Extremely-low-altitude aeromagnetic detection device based on four-rotor unmanned aerial vehicle

Abstract

The utility model provides a quad-rotor unmanned aerial vehicle-based ultra-low altitude aeromagnetic detection device, which comprises an aeromagnetic detection system, a carrying system, a quad-rotor unmanned aerial vehicle and a computer ground station, and is characterized in that the carrying system is arranged below the quad-rotor unmanned aerial vehicle and consists of a carbon fiber plate and a carbon fiber tube; the carbon fiber plate is a mounting shell with a cavity inside, the carbon fiber plate and the quad-rotor unmanned aerial vehicle are connected through a mounting frame piece, and the two carbon fiber pipes are arranged on the two sides of the carbon fiber plate. Compared with the prior art, the unmanned aerial vehicle has the following beneficial effects that the total weight of the equipment is small, a battery is used as power, the carrying capacity is high, the small-space vertical take-off and landing capacity, the GPS positioning and navigation capacity, the ground real-time wireless data transmission capacity and the capacity of working at the wind speed of 5-6 levels are simultaneously achieved, the total take-off weight of the system is smaller than 7Kg, and the unmanned aerial vehicle is suitable for large-scale popularization and application. And airspace application is not needed in a suitable flight airspace and a sight distance range.

Description

Technical Field

[0001] The utility model discloses an ultra-low altitude aeromagnetic detection device based on a quad-rotor unmanned aerial vehicle, belonging to the technical field of aeromagnetic data acquisition. Background Art

[0002] The UAV aeromagnetic detection system is a technology that uses UAV platforms to conduct aeromagnetic measurements. This technology obtains information such as geology, geophysics, and the depth and distribution of underground magnetic objects by measuring changes in the earth's magnetic field. The gradient detection system is an extension of this method. It collects magnetic anomaly data through dual optical pumps and further processes analytical signals.

[0003] By measuring the changes in the earth's magnetic field, geological, geophysical, and underground magnetic objects' burial depth and distribution information can be obtained. Traditional aeromagnetic survey technology mainly uses large-scale flying platforms such as fixed-wing aircraft or helicopters. These platforms have limited navigation capabilities in complex terrain and mountainous environments, and due to the large flying platform, they cannot effectively perform ultra-low-altitude flight operations. In addition, the mainstream commercial optical pump probes on the market are all made using traditional processes and technologies. Their overall weight is generally more than 2kg, and the probes are generally more than 0.5kg. The drone body has a large number of magnetic parts, especially the interference magnetic field generated by the rotation of the motor, which has a great impact on the magnetometer probe. Therefore, the general magnetometer probe installation scheme needs to be away from the drone body. Use a pod or a non-magnetic rod to extend a certain distance to avoid magnetic interference. The pod method is simple in structure, but due to air disturbances during flight, the pod will sway, and the obtained GPS position and magnetic field data will have obvious ripple characteristics. There are still some defects and shortcomings in the drone aeromagnetic gradient detection system. With the maturity of application technology, the application of unmanned aerial magnetic detection (abbreviated as aeromagnetic detection) in aeromagnetic survey has increased significantly. UAVs equipped with aeromagnetic measurement equipment can be deployed quickly, collect data efficiently and with high precision, and carry out large-scale aeromagnetic operations. It can not only eliminate the influence of interference such as ground surface and undulating terrain, and save costs, but also can undertake detection tasks according to the best terrain space in environments where geological environments and safety standards prohibit manned aircraft magnetic survey systems. It can even provide better quality detection data than manned aircraft aeromagnetic systems. The same is true for gradient measurement.

[0004] In addition, there are also some challenges in data processing and interpretation of the UAV aeromagnetic gradient detection system. For example, more effective algorithms and technical support are needed for gradient mode processing and analytical signal processing of the dual-optical pump data collected by the UAV aeromagnetic gradient measurement system. At the same time, due to the large amount of data from UAV aeromagnetic measurements, how to efficiently and accurately process these data is also a problem that needs to be solved.

