Magnetic type attitude correction system and method of unmanned aerial vehicle
By using a magnetic seismic source attitude correction system, the center of gravity of the seismic source is adjusted by a planar drive mechanism and a high-density counterweight column, which solves the problem of attitude instability during the descent of the UAV-borne seismic source, realizes the vertical landing and efficient coupling of the seismic source, and improves the exploration quality and equipment reliability.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- ANHUI UNIV OF SCI & TECH
- Filing Date
- 2026-04-02
- Publication Date
- 2026-07-31
AI Technical Summary
During the descent of a UAV-borne seismic source, poor dynamic stability leads to attitude instability, affecting excitation quality and equipment lifespan. Existing technologies have not effectively solved the problem of precise landing of the seismic source.
A magnetic source attitude correction system is adopted. Through the built-in planar drive mechanism and high-density tungsten-based alloy counterweight column, the hollow motor and electric push rod work together to adjust the center of gravity of the source to achieve attitude correction. Combined with real-time detection and closed-loop control by the inertial measurement unit, vertical landing is ensured.
It achieved vertical landing of the seismic source, improved the coupling quality between the seismic source and the ground surface, reduced the probability of equipment failure, adapted to complex field exploration environments, and extended the service life of the equipment.
Smart Images
Figure CN122488263A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of efficient seismic source excitation technology in geophysical exploration, specifically to a magnetic seismic source attitude correction system and method for unmanned aerial vehicles (UAVs). Background Technology
[0002] In geophysical exploration, a crucial field concerning national energy security and deep-earth resource development, the quality of artificial seismic source excitation is a core factor determining the signal-to-noise ratio and analytical accuracy of seismic exploration data. With the rapid development of UAV technology, UAV-borne seismic source systems have emerged, initially solving the long-standing dilemma of low efficiency, high safety risks, and even complete inaccessibility of traditional manual methods in complex terrain areas such as steep slopes, dense forests, and swamps, thanks to their efficient deployment capabilities.
[0003] However, mounting the seismic source on a drone platform and achieving precise excitation faces unprecedented technical challenges. The core bottleneck lies in the precise landing of the seismic source after it leaves the drone platform. Existing solutions mostly focus on the flight stability and positioning accuracy of the drone, but generally neglect the dynamic stability of the seismic source itself during descent. Although the descent of the seismic source from a height of several meters is brief, it is a complex and unsteady motion, highly susceptible to strong interference from complex weather conditions such as valley turbulence and sudden gusts. These disturbances disrupt the seismic source's flight attitude, inducing continuous pitch, roll, or even yaw motions, ultimately causing it to impact the ground in a non-ideal posture such as tilting, rolling, or even tumbling. This instability triggers a series of chain reactions and negative effects. First, it directly causes a significant deviation between the actual landing point and the theoretical grid nodes, disrupting the regularity of the observation system and introducing systematic errors into subsequent data processing and imaging. More seriously, a tilted landing prevents a large-area, uniform, and tight coupling between the seismic source's base and the ground surface. From a mechanical perspective, this not only causes severe scattering and loss of impact energy at the contact surface, significantly reducing the energy of the effective downflow wave field, but also leads to asymmetry in the generated seismic wave field, causing waveform distortion and directly affecting the accuracy of judging fine geological features such as stratigraphic anisotropy. Furthermore, a violent tilting impact may also cause structural damage to the seismic source device itself, reducing its service life and even leading to mission failure. Summary of the Invention
[0004] The technical problem to be solved by the present invention is to provide a system and a method for correcting the attitude of an earthquake source by adjusting the center of gravity of the earthquake source during its descent.
[0005] To solve the above problems, the technical solution adopted by the present invention is as follows: A magnetically attached seismic source attitude correction system for unmanned aerial vehicles (UAVs) comprises the following key technologies: The source of the earthquake has a rotating cavity inside, which includes a counterweight compartment, a drive compartment and a control compartment that are connected in sequence and centrally located. The drive compartment is equipped with an installation plate. A planar drive mechanism includes a turntable rotatably disposed in the counterweight chamber, a hollow motor for driving the turntable to rotate, and four sets of electric push rods evenly distributed on the upper surface of the turntable. The cylindrical counterweight column is slidably mounted on the turntable, with its sidewalls abutting against the top plates of the four sets of electric push rods and its top abutting against the top of the counterweight chamber. The main control box, which is in the shape of a disc, is concentrically fixed inside the control compartment and is connected to the hollow motor and electric actuator via a wiring harness; The ring-shaped battery pack is concentrically arranged in the drive compartment and connected to the main control box via a wiring harness.
