can drive the electromagnetic transceiver to rise and fall by controlling the connecting rod.

[0016] A hair receiving head is arranged on the side of the electromagnetic transceiver.

[0017] The drone blade components are evenly distributed around the drone equipment body.

[0018] Among them, the UAV blade assembly adopts high-performance materials, and carbon fiber blades with high strength, high stiffness and low density are one of the preferred materials for UAV blade manufacturing. Carbon fiber blades have good stability and wind resistance, and can fly stably even in strong winds and bad weather. In addition, carbon fiber and resin composite materials have high quietness performance, which can reduce interference with the surrounding environment.

[0019] The present invention has the following beneficial effects:

[0020] 1. In the present invention, the design of the parallel counterweight mechanism enables the counterweight block and the electromagnetic transceiver to move relative to each other through the mutual cooperation between the bevel gears. When the electromagnetic transceiver moves, the position of the counterweight block can be automatically adjusted to ensure that the weight above the main body of the UAV equipment is always balanced, which effectively avoids flight turbulence caused by weight changes, thereby improving the accuracy of electromagnetic measurement data.

[0021] 2. In the present invention, the hollow tube, spring and slide rod combination arranged above the moving plate constitute an effective shock absorption system. When the drone is disturbed by external forces or bumped during flight, this shock absorption system can absorb and disperse the vibration energy, protect the electromagnetic transceiver from damage, and ensure the stability of the measurement data. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of the structure of an airborne electromagnetic measurement device for a UAV proposed by the present invention;

[0023] Figure 2 It is a schematic diagram of the external structure of the present invention;

[0024] Figure 3 It is a schematic diagram of a partial three-dimensional structure of the present invention;

[0025] Figure 4 for Figure 1 A schematic diagram of the structure enlargement in the middle;

[0026] Figure 5 for Figure 1 A magnified schematic diagram of the structure at B in the middle;

[0027] Figure 6 for Figure 3 Enlarged schematic diagram of the structure at point C in the middle.

[0028] In the figure: 1. UAV equipment body; 2. Base plate; 3. Square groove; 4. Driving motor; 5. Driving rod; 6. First bevel gear; 7. Second bevel gear; 8. First transmission rod; 9. First bevel gear set; 10. First threaded rod; 11. Moving plate; 12. Electromagnetic transceiver; 13. Third bevel gear; 14. Second transmission rod; 15. Second bevel gear set; 16. Second threaded rod; 17. Counterweight; 18. Hollow cylinder; 19. Spring; 20. Sliding rod; 21. Control base; 22. Connecting rod; 23. Receiver; 24. UAV blade assembly. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] Embodiment 1

[0031] like Figure 1-Figure 6 As shown, an airborne aerial electromagnetic measurement device for a drone proposed by the present invention comprises a drone equipment body 1, a base plate 2 is fixedly connected above the drone equipment body 1, a parallel counterweight mechanism is arranged inside the base plate 2, the parallel counterweight mechanism comprises a drive motor 4 arranged inside the base plate 2, a drive rod 5 is arranged at the output end of the drive motor 4, a first bevel gear 6 is fixedly connected to the side of the drive rod 5 away from the drive motor 4, a second bevel gear 7 is meshedly connected to the side of the first bevel gear 6, a first transmission rod 8 is fixedly connected to the side of the second bevel gear 7 away from the first bevel gear 6, a first transmission rod 8 is transmission-connected to the side of the first transmission rod 8 away from the second bevel gear 7, a first threaded rod 10 is fixedly connected to the side of the first bevel gear group 9, a moving plate 11 is threadedly connected to the side of the first threaded rod 10 away from the first bevel gear group 9, an electromagnetic transceiver 12 is arranged above the moving plate 11, a third bevel gear 13 is meshedly connected to the side of the first bevel gear 6 away from the second bevel gear 7, and a counterweight block 17 is transmission-connected to the side of the third bevel gear 13 away from the first bevel gear 6.

[0032] After the driving motor 4 is started, it drives the first bevel gear 6 to rotate through the driving rod 5. The first bevel gear 6 drives the first transmission rod 8 to rotate through the second bevel gear 7. The first transmission rod 8 drives the first threaded rod 10 to rotate through the first bevel gear set 9. The first threaded rod 10 drives the moving plate 11 and the electromagnetic transceiver 12 to move through the threaded connection relationship between the first threaded rod 10 and the moving plate 11. The first bevel gear 6 drives the third bevel gear 13 to rotate in the opposite direction to the second bevel gear 7. The third bevel gear 13 drives the counterweight 17 to move in the opposite direction to the electromagnetic transceiver 12 and prevents the drone equipment body 1 from being overweight.

[0033] A square groove 3 is opened inside the base plate 2, and the driving motor 4 is fixedly installed on the inner wall of the square groove 3. The first transmission rod 8 is rotatably connected to the square groove 3, the first threaded rod 10 is rotatably connected to the square groove 3, and the moving plate 11 is slidably connected to the square groove 3.

