Unmanned aerial vehicle foldable aeromagnetic real-time detection method

Abstract

The invention belongs to the technical field of unmanned aerial vehicle aeromagnetic anomaly detection, and particularly discloses an unmanned aerial vehicle foldable aeromagnetic real-time detection method. The method comprises the following steps: step S20, sending a take-off instruction after data recording is normal; s30, after the unmanned aerial vehicle takes off, the aeromagnetic system detects ground height information of the unmanned aerial vehicle, the magnetic probe rod is automatically unfolded after the ground height is larger than the length of the magnetic probe rod, and aeromagnetic operation is started; step S40, synchronizing multi-source aeromagnetic data, storing the multi-source aeromagnetic data in an aeromagnetic system of an unmanned aerial vehicle end in real time, sending the multi-source aeromagnetic data to a remote controller end in real time to draw an aeromagnetic map, and detecting magnetic anomaly; s50, the height to the ground is detected in real time in the whole operation process, and if the height to the ground is close to the length of the magnetic probe rod, the magnetic probe rod is automatically folded; and step S60, after the unmanned aerial vehicle flies to the whole planned route, the aeromagnetic detection is ended after the unmanned aerial vehicle returns. According to the scheme, the technical problem that the working efficiency is low due to the fact that existing aviation magnetic anomaly detection cannot implement processing and anomaly display is solved.

Description

Technical Field

[0001] This invention belongs to the technical field of unmanned aerial vehicle (UAV) aeromagnetic anomaly detection, specifically relating to a real-time foldable aeromagnetic detection method for UAVs. Background Technology

[0002] Airborne magnetic anomaly detection technology is a crucial method for detecting invisible magnetic objects, playing an irreplaceable role in areas such as landslide-damaged 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 detection. However, current UAV-based airborne magnetic systems on the market suffer from the following major 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 a foldable aeromagnetic real-time detection method for unmanned aerial vehicles (UAVs) to solve the technical problem of low operational efficiency caused by the inability of existing aeromagnetic anomaly detection methods to process and display anomalies.

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

[0005] A method for real-time foldable aeromagnetic detection by a drone includes: Step S10, attaching an aeromagnetic system to the bottom of the drone; Step S20, starting the drone, the aeromagnetic system draws power from the drone, starting the aeromagnetic system, editing the flight path, and sending a takeoff command after the magnetic sensor, positioning system, etc., are stable and data recording is normal; Step S30, after the drone takes off, the aeromagnetic system detects the drone's altitude above the ground, and automatically unfolds the magnetic probe when the altitude above the ground is greater than the length of the magnetic probe, starting the aeromagnetic operation; Step S40, synchronizing multi-source aeromagnetic data, storing it in real time in the drone's aeromagnetic system and sending it in real time to the remote controller to draw an aeromagnetic map and detect magnetic anomalies; Step S50, detecting the altitude above the ground in real time throughout the operation, and automatically folding the magnetic probe if the altitude above the ground is close to the length of the magnetic probe; Step S60, ending the aeromagnetic detection after the drone has flown the entire planned flight path and returned home.

[0006] A computer-readable storage medium storing a computer program configured to execute the aforementioned UAV foldable aeromagnetic real-time detection method at runtime.

[0007] An electronic device includes a memory and a processor, wherein the memory stores a computer program and the processor is configured to execute the aforementioned foldable aeromagnetic real-time detection method for unmanned aerial vehicles via the computer program.

[0008] In this invention, by means of [method / mechanism], the technical problems are achieved, avoided, and solved, and the technical effects are achieved. Attached Figure Description

[0009] Figure 1 This is a flowchart illustrating a real-time foldable aeromagnetic detection method for unmanned aerial vehicles (UAVs) according to an embodiment of the present invention.

[0010] Figure 2 This is a schematic diagram illustrating the principle of a foldable aeromagnetic real-time detection method using a drone, as described in an embodiment of the present invention. Detailed Implementation

[0011] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. The advantages and features of the present invention will become clearer from the following description and claims. It should be noted that the drawings are all in a very simplified form and are not to a precise scale, and are only used to facilitate and clarify the illustration of the embodiments of the present invention.

