An unmanned aerial vehicle semi-airborne electrical source transient electromagnetic detection physical simulation test device

Abstract

This invention relates to the field of electromagnetic physics simulation experiments, specifically to a physical simulation experimental device for transient electromagnetic detection using a UAV semi-airborne electromagnetic source. The device includes a main control unit, a vehicle simulation system, an altitude control simulation system, a SATEM simulation launch system, a SATEM simulation receiving system, and a geophysical model. The main control unit is connected to the SATEM simulation launch system, the SATEM simulation receiving system, and the vehicle simulation system via cables. The altitude control simulation system is mounted on the vehicle simulation system, which is positioned above the geophysical model. This invention enables indoor physical simulation experiments of semi-airborne transient electromagnetic exploration technology, avoiding the influence of various adverse outdoor factors, effectively improving experimental efficiency, reducing data errors, and thus enhancing the accuracy and reliability of the data.

Description

Technical Field

[0001] This invention relates to the field of electromagnetic physics simulation experiments, specifically to a physical simulation test device for transient electromagnetic detection of semi-aeronautical electrical sources in unmanned aerial vehicles. Background Technology

[0002] Semi-Aerial Transient Electromagnetic (SATEM) is a time-domain-based geophysical exploration technique that utilizes a grounded transmitter installed on the Earth's surface and a receiving coil mounted on a drone. The grounded transmitter generates transient current pulses in the strata, producing a transient electromagnetic field. This induces charge movement within the subsurface medium, further generating an induced electromagnetic field. The receiving coil records the signal of this induced electromagnetic field and transmits it back to a main control computer for processing, inversion, and further interpretation to reconstruct the electrical structure of the subsurface medium.

[0003] SATEM testing is mainly divided into two types: field testing and indoor physical simulation testing. Field testing has the advantage of directness, allowing it to be conducted in realistic geological and weather environments, and effectively verifying the stability and adaptability of the SATEM system under complex outdoor conditions. The disadvantages are the need to consider uncontrollable factors such as personnel, transceiver equipment, weather, geological conditions, and environmental changes; susceptibility to external interference and noise; and higher testing efficiency and cost, making it difficult to conduct detailed experiments.

[0004] Indoor physical simulation experiments utilize the SATEM system's laboratory simulation apparatus to mimic field work areas. This approach eliminates the influence of human and environmental factors, resulting in better repeatability and stronger controllability of experimental results. It allows for precise control of experimental conditions, enabling more accurate analysis and interpretation of results and data. The experiment is also relatively inexpensive and efficient. However, it cannot completely simulate the field environment, potentially introducing some deviations and errors. The transceiver equipment requires manual adjustment, and the experimental results need appropriate verification to ensure accuracy and reliability.

[0005] Therefore, there is an urgent need to provide a physical simulation test device for transient electromagnetic detection of UAV semi-aviational electrical sources to solve the problem of existing SATEM test devices being constrained by outdoor conditions. Summary of the Invention

[0006] To overcome the problems existing in the prior art, the present invention aims to provide a physical simulation test device for transient electromagnetic detection of semi-aeronautical electrical sources of UAVs, so as to realize SATEM indoor physical simulation test, simulate the field environment, improve test efficiency, reduce test error, and enhance data accuracy and reliability.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a physical simulation test device for transient electromagnetic detection of semi-aeronautical electrical sources of unmanned aerial vehicles, comprising a main control host, a vehicle simulation system, an altitude control simulation system, a SATEM simulation transmission system, a SATEM simulation receiving system, and a geophysical model;

[0008] The main control host is connected to the SATEM simulation launch system, the SATEM simulation receiver system, and the vehicle simulation system via cables. The altitude control simulation system is installed on the vehicle simulation system, which is positioned above the geophysical model.

[0009] The present invention is further configured such that: the vehicle simulation system includes a load-bearing frame, a load-bearing rod, load-bearing pulleys, load-bearing slide rails, and a drone simulation system; there are two load-bearing slide rails, which are set on the top of the load-bearing frame; the load-bearing pulleys are respectively set at both ends of the load-bearing rods, and the load-bearing pulleys are respectively set on the two load-bearing slide rails; the drone simulation system is suspended on the load-bearing rod.

[0010] The present invention is further configured such that: the load-bearing frame includes a frame and support rods, the frame is a rectangular frame, and the support rods are respectively connected at the four corners of the rectangular frame through the height adjustment simulation system; the frame is set above the geophysical model, and the support rods at the bottom of the frame are respectively set on both sides of the geophysical model; the load-bearing slide rails are respectively set on the frame, and the length of the load-bearing slide rails covers the geophysical model.