[0006] In one embodiment of the present invention, the hollow motor is cylindrical in shape, with an annular output section at its top, and the output section is connected to the center of the lower end face of the turntable; the cylinder of the lower part of the hollow motor is centrally fixed on the mounting plate. The mounting plate has a through hole corresponding to the hollow shaft of the hollow motor. The lower end surface of the turntable has four sets of wire-passing grooves arranged radially corresponding to the hollow shaft of the hollow motor. The end of each wire-passing groove has a through-hole.
[0007] In one embodiment of the present invention, a sensor mounting ring is fitted onto the cylinder of the hollow motor, and four sets of connecting rods are evenly arranged in the circumferential direction of the sensor mounting ring. A reset sensor is installed at the end of the connecting rod; a sensing component is provided on the lower end surface of the turntable corresponding to the reset sensor. After the turntable is rotated and reset, the reset sensor is opposite to the sensing component.
[0008] In one embodiment of the present invention, the battery pack is fixed on the mounting plate, the reset sensor is located between the battery pack and the turntable, and the mounting plate is evenly provided with a plurality of wire harness through holes in the circumferential direction. The wire harness through holes are located between the hollow motor and the battery pack, and the wire harnesses of the battery pack and the reset sensor are connected to the main control box after passing through the wire harness through holes.
[0009] In one embodiment of the present invention, the planar drive mechanism further includes a rotary support bearing disposed on the lower end surface of the turntable, and the rotary support bearing is installed on the bottom of the counterweight chamber.
[0010] As one embodiment of the present invention, the seismic source includes two opposing seismic source bodies, which are connected by bolt assemblies to form a complete seismic source. The seismic source bodies are provided with an arc-shaped fixing flange at the position of the control chamber. The main control box has an annular fixing groove on its side wall. After the two vibration source bodies are connected, the two fixing flanges are embedded in the fixing groove and clamp the main control box to fix it.
[0011] In one embodiment of the present invention, a C-shaped fixing groove washer is provided in the fixing groove. After the two vibration source bodies are connected, the fixing flange is embedded in the notch of the fixing groove washer to clamp and fix the main control box.
[0012] In one embodiment of the present invention, the counterweight column is made of tungsten-based alloy.
[0013] In one embodiment of the present invention, a plurality of balls are embedded in the top of the counterweight column.
[0014] Another correction method based on the above-mentioned correction system is provided, the steps of which are as follows: S1. Before the seismic source is deployed, the main control box controls the plane drive mechanism to reset, and the counterweight column is in the initial position of the center of the turntable. S2. After the seismic source is released by the drone, the main control box uses the built-in inertial measurement unit to detect the pitch and roll angle deviations of the seismic source in real time. S3. When the attitude deviation exceeds the preset threshold, the main control box controls the hollow motor to drive the turntable to rotate to the target angle according to the deviation value. At the same time, it controls the four sets of electric actuators to extend and retract differently, push the counterweight column to make planar displacement on the turntable, adjust the overall center of gravity position of the seismic source to generate a reverse restoring torque, and correct the attitude of the seismic source. S4. The main control box continuously monitors the attitude deviation of the seismic source in real time, and repeats step S3 to dynamically adjust the position of the counterweight column until the seismic source lands in a vertical attitude. S5. After the earthquake source lands, the main control box controls the plane drive mechanism to reset.