[0012] It should be noted that, in order to clearly illustrate the content of this invention, several embodiments are provided to further explain different implementations of the invention. These embodiments are enumerated rather than exhaustive. Furthermore, for the sake of brevity, content mentioned in the preceding embodiments is often omitted in the following embodiments. Therefore, content not mentioned in the later embodiments can be referred to in the preceding embodiments.

[0013] Example 1

[0014] A foldable drone-based real-time aeromagnetic detection method, such as Figure 1 As shown, the method includes:

[0015] Step S10: Attach the aeromagnetic system to the bottom of the UAV;

[0016] 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.

[0017] 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.

[0018] Step S40: Synchronize multi-source aeromagnetic data, store it in the aeromagnetic system on the UAV terminal in real time and send it to the remote controller terminal in real time to draw an aeromagnetic map and detect magnetic anomalies;

[0019] 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.

[0020] Step S60: After the drone has flown the entire planned route and returned, the aeromagnetic detection will end.

[0021] As an optional implementation method, multi-source aeromagnetic data includes: magnetic data, RTK positioning data, UAV attitude data, and UAV status information.

[0022] As an alternative implementation, the data acquisition and control system is an airborne computer with a low-power, miniaturized ARM hardware system and a Linux operating system.

[0023] As an optional implementation, a magnetic data acquisition, magnetic probe control, wireless communication, and data synchronization software system runs on the computer of the data acquisition and control system.

[0024] As an optional implementation, the foldable magnetic probe includes a servo motor, a transmission device, and a magnetic sensor for acquiring magnetic data.

[0025] As an optional implementation method, multi-source data is synchronized in real time, including magnetic data, RTK positioning data, UAV attitude data, and aircraft status information. Among them, magnetic data, RTK positioning data, and UAV attitude data are synchronized through timestamps.

[0026] As an optional implementation, the real-time wireless data transmission and processing system is a fusion of the data acquisition and control system of the UAV and the remote control wireless system of the UAV.

[0027] As an optional implementation, the wireless data real-time transmission and processing system transmits aeromagnetic data to the remote controller in real time via the UAV's wireless communication system.

[0028] As an alternative implementation, the wireless data real-time transmission and processing system assigns different colors to magnetic field data points of different magnetic field strengths on the remote control end.

[0029] As an optional implementation, the wireless data real-time transmission and processing system compensates for and corrects the magnetic field magnitude based on synchronized positioning and attitude information, and draws a magnetic field heat map on a map to detect magnetic anomalies.

[0030] The principle is not limited to, for example Figure 2As shown, the UAV is equipped with a data acquisition and control system and a foldable magnetic probe mounted on its underside. The foldable magnetic probe is folded on the ground 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 altitude above the ground to begin aeromagnetic operations. During the operation, the data acquisition and control system 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's downward-looking obstacle avoidance information is read to obtain its altitude above the ground. 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 on both the UAV's data acquisition and control system and the remote controller.

[0031] In the embodiments of this application, the following are included: a data acquisition and control system, a foldable magnetic probe, real-time synchronization of multi-source data, real-time wireless data transmission and processing, and automated safety control;

[0032] The data acquisition and control system is an airborne computer with a low-power, miniaturized ARM hardware system and a Linux operating system. The magnetic data acquisition, magnetic probe control, wireless communication, and data synchronization software system running on this computer is one of the core components of this invention.

[0033] The foldable magnetic probe includes a servo motor, a transmission device, and a magnetic sensor for collecting magnetic data.

[0034] Real-time synchronization of multi-source data, including magnetic data, RTK positioning data, UAV attitude data, and aircraft status information, with magnetic data, RTK positioning data, and UAV attitude data synchronized via timestamps;

[0035] The wireless data real-time transmission and processing system refers to the integration of the data acquisition and control system of the UAV and the remote control wireless system of the UAV. The system transmits aeromagnetic data to the remote controller in real time through the UAV wireless communication system. The remote controller then assigns different colors to magnetic field data points with different magnetic field strengths and compensates and corrects the magnetic field strength based on the synchronized positioning and attitude information. The system also draws a magnetic field heat map on the map and detects magnetic anomalies through the magnetic field heat map.

[0036] The foldable drone-based real-time aeromagnetic detection method in this application has the following characteristics:

[0037] 1. Foldable Magnetic Probe Design. The system adopts 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 solving 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 closer to the target, significantly improving the signal-to-noise ratio of airborne magnetic prospecting.