[0005] In summary, although the UAV aeromagnetic gradient detection system has broad application prospects in the field of aerial geophysical exploration, some technical problems and challenges still need to be solved to improve its measurement accuracy and data processing efficiency. Therefore, this application proposes an ultra-low altitude aeromagnetic detection device based on a quadrotor UAV. Utility Model Content

[0006] In view of the deficiencies in the prior art, the utility model aims to provide an ultra-low altitude aeromagnetic detection device based on a quad-rotor unmanned aerial vehicle.

[0007] In order to achieve the above purpose, the utility model is implemented through the following technical solutions:

[0008] An ultra-low altitude aeromagnetic detection device based on a quad-rotor drone, comprising an aeromagnetic detection system, a carrying system, a quad-rotor drone and a computer ground station;

[0009] The carrying system is installed below the quad-rotor drone, and the carrying system is composed of a carbon fiber board and a carbon fiber tube. The carbon fiber board is a mounting shell with an internal cavity. The carbon fiber board and the quad-rotor drone are connected via a mounting frame. There are two carbon fiber tubes, which are arranged on both sides of the carbon fiber board.

[0010] The aeromagnetic detection system includes a micro-electromechanical rubidium atomic optical pump magnetometer probe, a fluxgate magnetometer probe, an attitude meter, a barometric altimeter, a multi-data synchronous collector, an optical pump frequency counter and controller, a data storage U disk, a laser altimeter, and a GPS antenna;

[0011] A micro-electromechanical rubidium atomic optical pump magnetometer probe is installed at the inner end of the corresponding carbon fiber tube, a fluxgate magnetometer probe is arranged on the outer side of the middle section of one of the carbon fiber tubes, the attitude meter and the barometric altimeter are integrated in the multi-data synchronous collector, the data storage U disk is arranged on one side of the outer wall of the carbon fiber board, the multi-data synchronous collector, the optical pump frequency counter and controller are installed inside the carbon fiber board, and the laser altimeter is installed on the carbon fiber board.

[0012] Furthermore, the multi-data synchronous collector is connected to the data storage U disk via a data wire, a flight control data transparent transmission pipeline is provided at the bottom of the carbon fiber board, an Ethernet is provided inside the flight control data transparent transmission pipeline, and the multi-data synchronous collector is connected to the computer ground station via Ethernet.

[0013] Furthermore, a GPS locator is installed on the quadrotor drone, and the GPS locator has the GPS antenna. The carbon fiber tubes are composed of multiple carbon fiber branch tubes, and adjacent carbon fiber branch tubes are connected by pipe connectors. The total length of the carbon fiber tube on each side is 1.2m, the diameter is 3mm, and the wall thickness is 1mm.

[0014] Furthermore, the multi-data synchronization collector including the attitude meter and the barometric altimeter is connected to the optical pump frequency counter and controller, the GPS antenna, and the laser altimeter.

[0015] Furthermore, a GPS receiver is integrated inside the multi-data synchronous collector, and a UAV external power supply module is provided inside the carbon fiber board.

[0016] Furthermore, the mounting frame includes a hardware connector fixed to the top of the carbon fiber board, the hardware connector has an M300 mounting bracket, the hardware connector is fixed to the bottom of the quad-rotor drone, and the M300 mounting bracket is bundled with the tripod of the quad-rotor drone with a cable tie.

[0017] Furthermore, the mounting frame also includes a connecting piece installed on the top of the carbon fiber board, a secondary connecting piece is fixed on the top of the connecting piece, and the secondary connecting piece is fixed to the bottom end of the quad-rotor drone.