[0015] The beneficial effects of adopting the above technical solution are as follows: The attitude correction system provided by this invention uses a main control box to coordinate the movement of the hollow motor and electric actuator of the planar drive mechanism, driving the high-density tungsten-based alloy counterweight column to perform planar displacement. This dynamically adjusts the overall center of gravity position of the seismic source, and utilizes the reverse restoring torque generated by the center of gravity shift to counteract the tilt deviation during the seismic source's descent, achieving precise attitude correction. This solves the attitude instability problem caused by uncontrolled free fall of the seismic source, ensuring vertical landing of the seismic source and improving the coupling quality between the seismic source and the ground surface. This method is simple to operate, has a fast response speed, and can dynamically adjust the attitude in a closed loop based on real-time attitude deviations caused by airflow interference, adapting to the attitude correction needs of complex field exploration environments.
[0016] The vibratory source of this invention adopts an integrated layout of a rotating cavity, with clearly defined functional zones for the counterweight chamber, drive chamber, and control chamber. All components are concentrically arranged to ensure the basic stability of the vibratory source during its descent. At the same time, relying on the hollow shaft of the hollow motor, the wire passage groove and hole of the turntable, and the wire harness passage hole of the mounting plate, the orderly arrangement of the wire harness is achieved, completely avoiding the problem of wire harness entanglement during the rotation of the turntable and the extension and retraction of the electric actuator, ensuring the continuity of power supply and electrical signal transmission, and significantly reducing the probability of equipment failure. The setting of the rotating support bearing also reduces the rotational friction of the turntable, further improving the stability of the system operation.
[0017] The C-shaped fixing groove gasket on the outside of the main control box of this invention has both fixing and buffering functions. It can not only achieve precise clamping and positioning of the main control box, but also absorb impact and buffer vibration when the seismic source lands and impacts. This prevents the core electronic components such as the inertial measurement unit and control chip inside the main control box from being damaged by rigid impact. Structurally, it ensures the working stability and service life of the electronic control core of the attitude correction system and is suitable for operation scenarios such as high-altitude fall of the seismic source and field impact. Attached Figure Description
[0018] Figure 1 This is a schematic diagram of the structure of the seismic source in the embodiment.
[0019] Figure 2 This is a schematic diagram of the internal structure of the seismic source in an embodiment.
[0020] Figure 3 This is a schematic diagram of the internal cavity structure of the two seismic source bodies in the embodiment.
[0021] Figure 4 This is a schematic diagram of the internal cavity of the first seismic source body in the embodiment.
[0022] Figure 5 This is a structural schematic diagram of the components inside the cavity of the embodiment, viewed from below after disassembly.
[0023] Figure 6 This is a structural schematic diagram of the planar drive mechanism in the embodiment, viewed from below after disassembly.
[0024] Figure 7 This is a structural schematic diagram of the components inside the cavity of the embodiment, viewed from above after disassembly.
[0025] Figure 8 This is a schematic diagram of the sensor mounting ring, battery pack, and hollow motor in the embodiment.
[0026] Wherein: 100 Seismic source; 101 First seismic source body; 102 Second seismic source body; 103 Counterweight compartment; 104 Drive compartment; 105 Mounting plate; 105-1 Battery fixing hole; 105-2 Wiring harness through hole; 105-3 Motor gasket; 106 Control compartment; 107 Fixing flange; 108 Slot; 1 Main control box; 1-1 Fixing groove washer; 2 Battery pack; 2-1 Battery washer; 3 Hollow motor; 4 Rotary support bearing; 4-1 Clamping block; 5 Turntable; 5-1 Wire passage groove; 5-2 Wire passage hole; 5-3 Turntable threaded hole; 6 Electric actuator; 6-1 Top plate; 7 Counterweight column; 7-1 Ball bearing; 8 Sensor mounting ring; 8-1 Connecting rod; 8-2 Reset sensor. Detailed Implementation
[0027] To make the objectives, technical solutions, and advantages of the present invention clearer, the invention will be described clearly and completely below in conjunction with specific embodiments.
[0028] like Figures 1 to 8 The magnetically attached vibration source attitude correction system for a drone shown includes a vibration source 100, a planar drive mechanism disposed within the vibration source 100, a cylindrical counterweight column 7, a disc-shaped main control box 1, and a ring-shaped battery pack 2.
