Unmanned aerial vehicle aeromagnetic detection system and method

Abstract

The embodiment of the invention discloses an unmanned aerial vehicle aeromagnetic detection system and method. In one specific embodiment, the system comprises an unmanned aerial vehicle, a data acquisition and control module, a length-adjustable magnetic probe rod, a magnetic sensor and a remote controller, the remote controller is used for sending a take-off signal to the data acquisition and control module; the data acquisition and control module is used for controlling the flight of the unmanned aerial vehicle according to the take-off signal, acquiring ground height data of the unmanned aerial vehicle and related data of the unmanned aerial vehicle, judging whether the ground height data is greater than a first threshold value or not, and if yes, sending the take-off signal to the unmanned aerial vehicle; if the first threshold value is larger than the maximum value of the rod length of the magnetic probe rod, the magnetic probe rod is controlled to act so that the magnetic sensor can get close to a to-be-detected area, the magnetic sensor is controlled to conduct detection to obtain magnetic data, the magnetic data and related data of the unmanned aerial vehicle are sent to the remote controller, and the first threshold value is larger than the maximum value of the rod length of the magnetic probe rod; and the remote controller is also used for obtaining a detection result according to the magnetic data and related data of the unmanned aerial vehicle.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) aeromagnetic anomaly detection technology. More specifically, it relates to an UAV aeromagnetic detection system and method. Background Technology

[0002] Currently, airborne magnetic anomaly detection technology is a crucial method for detecting invisible magnetic objects, playing an irreplaceable role in areas such as landslides burying vehicles and houses, geological exploration, archaeological surveys, and underwater magnetic anomaly target searches. With the development of miniaturized unmanned aerial vehicle (UAV) technology, the use of UAVs equipped with high-precision atomic magnetometers has greatly promoted the application of airborne magnetic surveying. However, current UAV-based airborne magnetic systems on the market suffer from the following main problems: the magnetometer's probe structure is fixed, and for ease of takeoff and landing, the magnetic sensor is mounted on the upper part of the UAV, causing significant interference and affecting the accuracy of magnetic data; data processing relies on the operator's communication network, and data processing is either performed after the operation on a cloud platform or remote computer, making real-time processing and display of magnetic anomalies impossible, severely impacting operational efficiency. Summary of the Invention

[0003] The purpose of this invention is to provide an unmanned aerial vehicle (UAV) aeromagnetic detection system and method to solve at least one of the problems existing in the prior art.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] The first aspect of the present invention provides an unmanned aerial vehicle (UAV) aeromagnetic detection system, the system comprising: a UAV, a data acquisition and control module mounted on the UAV, an adjustable-length magnetic probe mounted on the UAV, a magnetic sensor mounted at the front end of the magnetic probe, and a remote controller;

[0006] The remote controller is used to send a takeoff signal to the data acquisition and control module;

[0007] The data acquisition and control module is used to control the flight of the UAV according to the takeoff signal, acquire the ground altitude data of the UAV and related data of the UAV, determine whether the ground altitude data is greater than a first threshold, and if so, control the magnetic probe to move so that the magnetic sensor is close to the area to be detected, control the magnetic sensor to detect and obtain magnetic data, and send the magnetic data and related data of the UAV to the remote controller. The first threshold is greater than the maximum value of the length of the magnetic probe.

[0008] The remote controller is also used to obtain detection results based on the magnetic data and relevant data from the UAV.

[0009] Optionally, the data acquisition and control module is further configured to determine whether the ground height data is greater than a first threshold; if not, it is configured to determine whether the ground height data is greater than a second threshold, wherein the second threshold is greater than the maximum value of the length of the magnetic probe.

[0010] Optionally, the data acquisition and control module is further configured to determine whether the ground altitude data is greater than a second threshold. If so, it controls the magnetic probe to move according to the first control signal sent by the remote controller so that the magnetic sensor approaches the area to be detected and controls the magnetic sensor to detect and obtain magnetic data; or it controls the magnetic probe to move according to the second control signal sent by the remote controller so that the magnetic sensor returns to its initial state.

[0011] Optionally, the data acquisition and control module is further configured to determine whether the ground altitude data is greater than a second threshold; if not, control the magnetic probe to move so that the magnetic sensor returns to its initial state.

[0012] Optionally, the takeoff signal includes the UAV's flight path planning signal;

[0013] The data acquisition and control module is used to control the UAV to fly along the flight path according to the flight path planning signal.