[0034] A second transmission rod 14 is fixedly connected to the side of the third bevel gear 13, and a second bevel gear set 15 is transmission-connected to the side of the second transmission rod 14 away from the third bevel gear 13. A second threaded rod 16 is fixedly connected to the side of the second bevel gear set 15, and the second threaded rod 16 is threadedly connected to the counterweight 17, and the counterweight 17 is slidingly connected to the square groove 3.

[0035] The second transmission rod 14 is rotatably connected to the square groove 3 , and the second threaded rod 16 is rotatably connected to the square groove 3 .

[0036] In this embodiment, a base plate 2 is fixedly connected above the main body 1 of the drone device, and the parallel counterweight mechanism arranged inside the base plate 2 is started. A square groove 3 is opened inside the base plate 2, and a driving motor 4 fixedly installed on the inner wall of the square groove 3 starts to run. When the driving motor 4 runs, it starts to control the driving rod 5 arranged at its output end to rotate. When the driving rod 5 rotates, it drives the first bevel gear 6 fixedly connected to the other end thereof to rotate, so that the first bevel gear 6 can drive the second bevel gear 7 meshingly connected to its side to start rotating. When the second bevel gear 7 rotates, it drives the second bevel gear 7 meshingly connected to its side to start rotating. The first transmission rod 8 fixedly connected between the two sides rotates, and a first bevel gear set 9 is provided on the side of the first transmission rod 8 away from the second bevel gear 7. The other end of the first transmission rod 8 rotates on the inner wall of the square groove 3 and drives the first bevel gear set 9 to rotate, so that the first bevel gear set 9 can drive the first threaded rod 10 fixedly connected to its side to start rotating. The first threaded rod 10 passes through the interior of the moving plate 11 and is threadedly connected to the moving plate 11. When the other end of the first threaded rod 10 rotates on the inner wall of the square groove 3, a spiral force is generated inside the moving plate 11, from The movable plate 11 starts to move above the square slot 3, and when the movable plate 11 moves, the electromagnetic transceiver 12 arranged above it is also moved. When the first bevel gear 6 is close to the second bevel gear 7, the side of the first bevel gear 6 close to the third bevel gear 13 is rotated downward, so that the first bevel gear 6 drives the third bevel gear 13 to rotate in the opposite direction to the second bevel gear 7. When the third bevel gear 13 rotates, it drives the second transmission rod 14 fixedly connected to its side to rotate, so that the second transmission rod 14 drives the second bevel gear 13 to rotate in the opposite direction to the second bevel gear 7. The second bevel gear set 15 transmission connected between the other sides rotates, and the second bevel gear set 15 drives the second threaded rod 16 arranged on its side to rotate, so that the second threaded rod 16 rotates inside the counterweight block 17 and generates spiral power. The counterweight block 17 starts to move in the opposite direction of the electromagnetic transceiver 12 based on the same principle, so that when the electromagnetic transceiver 12 moves, the counterweight block 17 will move in the opposite direction of the electromagnetic transceiver 12, so that the weight carried on the drone equipment body 1 always remains unchanged, and there will be no unbalanced weight.

[0037] Embodiment 2

[0038] like Figure 1-Figure 6 As shown, based on the first embodiment, a hollow cylinder 18 is fixedly connected above the movable plate 11 , a spring 19 is fixedly connected to the side of the hollow cylinder 18 close to the movable plate 11 , and a control base 21 is provided on the side of the spring 19 away from the hollow cylinder 18 .

[0039] A sliding rod 20 is fixedly connected to the bottom of the control base 21 . The sliding rod 20 is slidably connected to the hollow cylinder 18 . The hollow cylinder 18 , the spring 19 and the sliding rod 20 are evenly distributed around the moving plate 11 .

[0040] A connecting rod 22 is disposed above the control base 21 . The connecting rod 22 is fixedly connected to the electromagnetic transceiver 12 . The control base 21 can drive the electromagnetic transceiver 12 to move up and down by controlling the connecting rod 22 .

[0041] A receiving head 23 is arranged on the side of the electromagnetic transceiver 12 .

[0042] The drone blade components 24 are evenly distributed around the drone equipment body 1.

[0043] In this embodiment, a hollow cylinder 18 is fixedly connected above the moving plate 11. When the drone equipment body 1 is bumped by external force, the drone equipment body 1 will transmit the vibration force to the moving plate 11. A spring 19 is fixedly connected to the outside of the hollow cylinder 18. The other side of the spring 19 is fixedly connected to the control base 21, so that when the moving plate 11 is vibrated, the vibration force is weakened by the elastic potential energy through the spring 19. A sliding rod 20 is arranged between the hollow cylinder 18 and the control base 21. The sliding rod 20 will slide up and down inside the hollow cylinder 18 when it is vibrated to maintain stability. In addition, multiple groups of hollow cylinders 18, springs 19, and sliding rods 20 are arranged around the moving plate 11, so that the electromagnetic transceiver 12 arranged above the control base 21 can reduce vibration. A connecting rod 22 is arranged at the output end of the control base 21. The connecting rod 22 is controlled to rise and fall by the control base 21, thereby adjusting the height of the electromagnetic transceiver 12 and the receiving head 23, so that the device can perform electromagnetic measurement.