[0029] See Figure 1 and Figure 3 The seismic source 100 includes two opposing seismic source bodies, namely a first seismic source body 101 and a second seismic source body 102. A rotating cavity is provided inside the seismic source 100. The cavity includes a counterweight chamber 103, a drive chamber 104 and a control chamber 106 that are sequentially and centrally located and connected. An installation plate 105 is welded and installed inside the drive chamber 104 of the first seismic source body 101.
[0030] See Figure 2 and Figures 5 to 7The planar drive mechanism includes a turntable 5 rotatably disposed within the counterweight chamber 103, a hollow motor 3 for driving the turntable 5 to rotate, a rotary support bearing 4 disposed on the lower end surface of the turntable 5, and four sets of electric actuators 6 evenly distributed on the upper end surface of the turntable 5. The rotary support bearing 4 is a thrust bearing, its upper end is concentrically fixedly connected to the turntable 5, and two sets of locking blocks 4-1 are disposed on its lower end surface. The bottom of the counterweight chamber 103 of the first seismic source body 101 has two slots 108 corresponding to the locking block 4-1. During installation, the rotating support bearing 4 and the turntable 5, which are already connected together, are first placed into the cavity of the first seismic source body 101 along with the hollow motor 3. The locking block 4-1 is inserted into the slot 108 to prevent the lower part of the rotating support bearing 4 from rotating synchronously with the turntable 5. Then, the bolt assembly is passed from the bottom of the mounting plate 105 to connect and limit the hollow motor 3. Then, the counterweight column 7 is pushed in from the side of the empty electric push rod 6. The counterweight column 7 abuts against the three sets of top plates 6-1, so that the counterweight column 7 is centered. Finally, the remaining electric push rod 6 is installed to complete the installation of the mechanism inside the counterweight chamber 103.
[0031] See Figures 5 to 8 The hollow motor 3 is cylindrical in shape, with a ring-shaped output section at the top, which is connected to the center of the lower end face of the turntable 5. The lower cylinder of the hollow motor 3 is centrally fixed on the mounting plate 105. Figure 4 The mounting plate 105 has a groove corresponding to the cylinder of the hollow motor 3. A rubber pad is placed in the groove. The pad has bolt holes and wire harness avoidance holes. The bottom of the cylinder is mounted on the mounting plate 105 by a bolt assembly and abuts against the pad to buffer the impact when the vibration source hits the ground.
[0032] See Figure 6 The mounting plate 105 has a through hole corresponding to the hollow shaft of the hollow motor 3. The lower end surface of the turntable 5 has four sets of wire-passing grooves 5-1 radially arranged corresponding to the hollow shaft of the hollow motor 3. Each wire-passing groove 5-1 has a through-hole 5-2 at its end. The connecting wire harness plugged into the main control box 1 can pass sequentially through the through hole, the hollow shaft, the wire-passing groove 5-1, and the wire-passing hole 5-2 before connecting to the electric actuator 6.
[0033] See Figure 8A sensor mounting ring 8 is fitted onto the cylinder of the hollow motor 3. Four sets of connecting rods 8-1 are evenly arranged around the circumference of the sensor mounting ring 8. A reset sensor 8 is mounted at the end of each connecting rod 8-1. A sensing component is positioned on the lower surface of the turntable 5 corresponding to the reset sensor 8. After the turntable 5 is rotated and reset, the reset sensor 8 is aligned with the sensing component. In this embodiment, the reset sensor 8 is an inductive proximity switch. A turntable threaded hole 5-3 is provided on the lower surface of the turntable 5, and a metal screw is threaded onto the turntable threaded hole 5-3. When the metal screw rotates to be aligned with the reset sensor 8, a signal is transmitted to the main control box 1 via a wiring harness, indicating that the turntable 5 has been reset.
[0034] See Figure 2 and Figure 7 The counterweight column 7 is slidably mounted on the turntable 5, with its sidewall abutting against the top plate 6-1 of the four sets of electric actuators 6, and its top abutting against the top of the counterweight chamber 103. The counterweight column 7 is made of tungsten-based alloy, specifically tungsten-nickel-iron alloy or tungsten-nickel-copper alloy, which has high density and good center of gravity adjustment effect within the small volume cavity of the vibrating source 100. Several ball bearings 7-1 are embedded in the top of the counterweight column 7 to assist in the installation of the counterweight column 7.