[0014] Optionally, the relevant data of the UAV includes the UAV's positioning data, UAV's attitude data, and UAV's status data.

[0015] Optionally, the length-adjustable magnetic probe is a foldable magnetic probe or a telescopic magnetic probe.

[0016] Optionally, the magnetic data of the data acquisition and control module and the relevant data of the UAV are synchronized data.

[0017] Optionally, the remote controller is further configured to draw magnetic field data points of different magnetic field sizes based on the magnetic data, correct the magnetic field size based on the synchronized positioning data and attitude data of the UAV and draw a magnetic field heat map, and obtain the detection result based on the magnetic field heat map.

[0018] A second aspect of the present invention provides a method for unmanned aerial vehicle (UAV) aeromagnetic detection, the method comprising:

[0019] The takeoff signal is sent to the data acquisition and control module using the remote controller;

[0020] Using a data acquisition and control module installed on the drone, the drone is controlled to fly according to the takeoff signal. The drone's altitude data above the ground and related data are collected. It is determined whether the altitude data above the ground is greater than a first threshold. If so, the adjustable-length magnetic probe installed on the drone is controlled to move so that the magnetic sensor at the front end of the magnetic probe approaches the area to be detected. The magnetic sensor is controlled to detect and obtain magnetic data. The magnetic data and related data of the drone are sent to the remote controller. The first threshold is greater than the maximum value of the length of the magnetic probe.

[0021] The remote controller is also used to obtain detection results based on the magnetic data and relevant data from the UAV.

[0022] The beneficial effects of this invention are as follows:

[0023] The technical solution described in this invention enables real-time data processing and display, resulting in high operational efficiency; it features emergency obstacle avoidance and magnetic probe folding functions, ensuring good safety; the wireless data transmission scheme is highly adaptable and can operate normally in environments without a network; and it improves the accuracy of airborne magnetic anomaly detection. Attached Figure Description

[0024] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0025] Figure 1 A schematic diagram of the structure of an unmanned aerial vehicle (UAV) aeromagnetic detection system in the prior art is shown.

[0026] Figure 2 This diagram illustrates the structure of the UAV aeromagnetic detection system provided in an embodiment of the present invention.

[0027] Figure 3 The flowchart illustrates the UAV aeromagnetic detection method provided in an embodiment of the present invention. Detailed Implementation

[0028] To more clearly illustrate the present invention, the following description, in conjunction with embodiments and accompanying drawings, further explains the invention. Similar components in the drawings are indicated by the same reference numerals. Those skilled in the art should understand that the specific description below is illustrative rather than restrictive and should not be construed as limiting the scope of protection of the present invention.

[0029] Airborne magnetic anomaly detection technology is an important means of detecting invisible magnetic objects, and it plays an irreplaceable role in fields such as landslide disasters burying vehicles and houses, geological exploration, archaeological exploration, and underwater magnetic anomaly target search. For example... Figure 1As shown, existing airborne magnetic anomaly detection systems include a drone, a data acquisition and control unit, and a magnetic probe. The magnetic probe's front end includes a magnetic sensor. After the detection operation is completed, the non-real-time data collected by the data acquisition and control unit is sent to the data receiving, processing, and control module for processing. However, current drone-based airborne magnetic systems on the market have the following main problems: the magnetometer's magnetic probe structure is fixed, and the drone itself can cause significant interference, affecting the accuracy of the magnetic data; the system relies on the operator's communication network, and data processing is done on a cloud platform or remote computer, making it impossible to achieve real-time processing and display of magnetic anomalies, severely impacting operational efficiency.

[0030] In view of this, one embodiment of the present invention provides an unmanned aerial vehicle (UAV) aeromagnetic detection system, the system comprising: a UAV, a data acquisition and control module mounted on the UAV, an adjustable-length magnetic probe mounted on the UAV, a magnetic sensor mounted at the front end of the magnetic probe, and a remote controller; the remote controller is used to send a takeoff signal to the data acquisition and control module; the data acquisition and control module is used to control the flight of the UAV according to the takeoff signal, acquire the ground altitude data of the UAV and related data of the UAV, determine whether the ground altitude data is greater than a first threshold, if so, control the magnetic probe to move so that the magnetic sensor approaches the area to be detected, control the magnetic sensor to detect and obtain magnetic data, and send the magnetic data and related data of the UAV to the remote controller, wherein the first threshold is greater than the maximum value of the length of the magnetic probe; the remote controller is also used to obtain detection results based on the magnetic data and related data of the UAV.