[0011] The present invention is further configured such that: a universal wheel is provided at the bottom of the support rod, and a locking mechanism is provided on the universal wheel.

[0012] The present invention is further configured such that: the vehicle simulation system further includes a first fixed pulley, a second fixed pulley, a first servo motor, a second servo motor, and a traction rope; the traction rope is connected to the load-bearing rod, and the extension direction of the traction rope is perpendicular to the length direction of the load-bearing rod;

[0013] A first fixed pulley is provided at one end of the frame, and a second fixed pulley is provided at the other end of the frame. One end of the traction rope passes through the first fixed pulley and is connected to the first servo motor; the other end of the traction rope passes through the second fixed pulley and is connected to the second servo motor.

[0014] The present invention is further configured such that the traction rope is an insulated traction rope.

[0015] The present invention is further configured such that: the drone simulation system is connected to the load-bearing rod via a tie rod, and the drone simulation system is connected to the SATEM simulation receiving system via a sling.

[0016] The present invention is further configured such that: the SATEM simulation transmission system includes a transient electromagnetic signal transmitter and a grounding long wire, the grounding long wire being disposed on the geophysical model, and the transient electromagnetic signal transmitter and the grounding long wire being connected by a cable.

[0017] The SATEM simulation system is used to generate transient electromagnetic signals and further control the frequency, number of turns, and waveform of the transmitting current; the transient electromagnetic signal transmitter is used to transmit transient electromagnetic primary field signals.

[0018] The invention is further configured such that: the SATEM analog receiving system includes a transient electromagnetic signal receiver and an UAV-borne receiving coil; the transient electromagnetic signal receiver and the UAV-borne receiving coil are connected by a cable. The UAV-borne receiving coil is used to receive transient electromagnetic secondary field signals.

[0019] The invention is further configured such that: the geophysical model is an earthen trench with graduations on the inner wall of the trench, which facilitates the determination of stratum thickness and the burial depth of anomalies.

[0020] The main control unit of this invention has a mobile workstation that controls the movement speed of the vehicle simulation system, controls the transmission current attributes, performs attitude detection of the simulation system, and provides comparative analysis software for transmitting and receiving signals. It is used to control the motor rotor speed to control the movement speed of the vehicle; control the transient electromagnetic transmitter to generate transient electromagnetic signals and superimpose noise; set and display the transmission current waveform of the grounded long wire; record the current, waveform, attitude, speed, and data of the UAV simulation system; display and analyze the semi-airborne transient electromagnetic test results, and print the test result report.

[0021] The SATEM transmission system is simulated using a grounded long wire and a transmitter; the SATEM receiving system is simulated using a receiver and an onboard receiving coil; the drone's flight speed is simulated by controlling the rotor speed of a servo motor; different flight altitudes of the drone are simulated using an altitude control system; the drone's flight attitude is recorded using an attitude sensor; the angle and altitude of the receiving coil are controlled using a lever; and the drone simulation system is controlled using a load-bearing rod, a load-bearing slide rail, and an insulated traction wire.

[0022] In summary, the beneficial effects of the above-mentioned technical solution of the present invention are as follows:

[0023] This invention improves the physical simulation experiment of UAV semi-airborne transient electromagnetic detection by using a novel experimental device. It solves the problem that the existing semi-airborne transient electromagnetic test is greatly constrained by outdoor conditions, realizes indoor physical simulation test of semi-airborne transient electromagnetic exploration technology, improves the efficiency of the test, reduces data errors, and thus improves the accuracy and reliability of the data. Attached Figure Description

[0024] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0026] The attached diagram lists the components represented by each number as follows:

[0027] 1. Main control unit; 2. Transient electromagnetic signal transmitter; 3. Support frame; 4. Support slide rail; 5. Support rod; 6. Traction rope; 7. Altitude control simulation system; 8. First servo motor; 9. Second servo motor; 10. First fixed pulley; 11. Second fixed pulley; 12. Transient electromagnetic signal receiver; 13. Grounding long wire; 14. UAV-borne receiving coil; 15. Geophysical model. Detailed Implementation

[0028] To enable those skilled in the art to better understand the technical solutions of the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Based on the embodiments of the present invention, other similar embodiments obtained by those skilled in the art without creative effort should all fall within the scope of protection of the present invention. Furthermore, directional terms mentioned in the following embodiments, such as "up," "down," "left," and "right," are only for reference to the directions in the accompanying drawings; therefore, the directional terms used are for illustrative purposes and not for limiting the invention.

[0029] The present invention will be further described below with reference to the accompanying drawings and preferred embodiments.