[0035] See Figure 2 The main control box 1 is concentrically fixed inside the control compartment 106 and connected to the hollow motor 3 and electric actuator 6 via a wiring harness. The main control box 1 integrates a microcontroller unit (MCU) and an inertial measurement unit (IMU). The IMU includes a three-axis gyroscope and a three-axis accelerometer, which collects attitude data such as pitch angle and roll angle of the source 100 in real time at a sampling frequency of 100Hz, providing high-frequency and high-precision data support for attitude correction decisions.
[0036] The battery pack 2 is concentrically disposed within the drive compartment 104 and connected to the main control box 1 via a wiring harness. The battery pack 2 is fixed to the mounting plate 105. The reset sensor 8 is located between the battery pack 2 and the turntable 5. The mounting plate 105 has a plurality of wiring harness through-holes 105-2 evenly distributed in the circumferential direction. These through-holes 105-2 are located between the hollow motor 3 and the battery pack 2. The wiring harnesses of the battery pack 2 and the reset sensor 8 connect to the main control box 1 through the wiring harness through-holes 105-2. (See also...) Figure 7 In this embodiment, a plurality of lead-acid batteries are arranged in a circular array inside the battery pack 2, and an annular battery gasket 2-1 is provided at the bottom of the battery pack 2. The battery pack 2, the battery gasket 2-1 and the battery fixing hole 105-1 on the mounting plate 105 are fixed by bolts.
[0037] See Figure 3The two source bodies are bolted together to form a complete source 100. An arc-shaped fixing flange 107 is provided on the source body at the position of the control compartment 106. An annular fixing groove is provided on the side wall of the main control box 1. After the two source bodies are connected, the two fixing flanges 107 are embedded in the fixing groove and clamp the main control box 1 to fix it. The countersunk hole on the first source body 101 and the threaded hole on the second source body 102, as well as the auxiliary alignment socket and plug assembly, are omitted in the accompanying drawings of this embodiment. This is an assembly method easily conceived by those skilled in the art based on the textual description. A C-shaped fixing groove washer 1-1, made of rubber, is provided in the fixing groove to increase the buffering and clamping effect. After the two source bodies are connected, the fixing flange 107 is embedded in the notch of the fixing groove washer 1-1 to clamp and fix the main control box 1.
[0038] The magnetic attraction-type seismic source attitude correction method for UAVs described in this embodiment relies on the coordinated operation of the planar drive mechanism, counterweight column 7, and main control box 1 inside the seismic source 100. The specific implementation steps are as follows: S1: Initial Reset Phase After the seismic source 100 is magnetically mounted by a drone and flies to the pre-set deployment area, the main control box 1 sends a reset command to the planar drive mechanism before deployment. The hollow motor 3 drives the turntable 5 to rotate until the reset sensor 8-3 on the sensor mounting ring 8 is aligned with the sensing component on the lower end of the turntable 5, completing the angle reset of the turntable 3. At the same time, all four sets of electric push rods 6 are in the initial extension and retraction state, and their top plates 6-1 abut against the side wall of the counterweight column 7, so that the counterweight column 7 is stably positioned in the center of the turntable 5. At this time, the overall center of gravity of the seismic source 100 is vertically centered, preparing for subsequent attitude correction. During this process, the rotating support bearing 4 on the lower end of the turntable 5 can reduce the frictional resistance of the turntable 5 rotation, and the ball bearings 7-1 embedded in the top of the counterweight column 7 abut against the top of the counterweight chamber 103, which can also reduce frictional loss during subsequent counterweight column displacement.
[0039] S2: Real-time Attitude Detection Phase After the UAV completes the release of the seismic source 100, the seismic source 100 enters the free fall process. At this time, the inertial measurement unit built into the main control box 1 collects the spatial attitude data of the seismic source 100 in real time at high frequency, calculates the actual deviation values of pitch angle and roll angle, and compares the deviation value with the preset attitude threshold, which is set according to the exploration requirements and preferably 5°, to determine whether attitude correction needs to be initiated.