[0031] In a specific example, the system is applied to small drones to improve the accuracy and efficiency of airborne magnetic anomaly detection. It includes data acquisition and control, a foldable magnetic probe, real-time synchronization of multi-source data, real-time wireless data transmission and processing, and automated safety control.

[0032] In a specific example, the first threshold is 2m; the maximum length of the magnetic probe is 1.3m.

[0033] In a specific example, the system enables real-time wireless data transmission and processing. Employing a wireless data transmission scheme independent of carrier networks, it can transmit magnetic anomaly data to the UAV remote controller terminal in real time. Data processing and magnetic anomaly localization can then be completed directly on the remote controller, completely solving the data communication and processing challenges faced by UAVs in harsh conditions such as emergency rescue and maritime field operations.

[0034] In a specific example, such as Figure 2As shown, the UAV is equipped with a data acquisition and control module and a foldable magnetic probe mounted on its underside. The foldable magnetic probe is folded before takeoff. After the aeromagnetic detection route is planned in the remote controller (real-time data receiving, processing, and control system), a takeoff command is sent to the UAV. After takeoff, the UAV automatically unfolds the magnetic probe based on its ground altitude to begin aeromagnetic operations. During the operation, the data acquisition and control module reads the UAV's positioning (RTK) information and attitude information and synchronizes it with the magnetic data. The data is transmitted to the remote controller in real time, where the aeromagnetic information and magnetic anomalies are displayed. During flight, the UAV reads its downward-looking obstacle avoidance information to obtain its ground altitude. When the altitude approaches the length of the magnetic probe, it automatically folds. After completing the flight path, the UAV returns, and the aeromagnetic information is backed up synchronously in the UAV's data acquisition and control module and on the remote controller.

[0035] This embodiment enables real-time data processing and display, resulting in high operational efficiency; it features emergency obstacle avoidance and magnetic probe folding functions, ensuring good safety; its wireless data transmission scheme is highly adaptable and can operate normally in environments without a network; and it improves the accuracy of aeromagnetic anomaly detection.

[0036] In one possible implementation, the data acquisition and control module is further configured to determine whether the ground height data is greater than a first threshold; if not, it determines whether the ground height data is greater than a second threshold, wherein the second threshold is greater than the maximum value of the length of the magnetic probe.

[0037] In a specific example, the data acquisition and control module is an onboard computer with a low-power, miniaturized ARM hardware system and a Linux operating system, on which a software system for magnetic data acquisition, magnetic probe control, wireless communication, and data synchronization runs.

[0038] In one possible implementation, the data acquisition and control module is further configured to determine whether the ground altitude data is greater than a second threshold. If so, it controls the magnetic probe to move according to the first control signal sent by the remote controller so that the magnetic sensor moves closer to the area to be detected and controls the magnetic sensor to detect and obtain magnetic data; or it controls the magnetic probe to move according to the second control signal sent by the remote controller so that the magnetic sensor returns to its initial state.

[0039] In a specific example, the highly automated safety control system features omnidirectional obstacle avoidance, automatically identifying and avoiding obstacles. It also includes an emergency folding function for the magnetic probe, which can be quickly folded in response to a second control signal in an emergency, ensuring flight safety. The system is easy to operate and assemble, requires minimal operator skill, and is highly user-friendly.

[0040] In one possible implementation, the data acquisition and control module is further configured to determine whether the ground altitude data is greater than a second threshold; if not, it controls the magnetic probe to move so that the magnetic sensor returns to its initial state.

[0041] In one possible implementation, the takeoff signal includes a flight path planning signal for the UAV; the data acquisition and control module is used to control the UAV to fly along the flight path according to the flight path planning signal.

[0042] In one possible implementation, the relevant data of the UAV includes the UAV's positioning data, UAV's attitude data, and UAV's state data.

[0043] In a specific example, multi-source data is synchronized in real time. The system achieves real-time synchronous acquisition and processing of three-axis vector magnetic data, RTK satellite navigation data, and UAV attitude data. RTK technology enables centimeter-level precision magnetic data positioning, providing a reliable guarantee for the accurate location of magnetic anomaly targets.

[0044] In one possible implementation, the length-adjustable magnetic probe is a foldable magnetic probe or a telescopic magnetic probe.