[0018] Beneficial effects of the utility model:

[0019] The present application proposes an aeromagnetic detection system based on a quad-rotor drone. The micro-electromechanical rubidium atomic optical pump magnetometer probe with a miniaturized and lightweight design weighs less than 30 grams. The position setting can be far away from the magnetic interference of the drone, so that the center of gravity can be easily adjusted to the same vertical axis as the center of gravity of the drone. The selection range of drones is very wide, and it is suitable for cost-effective drone systems produced in large quantities on the market. The DJI M350RTK and other DJI M350RTK quad-rotor drone systems are preferred. The total weight of all equipment is small, and it is powered by batteries and has a high carrying capacity. At the same time, it has the ability to take off and land vertically in a small space, GPS positioning and navigation capabilities, and real-time wireless data transmission capabilities with the ground. It can operate in wind speeds of 5-6. The total take-off weight of the system is less than 7Kg, and no airspace application is required in suitable airspace and within visual range. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 This is a front view of an ultra-low altitude aeromagnetic detection device based on a quad-rotor drone according to the utility model;

[0022] Figure 2 This is a display of the mounting frame of the ultra-low altitude aeromagnetic detection device based on a quad-rotor drone. Figure 1 ;

[0023] Figure 3 This is a schematic diagram of a data storage USB disk of an ultra-low altitude aeromagnetic detection device based on a quad-rotor drone in the utility model;

[0024] Figure 4 This is a schematic diagram of the interior of a carbon fiber plate of an ultra-low altitude aeromagnetic detection device based on a quad-rotor drone according to the utility model;

[0025] Figure 5 This is a display of the mounting frame of the ultra-low altitude aeromagnetic detection device based on a quad-rotor drone. Figure 2 .

[0026] In the figure: 1. Quadcopter; 2. Carbon fiber board; 3. Carbon fiber tube; 4. MEMS rubidium atomic optical pump magnetometer probe; 5. Fluxgate magnetometer probe; 6. Attitude meter; 7. Barometric altimeter; 8. Multi-data synchronous collector; 9. Optical pump frequency counter and controller; 11. Data storage USB flash drive; 12. Laser altimeter; 13. GPS antenna; 14. Computer ground station; 15. Hardware connector; 16. M300 mounting bracket; 17. Flight control data transmission pipeline; 18. Connector; 19. Auxiliary connector. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0028] See also Figure 1-5The utility model provides a technical solution: an ultra-low altitude aeromagnetic detection device based on a quad-rotor drone, comprising an aeromagnetic detection system, a carrying system, a quad-rotor drone 1 and a computer ground station 14, wherein the carrying system is installed below the quad-rotor drone 1, and the carrying system is installed below the quad-rotor drone 1, and the carrying system is composed of a carbon fiber board 2 and a carbon fiber tube 3, wherein the carbon fiber board 2 is an installation shell with an internal cavity, and the carbon fiber board 2 and the quad-rotor drone 1 are connected by a mounting frame, and the carbon fiber tube 3 is two and is arranged on both sides of the carbon fiber board 2, and the aeromagnetic detection system comprises a micro-electromechanical rubidium atomic optical pump magnetometer probe 4, a fluxgate magnetometer The probe 5, the attitude meter 6, the barometric altimeter 7, the multi-data synchronous collector 8, the optical pump frequency counter and controller 9, the data storage U disk 11 and the laser altimeter 12, the GPS antenna 13, the micro-electromechanical rubidium atomic optical pump magnetometer probe 4 is installed at the inner end of the corresponding carbon fiber tube 3, and a fluxgate magnetometer probe 5 is arranged on the outer side of the middle section of one of the carbon fiber tubes 3. The attitude meter 6 and the barometric altimeter 7 are integrated in the multi-data synchronous collector 8, the data storage U disk 11 is arranged on one side of the outer wall of the carbon fiber board 2, the multi-data synchronous collector 8, the optical pump frequency counter and controller 9 are installed inside the carbon fiber board 2, and the laser altimeter 12 is installed on the carbon fiber board 2.