[0040] S3: Phase of Center of Gravity Adjustment and Posture Correction When the pitch / roll angle deviation calculated by the main control box 1 exceeds the preset threshold, the attitude correction program is immediately started: According to the direction and value of the deviation, the main control box 1 first sends a rotation command to the hollow motor 3, driving the hollow motor 3 to rotate the turntable 5 around the vertical axis to the target angle, thereby realizing the circumferential position adjustment of the four sets of electric actuators 6; at the same time, it sends differentiated extension and retraction commands to the four sets of electric actuators 6, and the four sets of electric actuators 6 perform extension and retraction actions of different amplitudes according to the commands. Their top plate 6-1 abuts against the side wall of the counterweight column 7 and generates a pushing and pulling force, driving the counterweight column 7 to make radial displacement on the turntable 5; the circumferential and radial displacements work together to realize the movement of the counterweight column 7 at any position on the horizontal plane, thereby changing the overall center of gravity position of the vibration source 100.
[0041] Because the counterweight column 7 is made of high-density tungsten-based alloy, a significant shift in the center of gravity can be achieved with a small volume. After the center of gravity shifts, a restoring moment opposite to the tilt direction of the seismic source will be generated. This moment can counteract the overturning moment caused by disturbances such as valley turbulence and gusts, thus correcting the tilt attitude of the seismic source 100.
[0042] S4: Dynamic Closed-Loop Correction Stage During the descent of the seismic source 100, the inertial measurement unit of the main control box 1 continuously collects attitude data and calculates the corrected attitude deviation value in real time. If the deviation still does not fall within the threshold, the main control box 1 will repeat step S3, continuously adjusting the rotation angle of the hollow motor 3 and the extension and retraction range of the electric push rod 6 to achieve dynamic fine-tuning of the position of the counterweight column 7, forming a closed-loop attitude correction control of perception-decision-execution-feedback. During this process, the wiring harness completes the wiring through the hollow shaft of the hollow motor 3, the wire groove 5-1 of the turntable 5, and the wire hole 5-2, avoiding the wiring harness from getting tangled due to the rotation of the turntable 5 and the extension and retraction of the electric push rod 6, and ensuring the stable transmission of electrical signals and power. The battery pack 2 continuously supplies power to the entire correction process to ensure the timeliness of the action response.
[0043] Through the above closed-loop adjustment, until the pitch angle and roll angle deviation of the seismic source 100 are reduced to within the threshold, the seismic source 100 maintains a vertical falling state and finally impacts the ground in a vertical attitude, thus achieving accurate impact between the seismic source 100 and the preset point on the ground.
[0044] S5: Post-landing recovery phase After the seismic source lands and completes its excitation, if the seismic source needs to be reused, the main control box will send a reset command to the planar drive mechanism to control the hollow motor and electric push rod to restore the turntable and counterweight column to their initial positions in step S1, thus preparing for the next attitude correction process.
Claims
1. A magnetically attached seismic source attitude correction system for an unmanned aerial vehicle (UAV), characterized in that, It includes: The source (100) has a rotating cavity inside, which includes a counterweight chamber (103), a drive chamber (104) and a control chamber (106) that are connected in sequence and centrally located. The drive chamber (104) is provided with an installation plate (105). The planar drive mechanism includes a turntable (5) rotatably disposed in the counterweight chamber (103), a hollow motor (3) for driving the turntable (5) to rotate, and four sets of electric push rods (6) evenly distributed on the upper surface of the turntable (5). A cylindrical counterweight column (7) is slidably mounted on the turntable (5), and its sidewall abuts against the top plate (6-1) of the four sets of electric push rods (6), and its top abuts against the top of the counterweight chamber (103); The main control box (1) is in the shape of a disc and is concentrically fixed inside the control compartment (106). It is connected to the hollow motor (3) and the electric push rod (6) through a wire harness. The ring-shaped battery pack (2) is concentrically arranged in the drive compartment (104) and connected to the main control box (1) via a wiring harness.