[0030] Example:

[0031] like Figure 1 As shown in the preferred embodiment of the present invention, a physical simulation test device for transient electromagnetic detection of semi-aerial electrical sources of unmanned aerial vehicles includes a main control host 1, a vehicle simulation system, an altitude control simulation system 7, a SATEM simulation transmission system, a SATEM simulation receiving system, and a geophysical model 15.

[0032] The main control host 1 is connected to the SATEM simulation launch system, the SATEM simulation receiver system, and the vehicle simulation system via cables. The altitude control simulation system 7 is mounted on the vehicle simulation system, which is positioned above the geophysical model 15. The geophysical model 15 is an earthen trench with graduations on its inner wall to facilitate the determination of stratum thickness and anomaly depth.

[0033] The vehicle simulation system includes a load-bearing frame 3, a load-bearing rod 5, load-bearing pulleys, load-bearing slide rails 4, and a drone simulation system. There are two load-bearing slide rails 4, which are set on the top of the load-bearing frame 3. The load-bearing pulleys are respectively set at both ends of the load-bearing rod 5, and the load-bearing pulleys are respectively set on the two load-bearing slide rails 4. The drone simulation system is suspended on the load-bearing rod 5.

[0034] The load-bearing frame 3 includes a frame and support rods. The frame is rectangular, and the support rods are connected to the four corners of the rectangular frame via the height adjustment simulation system 7. The frame is positioned above the geophysical model 15, and the support rods at the bottom of the frame are respectively positioned on both sides of the geophysical model 15. The load-bearing slide rails 4 are respectively mounted on the frame, and the length of the load-bearing slide rails 4 covers the geophysical model 15. The height adjustment simulation system 7 can employ a conventional height adjustment device, such as a multi-hole adjustment rod inserted into the support frame at the bottom of the frame, and an adjustment knob on the support frame, through which the height is adjusted by inserting the multi-hole adjustment rod.

[0035] The bottom of the support rod is also provided with a caster wheel, and the caster wheel is provided with a locking mechanism.

[0036] The vehicle simulation system also includes a first fixed pulley 10, a second fixed pulley 11, a first servo motor 8, a second servo motor 9, and a traction rope 6; the traction rope 6 is connected to the load-bearing rod 5, and the extension direction of the traction rope 6 is perpendicular to the length direction of the load-bearing rod 6.

[0037] A first fixed pulley 10 is provided at one end of the frame, and a second fixed pulley 11 is provided at the other end of the frame. One end of the traction rope 6 passes through the first fixed pulley 10 and is connected to the first servo motor 8; the other end of the traction rope 6 passes through the second fixed pulley 11 and is connected to the second servo motor 9. Figure 1 The middle part is obscured by the geophysical model 15, and the second servo motor 9 is drawn using perspective drawing. The traction rope 6 is an insulated traction rope.

[0038] The drone simulation system is connected to the load-bearing rod 5 via a tie rod, and the drone simulation system is connected to the SATEM simulation receiving system via a sling. The tie rod can change its length and angle to simulate the motion attitude of a rotary-wing drone.

[0039] The SATEM simulation system includes a transient electromagnetic signal transmitter 2 and a grounding long wire 13. The grounding long wire 13 is installed on the geophysical model 15, and the transient electromagnetic signal transmitter 2 and the grounding long wire 13 are connected by a cable.

[0040] The SATEM simulation system is used to generate transient electromagnetic signals and further control the frequency, number of turns, and waveform of the transmission current; the transient electromagnetic signal transmitter 2 is used to transmit transient electromagnetic primary field signals.

[0041] The SATEM analog receiving system includes a transient electromagnetic signal receiver 12 and an UAV-borne receiving coil 14; the transient electromagnetic signal receiver 12 and the UAV-borne receiving coil 14 are connected by a cable. The UAV-borne receiving coil 14 is used to receive transient electromagnetic secondary field signals.

[0042] In practical applications, the SATEM transmission system is simulated by grounding long wire 13 and transient electromagnetic signal transmitter 2; the SATEM receiving system is simulated by receiver and UAV-borne receiving coil; the UAV flight speed is simulated by controlling the rotor speed of the first servo motor 8 or the second servo motor 9; different flight altitudes of the UAV are simulated by altitude control system; the flight attitude of the UAV is recorded by attitude sensor; the angle and altitude of the UAV-borne receiving coil 14 are controlled by lever; and the UAV simulation system is controlled by load-bearing rod 5, load-bearing slide rail 4, insulated traction rope 6, etc.