[0029] See also Figure 1-4 , the multi-data synchronous collector 8 is connected to the data storage U disk 11 through a data conductor, the bottom of the carbon fiber board 2 is provided with a flight control data transparent transmission pipeline 17, the flight control data transparent transmission pipeline 17 is provided with Ethernet, and the multi-data synchronous collector 8 is connected to the computer ground station 14 through Ethernet. The quad-rotor drone 1 is equipped with a GPS locator, the GPS locator has the GPS antenna 13, the carbon fiber tube 3 is composed of a plurality of carbon fiber branch pipes, the adjacent carbon fiber branch pipes are connected through a pipeline connector, the total length of the carbon fiber tube 3 on each side is 1.2m, the diameter is 3mm, and the wall thickness is 1mm. The quad-rotor drone 1 is equipped with a GPS locator, the GPS locator has the GPS antenna 13, the carbon fiber tube 3 is composed of a plurality of carbon fiber branch pipes, the adjacent carbon fiber branch pipes are connected through a pipeline connector, the total length of the carbon fiber tube 3 on each side is 1.2m, the diameter is 3mm, and the wall thickness is 1mm. The carbon fiber board 2 has a drone external power supply module inside.

[0030] The optically pumped magnetometer probe measures the frequency of the RF coil when magnetic resonance absorption occurs, and obtains the external magnetic field strength data through the calculation of the magnetic gyrometry ratio coefficient. The GPS antenna obtains GPS coordinate data and PPS signal. The laser altimeter, the barometric altimeter and the elevation data obtained from the GPS coordinate height. The multi-data synchronous collector integrates the attitude sensor, the barometric altimeter and the GPS receiver. The data storage U disk is connected to the multi-data synchronous collector to store the flight measurement data. The flight control data transmission pipeline is equipped with a transmission network cable to transmit the received signal to the computer ground station. The system is installed under the fuselage of the quadcopter. The M300 mounting bracket 16 designed in addition can be bound to the tripod of the drone with a cable tie to provide better stability. The micro-electromechanical rubidium atomic optical pump magnetometer probe and fluxgate probe are located at both ends of the carbon fiber tube, away from the drone body, on both sides of the drone body, keeping the center of gravity on the central axis of the drone and balanced at both ends. The attitude indicator and barometric altimeter are located in the multi-data synchronization collector. The collector, laser altimeter, Ethernet cable, and data storage USB flash drive are fixed on the carbon fiber board in the middle of the system, located at the lower part of the drone body.

[0031] The MEMS rubidium atomic optical pumping magnetometer probe is a magnetometer developed based on the Zeeman splitting of alkali metal rubidium atoms in an external magnetic field, and using optical pumping and magnetic resonance technology. The MEMS rubidium atomic optical pumping magnetometer probe mainly includes a vertical cavity surface emitting laser emitter VCSEL, a collimating lens, a Glan Taylor prism, a 1 / 4 circular polarization wave plate, a reflector, a magnetic field compensation heating coil, a micro rubidium atomic gas chamber, a photosensitive sensor, and a flexible radio frequency coil, all of which are existing structures.

[0032] The optical pump frequency counter and controller are connected to the probe of the micro-electromechanical rubidium atomic optical pump magnetometer to measure the frequency of the radio frequency coil when the magnetic resonance absorption phenomenon occurs, and obtain the external magnetic field strength data by calculating the magnetic gyrometry ratio coefficient. Specifically, the optical pump magnetometer controller is controlled by an embedded MCU and a series of electronic circuits and electronic devices, VCSEL temperature and current, micro rubidium atomic gas chamber temperature, and flexible radio frequency coil frequency. By sensing the photosensitive sensor and frequency tachometer, the radio frequency coil frequency when the light intensity measured by the photosensitive sensor is the darkest when the magnetic resonance absorption phenomenon occurs, which is called optical pump absorption, is measured, and the external magnetic field strength data is obtained by calculating the magnetic gyrometry ratio coefficient.