2. The magnetically aspirated seismic source attitude correction system for a UAV according to claim 1, characterized in that, The hollow motor (3) is cylindrical in shape, with an annular output section at the top. The output section is connected to the center of the lower end face of the turntable (5). The cylinder of the lower part of the hollow motor (3) is centrally fixed on the mounting plate (105). The mounting plate (105) has a through hole corresponding to the hollow shaft of the hollow motor (3), and the lower end surface of the turntable (5) has four sets of wire grooves (5-1) radially arranged corresponding to the hollow shaft of the hollow motor (3), and the end of the wire groove (5-1) has a through wire hole (5-2).
3. The magnetically aspirated seismic source attitude correction system for a UAV according to claim 1, characterized in that, A sensor mounting ring (8) is fitted on the cylinder of the hollow motor (3). Four sets of connecting rods (8-1) are evenly arranged in the circumferential direction of the sensor mounting ring (8). A reset sensor (8) is installed at the end of the connecting rod (8-1). A sensing component is provided on the lower end surface of the turntable (5) corresponding to the reset sensor (8). After the turntable (5) is rotated and reset, the reset sensor (8) is opposite to the sensing component.
4. The magnetically aspirated seismic source attitude correction system for a UAV according to claim 3, characterized in that, The battery pack (2) is fixed on the mounting plate (105). The reset sensor (8) is located between the battery pack (2) and the turntable (5). The mounting plate (105) has a plurality of wire harness through holes (105-2) evenly opened in the circumferential direction. The wire harness through holes (105-2) are located between the hollow motor (3) and the battery pack (2). The wire harnesses of the battery pack (2) and the reset sensor (8) are connected to the main control box (1) after passing through the wire harness through holes (105-2).
5. The magnetically aspirated seismic source attitude correction system for a UAV according to claim 1, characterized in that, The planar drive mechanism also includes a rotary support bearing (4) disposed on the lower end face of the turntable (5), and the rotary support bearing (4) is installed on the bottom of the counterweight chamber (103).
6. The magnetically aspirated seismic source attitude correction system for a UAV according to claim 1, characterized in that, The source (100) includes two opposing source bodies. The two source bodies are connected by bolt assemblies to form a complete source (100). The source bodies are provided with an arc-shaped fixed flange (107) at the position of the control chamber (106). The main control box (1) has an annular fixing groove on its side wall. After the two vibration source bodies are connected, the two fixing flanges (107) are embedded in the fixing groove and clamp the main control box (1) to fix the main control box (1).
7. The magnetically aspirated seismic source attitude correction system for an unmanned aerial vehicle (UAV) according to claim 6, characterized in that, The fixing groove is provided with a fixing groove washer (1-1) with a C-shaped cross section. After the two vibration source bodies are connected, the fixing flange (107) is embedded in the notch of the fixing groove washer (1-1) to clamp and fix the main control box (1).
8. The magnetically aspirated seismic source attitude correction system for a UAV according to claim 1, characterized in that, The counterweight column (7) is made of tungsten-based alloy.
9. The magnetically aspirated seismic source attitude correction system for an unmanned aerial vehicle (UAV) according to claim 1, characterized in that, The top of the counterweight column (7) is fitted with several balls (7-1).
10. A method for magnetically attracted seismic source attitude correction of an unmanned aerial vehicle (UAV), based on the magnetically attracted seismic source attitude correction system according to any one of claims 1-9, comprising the following steps: S1. Before the earthquake source (100) is deployed, the main control box (1) controls the plane drive mechanism to reset, and the counterweight column (7) is in the initial position of the center of the turntable (5). S2. After the source (100) is released by the drone, the main control box (1) detects the pitch angle and roll angle deviation of the source (100) in real time through the built-in inertial measurement unit. S3. When the attitude deviation exceeds the preset threshold, the main control box (1) controls the hollow motor (3) to drive the turntable to rotate to the target angle according to the deviation value. At the same time, it controls the four sets of electric push rods (6) to extend and retract differently, push the counterweight column (7) to make planar displacement on the turntable (3), adjust the overall center of gravity position of the source (100) to generate a reverse restoring torque, and correct the attitude of the source (100). S4. The main control box (1) continuously monitors the attitude deviation of the source (100) in real time, and repeats step S3 to dynamically adjust the position of the counterweight column (7) until the source (100) lands in a vertical attitude. S5. After the earthquake source (100) lands, the main control box (1) controls the plane drive mechanism to reset.