[0038] 2. Real-time synchronization of multi-source data. 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.

[0039] 3. Real-time wireless data transmission and processing. The system adopts a wireless data transmission scheme that does not rely on operator networks, enabling real-time transmission of magnetic anomaly data to the UAV remote controller terminal. Data processing and magnetic anomaly location can be completed on the remote controller, completely solving the data communication and processing challenges of UAVs under harsh conditions such as emergency rescue and offshore field operations.

[0040] 4. Highly Automated Safety Control. The system features omnidirectional obstacle avoidance, automatically identifying and avoiding obstacles. It also includes an emergency folding function for the magnetic probe, allowing for rapid folding in emergencies to ensure flight safety. The system is easy to operate and assemble, requiring minimal operator skill and offering excellent usability.

[0041] Example 2

[0042] In another aspect, the present invention provides an electronic device for implementing the above-described foldable aeromagnetic real-time detection method for unmanned aerial vehicles (UAVs). This electronic device is not limited to a terminal device or server within a system. The electronic device includes, but is not limited to, a memory and a processor. The memory stores a computer program, and the processor is configured to execute the steps of any of the above-described method embodiments via the computer program.

[0043] Example 3

[0044] In another aspect, a computer program product or computer program is provided, comprising computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the methods provided in various optional embodiments of the described foldable aeromagnetic real-time detection method for unmanned aerial vehicles. The computer program is configured to execute the steps in any of the above method embodiments during runtime.

Claims

1. A real-time foldable aeromagnetic detection method for unmanned aerial vehicles, characterized in that, include: Step S10: Attach the aeromagnetic system to the bottom of the UAV; 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. 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. Step S40: Synchronize multi-source aeromagnetic data, store it in the aeromagnetic system on the UAV terminal in real time and send it to the remote controller terminal in real time to draw an aeromagnetic map and detect magnetic anomalies; 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. Step S60: After the drone has flown the entire planned route and returned, the aeromagnetic detection will end.

2. The foldable aeromagnetic real-time detection method for UAVs as described in claim 1, characterized in that, Multi-source aeromagnetic data includes: magnetic data, RTK positioning data, UAV attitude data, and UAV status information.

3. The foldable aeromagnetic real-time detection method for UAVs as described in claim 1, characterized in that, The data acquisition and control system is an airborne computer with a low-power, miniaturized ARM hardware system and a Linux operating system.

4. The foldable aeromagnetic real-time detection method for UAVs as described in claim 1, characterized in that, The data acquisition and control system is a software system running on the computer for magnetic data acquisition, magnetic probe control, wireless communication, and data synchronization.

5. The foldable aeromagnetic real-time detection method for UAVs as described in claim 1, characterized in that, The foldable magnetic probe includes a servo motor, a transmission device, and a magnetic sensor for collecting magnetic data.

6. The foldable aeromagnetic real-time detection method for unmanned aerial vehicles as described in claim 1, characterized in that, The real-time synchronization of multi-source data includes magnetic data, RTK positioning data, UAV attitude data, and aircraft status information. Among them, magnetic data, RTK positioning data, and UAV attitude data are synchronized through timestamps.

7. The foldable aeromagnetic real-time detection method for unmanned aerial vehicles as described in claim 1, characterized in that, The wireless data real-time transmission and processing system is a fusion of the data acquisition and control system of the UAV and the remote control wireless system of the UAV.

8. The foldable aeromagnetic real-time detection method for unmanned aerial vehicles as described in claim 1, characterized in that, The wireless data real-time transmission and processing system transmits aeromagnetic data to the remote controller in real time through the UAV wireless communication system.

9. The foldable aeromagnetic real-time detection method for unmanned aerial vehicles as described in claim 1, characterized in that, The wireless data real-time transmission and processing system assigns different colors to magnetic field data points of different magnetic field strengths on the remote control end.

10. The foldable aeromagnetic real-time detection method for unmanned aerial vehicles as described in claim 1, characterized in that, The wireless data real-time transmission and processing system compensates and corrects the magnetic field size based on synchronized positioning and attitude information, and draws a magnetic field heat map on the map to detect magnetic anomalies.

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