[0045] In one specific example, the system employs an innovative foldable, downward-extending magnetic probe design, enabling flexible adjustment of the probe's length. During UAV takeoff and landing, the magnetic probe can be folded and retracted, effectively addressing the difficulties of UAV takeoff and landing. During magnetic prospecting operations, the magnetic probe can extend to its optimal length downwards to probe the target area, reducing aircraft interference while bringing the magnetometer (magnetic sensor) closer to the target, significantly improving the signal-to-noise ratio of airborne magnetic prospecting.

[0046] In a specific example, the foldable magnetic probe includes a servo motor, a transmission mechanism, and a magnetic sensor for magnetic data acquisition. The servo motor is fixed to the bottom of the drone and controls the extension of the carbon fiber magnetic probe via the transmission mechanism (gears and a synchronous belt). Specifically, the servo motor is rigidly connected to the first gear, which is fixed to one end of the first carbon fiber rod. The synchronous belt is located inside the first carbon fiber rod, with one end synchronously connected to the first gear and the other end synchronously connected to the second gear located at the other end of the carbon fiber rod. The second gear is rigidly connected to the second carbon fiber rod, which houses an atomic magnetometer. This allows the servo motor to drive the extension and retraction of the magnetic probe carrying the magnetometer.

[0047] In one possible implementation, the magnetic data of the data acquisition and control module and the relevant data of the UAV are synchronized data.

[0048] In a specific example, multi-source data is synchronized in real time, including magnetic data, RTK positioning data, UAV attitude data, UAV status information, etc. Among them, magnetic data, RTK positioning data, and UAV attitude data are synchronized through timestamps.

[0049] In one possible implementation, the remote controller is further configured to draw magnetic field data points of different magnetic field sizes based on the magnetic data, correct the magnetic field size based on the synchronized positioning data and attitude data of the UAV and draw a magnetic field heat map, and obtain the detection result based on the magnetic field heat map.

[0050] In a specific example, the real-time wireless data transmission and processing system refers to the integration of the data acquisition and control system on the UAV end with the remote control wireless system of the UAV. The UAV wireless communication system transmits aeromagnetic data to the remote controller in real time. On the remote controller, different colors are drawn for magnetic field data points with different magnetic field magnitudes. The magnetic field magnitude is compensated and corrected according to the synchronous positioning and attitude information, and a magnetic field heat map is drawn on the map. Magnetic anomalies are detected through the magnetic field heat map.

[0051] An embodiment of the present invention provides a method for aerial magnetic detection using an unmanned aerial vehicle (UAV). The method includes: sending a takeoff signal to a data acquisition and control module using a remote controller; controlling the UAV to fly according to the takeoff signal using the data acquisition and control module mounted on the UAV, acquiring ground altitude data and related data of the UAV, determining whether the ground altitude data is greater than a first threshold, and if so, controlling the movement of an adjustable-length magnetic probe mounted on the UAV so that a magnetic sensor at the front end of the magnetic probe approaches the area to be detected, controlling the magnetic sensor to detect and obtain magnetic data, and sending the magnetic data and related data of the UAV to the remote controller, wherein the first threshold is greater than the maximum value of the length of the magnetic probe; the remote controller is also used to obtain detection results based on the magnetic data and related data of the UAV.

[0052] In a specific example, a foldable aeromagnetic real-time detection method for drones, such as Figure 3 As shown, it includes:

[0053] Step S10: Mount the aeromagnetic system (data acquisition and control module) on the bottom of the UAV;

[0054] Step S20: Start the drone. The aeromagnetic system draws power from the drone and starts up. Edit the flight path. After the magnetic sensor, positioning system, etc. are stable and the data recording is normal, send the takeoff command.

[0055] Step S30: After the UAV takes off, the aeromagnetic system detects the UAV's altitude above the ground. Once the altitude above the ground is greater than the length of the magnetic probe, the magnetic probe is automatically deployed, and the aeromagnetic operation begins.

[0056] Step S40: Multi-source aeromagnetic data (magnetic data, RTK positioning data, UAV attitude data, UAV status information, etc.) are synchronized, stored in the UAV terminal aeromagnetic system in real time, and sent to the remote controller terminal in real time to draw an aeromagnetic map and detect magnetic anomalies.

[0057] Step S50: Detect the ground height in real time throughout the operation. If the ground height is close to the length of the magnetic probe, automatically fold the magnetic probe.

[0058] Step S60: After the drone has flown the entire planned route and returned, the aeromagnetic detection will end.

[0059] This embodiment enables real-time data processing and display, resulting in high operational efficiency; it features emergency obstacle avoidance and magnetic probe folding functions, ensuring good safety; its wireless data transmission scheme is highly adaptable and can operate normally in environments without a network; and it improves the accuracy of aeromagnetic anomaly detection.