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

Claims

1. An airborne electromagnetic measurement device for a drone, comprising a drone equipment body (1), characterized in that: A base plate (2) is fixedly connected to the upper part of the drone equipment body (1); a parallel counterweight mechanism is arranged inside the base plate (2); the parallel counterweight mechanism comprises a drive motor (4) arranged inside the base plate (2); a drive rod (5) is arranged at the output end of the drive motor (4); a first bevel gear (6) is fixedly connected to the side of the drive rod (5) away from the drive motor (4); a second bevel gear (7) is meshingly connected to the side of the first bevel gear (6); a first transmission rod (8) is fixedly connected to the side of the second bevel gear (7) away from the first bevel gear (6); and the first transmission rod (8) is fixedly connected to the side of the second bevel gear (7) away from the first bevel gear (6). The side of the rod (8) away from the second bevel gear (7) is transmission-connected with the first bevel gear set (9); the side of the first bevel gear set (9) is fixedly connected with the first threaded rod (10); the side of the first threaded rod (10) away from the first bevel gear set (9) is threadedly connected with a moving plate (11); an electromagnetic transceiver (12) is arranged above the moving plate (11); the side of the first bevel gear (6) away from the second bevel gear (7) is meshingly connected with the third bevel gear (13); the side of the third bevel gear (13) away from the first bevel gear (6) is transmission-connected with a counterweight (17); After the driving motor (4) is started, it drives the first bevel gear (6) to rotate through the driving rod (5), the first bevel gear (6) drives the first transmission rod (8) to rotate through the second bevel gear (7), the first transmission rod (8) drives the first threaded rod (10) to rotate through the first bevel gear set (9), the first threaded rod (10) drives the moving plate (11) and the electromagnetic transceiver (12) to move through the threaded connection relationship between the first threaded rod (10) and the moving plate (11), the first bevel gear (6) drives the third bevel gear (13) to rotate in the opposite direction to the second bevel gear (7), the third bevel gear (13) drives the counterweight (17) to move in the opposite direction to the electromagnetic transceiver (12) and prevents the drone equipment body (1) from being overweight.

2. The airborne electromagnetic measurement device for unmanned aerial vehicles according to claim 1, characterized in that: A square groove (3) is provided inside the base plate (2), the driving motor (4) is fixedly mounted on the inner wall of the square groove (3), the first transmission rod (8) is rotatably connected to the square groove (3), the first threaded rod (10) is rotatably connected to the square groove (3), and the movable plate (11) is slidably connected to the square groove (3).

3. The airborne electromagnetic measurement device for unmanned aerial vehicles according to claim 2, characterized in that: A second transmission rod (14) is fixedly connected to a side of the third bevel gear (13); a side of the second transmission rod (14) away from the third bevel gear (13) is transmission-connected to a second bevel gear set (15); a second threaded rod (16) is fixedly connected to a side of the second bevel gear set (15); the second threaded rod (16) is threadedly connected to a counterweight (17); and the counterweight (17) is slidably connected to the square groove (3).

4. The airborne electromagnetic measurement device for unmanned aerial vehicles according to claim 3, characterized in that: The second transmission rod (14) is rotationally connected to the square groove (3), and the second threaded rod (16) is rotationally connected to the square groove (3).

5. The airborne electromagnetic measurement device for unmanned aerial vehicles according to claim 1, characterized in that: A hollow cylinder (18) is fixedly connected above the movable plate (11); a spring (19) is fixedly connected to a side of the hollow cylinder (18) close to the movable plate (11); and a control base (21) is provided on a side of the spring (19) away from the hollow cylinder (18).

6. The airborne electromagnetic measurement device for unmanned aerial vehicles according to claim 5, characterized in that: A sliding rod (20) is fixedly connected to the bottom of the control base (21), and the sliding rod (20) is slidably connected to the hollow cylinder (18). The hollow cylinder (18), the spring (19) and the sliding rod (20) are evenly distributed around the movable plate (11).

7. The airborne electromagnetic measurement device for unmanned aerial vehicles according to claim 5, characterized in that: A connecting rod (22) is arranged above the control base (21), and the connecting rod (22) is fixedly connected to the electromagnetic transceiver (12). The control base (21) can drive the electromagnetic transceiver (12) to rise and fall by controlling the connecting rod (22).

8. The airborne electromagnetic measurement device for unmanned aerial vehicles according to claim 1, characterized in that: A receiving head (23) is arranged on the side of the electromagnetic transceiver (12).

9. The airborne electromagnetic measurement device for unmanned aerial vehicles according to claim 1, characterized in that: The drone equipment body (1) is evenly distributed with drone blade components (24) around it.

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