[0043] The UAV semi-airborne transient electromagnetic detection physical simulation test device provided by this invention is a test device capable of quantitatively simulating the generation of transient electromagnetic signals from electrical sources and simulating the movement of receiving coils. This invention enables indoor performance and functional testing of SATEM simulated transmitting and receiving systems, allowing for further calibration and optimization of the transceiver design. It avoids the influence of various adverse outdoor factors and efficiently supports refined performance testing of airborne transient electromagnetic signals under various operating conditions, unaffected by complex outdoor conditions and thus extending the test cycle. Furthermore, when used for testing semi-airborne transient electromagnetic detection, it significantly reduces the manpower, material resources, and financial investment required for field testing.

[0044] Finally, it should be noted that the above content is only used to illustrate the technical solution of the present invention, and is not intended to limit the scope of protection of the present invention. Simple modifications or equivalent substitutions made by those skilled in the art to the technical solution of the present invention do not depart from the essence and scope of the technical solution of the present invention.

Claims

1. A physical simulation experimental device for transient electromagnetic detection of a semi-airborne electrical source of an unmanned aerial vehicle (UAV), characterized in that, This includes the main control unit, vehicle simulation system, altitude control simulation system, SATEM simulation launch system, SATEM simulation receiver system, and geophysical model; The main control host is connected to the SATEM simulation launch system, the SATEM simulation receiver system, and the vehicle simulation system via cables. The altitude control simulation system is installed on the vehicle simulation system, which is positioned above the geophysical model.

2. The physical simulation test device for transient electromagnetic detection of a semi-aviational electrical source of an unmanned aerial vehicle according to claim 1, characterized in that, The vehicle simulation system includes a load-bearing frame, a load-bearing rod, load-bearing pulleys, load-bearing slide rails, and a drone simulation system. There are two load-bearing slide rails, which are set on the top of the load-bearing frame. The load-bearing pulleys are respectively set at both ends of the load-bearing rods, and the load-bearing pulleys are respectively set on the two load-bearing slide rails. The drone simulation system is suspended on the load-bearing rod.

3. The physical simulation test device for transient electromagnetic detection of a semi-aviational electrical source of an unmanned aerial vehicle according to claim 2, characterized in that, The load-bearing frame includes a frame and support rods. The frame is a rectangular frame, and the support rods are connected to the four corners of the rectangular frame through the height adjustment simulation system. The frame is set above the geophysical model, and the support rods at the bottom of the frame are respectively set on both sides of the geophysical model. The load-bearing slide rails are respectively set on the frame, and the length of the load-bearing slide rails covers the geophysical model.

4. The physical simulation test device for transient electromagnetic detection of a semi-aviational electrical source of an unmanned aerial vehicle according to claim 3, characterized in that, The bottom of the support rod is also provided with a caster wheel, and the caster wheel is provided with a locking mechanism.

5. The physical simulation test device for transient electromagnetic detection of a semi-aviational electrical source of an unmanned aerial vehicle according to claim 4, characterized in that, The vehicle simulation system also includes a first fixed pulley, a second fixed pulley, a first servo motor, a second servo motor, and a traction rope; the traction rope is connected to the load-bearing rod, and the extension direction of the traction rope is perpendicular to the length direction of the load-bearing rod; A first fixed pulley is provided at one end of the frame, and a second fixed pulley is provided at the other end of the frame. One end of the traction rope passes through the first fixed pulley and is connected to the first servo motor; the other end of the traction rope passes through the second fixed pulley and is connected to the second servo motor.

6. The physical simulation test device for transient electromagnetic detection of a semi-aviational electrical source of an unmanned aerial vehicle according to claim 5, characterized in that, The traction rope is an insulated traction rope.

7. The physical simulation test device for transient electromagnetic detection of a semi-aviational electrical source of an unmanned aerial vehicle according to claim 2, characterized in that, The drone simulation system is connected to the load-bearing rod via a tie rod, and the drone simulation system is connected to the SATEM simulation receiving system via a sling.

8. The physical simulation test device for transient electromagnetic detection of a semi-aviational electrical source of an unmanned aerial vehicle according to claim 1, characterized in that, The SATEM simulation system includes a transient electromagnetic signal transmitter and a long grounding wire. The long grounding wire is installed on the geophysical model, and the transient electromagnetic signal transmitter and the long grounding wire are connected by a cable.

9. The physical simulation test device for transient electromagnetic detection of a semi-aviational electrical source of an unmanned aerial vehicle according to claim 1, characterized in that, The SATEM analog receiving system includes a transient electromagnetic signal receiver and an UAV-borne receiving coil; the transient electromagnetic signal receiver and the UAV-borne receiving coil are connected by a cable.

10. The physical simulation test device for transient electromagnetic detection of a semi-aviational electrical source of an unmanned aerial vehicle according to claim 1, characterized in that, The geophysical model is an earthen trough with graduations on its inner wall.

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