[0060] In the description of this invention, it should be noted that the terms "upper," "lower," etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, 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, and therefore should not be construed as a limitation of the invention. Unless otherwise expressly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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 between two elements. For those skilled in the art, the specific meaning of the above terms in this invention can be understood according to the specific circumstances.

[0061] It should also be noted that in the description of this invention, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0062] 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. For those skilled in the art, other variations or modifications can be made based on the above description. It is impossible to exhaustively list all the implementation methods here. All obvious variations or modifications derived from the technical solutions of the present invention are still within the protection scope of the present invention.

Claims

1. An unmanned aerial vehicle (UAV) aeromagnetic detection system, characterized in that, The system includes: a drone, a data acquisition and control module mounted on the drone, an adjustable-length magnetic probe mounted on the drone, a magnetic sensor mounted at the front end of the magnetic probe, and a remote controller; The remote controller is used to send a takeoff signal to the data acquisition and control module; The data acquisition and control module is used to control the flight of the UAV according to the takeoff signal, acquire the ground altitude data of the UAV and related data of the UAV, determine whether the ground altitude data is greater than a first threshold, and if so, control the magnetic probe to move so that the magnetic sensor is close to the area to be detected, control the magnetic sensor to detect and obtain magnetic data, and send the magnetic data and related data of the UAV to the remote controller. The first threshold is greater than the maximum value of the length of the magnetic probe. The remote controller is also used to obtain detection results based on the magnetic data and relevant data from the UAV.

2. The UAV aeromagnetic detection system according to claim 1, characterized in that, The data acquisition and control module is also used to determine whether the ground height data is greater than a first threshold. If not, it determines whether the ground height data is greater than a second threshold, where the second threshold is greater than the maximum value of the length of the magnetic probe.

3. The UAV aeromagnetic detection system according to claim 2, characterized in that, The data acquisition and control module is also used to determine whether the ground altitude data is greater than a second threshold. If so, it controls the magnetic probe to move according to the first control signal sent by the remote controller so that the magnetic sensor moves closer to the area to be detected and controls the magnetic sensor to detect and obtain magnetic data; or it controls the magnetic probe to move according to the second control signal sent by the remote controller so that the magnetic sensor returns to its initial state.

4. The UAV aeromagnetic detection system according to claim 3, characterized in that, The data acquisition and control module is also used to determine whether the ground altitude data is greater than a second threshold. If not, it controls the magnetic probe to move so that the magnetic sensor returns to its initial state.

5. The UAV aeromagnetic detection system according to claim 4, characterized in that, The takeoff signal includes the flight path planning signal for the UAV; The data acquisition and control module is used to control the UAV to fly along the flight path according to the flight path planning signal.

6. The UAV aeromagnetic detection system according to claim 5, characterized in that, The relevant data of the drone includes the drone's positioning data, drone's attitude data, and drone's status data.

7. The UAV aeromagnetic detection system according to claim 6, characterized in that, The adjustable-length magnetic probe is either a foldable magnetic probe or a telescopic magnetic probe.

8. The UAV aeromagnetic detection system according to claim 7, characterized in that, The magnetic data from the data acquisition and control module and the relevant data from the UAV are synchronized data.

9. The UAV aeromagnetic detection system according to claim 8, characterized in that, The remote controller is also used to draw magnetic field data points of different magnetic field sizes based on the magnetic data, correct the magnetic field size based on the synchronous positioning data and attitude data of the UAV and draw a magnetic field heat map, and obtain the detection results based on the magnetic field heat map.

10. A method for unmanned aerial vehicle (UAV) aeromagnetic detection, characterized in that, The method includes: The takeoff signal is sent to the data acquisition and control module using the remote controller; Using a data acquisition and control module installed on the drone, the drone is controlled to fly according to the takeoff signal. The drone's altitude data above the ground and related data are collected. It is determined whether the altitude data above the ground is greater than a first threshold. If so, the adjustable-length magnetic probe installed on the drone is controlled to move so that the magnetic sensor at the front end of the magnetic probe approaches the area to be detected. The magnetic sensor is controlled to detect and obtain magnetic data. The magnetic data and related data of the drone are sent to the remote controller. The first threshold is greater than the maximum value of the length of the magnetic probe. The remote controller is also used to obtain detection results based on the magnetic data and relevant data from the UAV.

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