[0033] The micro-electromechanical rubidium atomic optical pump magnetometer probe and the optical pump frequency counter and controller are connected by a flexible connecting line to transmit VCSEL control and drive signals, rubidium gas chamber control signals, radio frequency signals, and photosensor signals. The optical pump frequency counter and controller and the multi-data synchronous collector use connecting lines to transmit digital signal magnetic field data and signal strength data.

[0034] GPS antenna, to obtain GPS coordinate data and PPS signal. The GPS antenna adopts a non-magnetic mounted GPS plus Beidou dual-frequency active antenna to send the GPS / Beidou navigation system signal to the GPS receiver located in the data acquisition and correction compensation device, and obtain the GPS coordinate data and PulsePerSecondPPS signal.

[0035] The multi-data synchronous collector is connected to the optical pump frequency counter and controller, GPS antenna and laser altimeter. The multi-data synchronous collector stores the data in the data storage USB disk connected to it, and is also connected to the computer ground station system through an Ethernet cable to transmit the aeromagnetic data in real time.

[0036] The laser altimeter obtains elevation data, the attitude indicator and barometric altimeter output the pitch, roll, and yaw angles of the drone's flight, and the barometric altimeter obtains the barometric altitude of the drone relative to the take-off point during flight.

[0037] The data storage USB flash drive is connected to the multi-data synchronous collector to store flight measurement data. The external power supply module of the drone provides power for the entire aeromagnetic system and is independent of the drone power supply system to isolate the interference of the drone system from affecting the data collection accuracy of the aeromagnetic system. The computer ground station system is a Windows laptop.

[0038] See also Figure 2 The mounting frame comprises a hardware connector 15 fixed to the top of the carbon fiber board 2, the hardware connector 15 has an M300 mounting bracket 16, the hardware connector 15 is fixed to the bottom of the quad-rotor drone 1, the M300 mounting bracket 16 is tied to the tripod of the quad-rotor drone 1 with a cable tie, and the mounting frame is specifically two types of mounting frames, one is composed of a hardware connector 15 and an M300 mounting bracket, Figure 2 It can be directly seen that the hardware connector 15 is fixed to the bottom end of the quad-rotor drone 1 and installed with screws, and the M300 mounting bracket 16 thereon is further tied to the tripod of the quad-rotor drone 1 with a cable tie.

[0039] See also Figure 5 The mounting frame also includes a connecting piece 18 mounted on the top of the carbon fiber board 2, and a secondary connecting piece 19 is fixed on the top of the connecting piece 18, and the secondary connecting piece 19 is fixed on the bottom of the quad-rotor drone 1. The second mounting frame of the mounting frame is Figure 5 It can be directly seen that the connecting piece 18 is installed on the top of the carbon fiber board 2, and then the auxiliary connecting piece 19 is fixed to the bottom of the quad-rotor drone 1, and the installation is carried out with screws.

[0040] During specific work, the present application proposes an aeromagnetic detection system based on a quad-rotor drone, which adopts a miniaturized and lightweight micro-electromechanical rubidium atomic optical pump magnetometer probe with a weight of less than 30 grams. The position setting can be away from the magnetic interference of the drone, so that the center of gravity can be easily adjusted to the same vertical axis as the center of gravity of the drone. The selection range of drones is very wide, and it is suitable for mass-produced cost-effective drone systems on the market. The DJI M350RTK and other DJI M350RTK quad-rotor drone systems are preferred. The total weight of all equipment is small, and it is powered by batteries and has a high carrying capacity. At the same time, it has the ability to take off and land vertically in a small space, GPS positioning and navigation capabilities, and real-time wireless data transmission capabilities with the ground, and can operate in wind speeds of 5-6.

[0041] Although this specification is described according to implementation modes, not every implementation mode includes only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. An ultra-low altitude aeromagnetic detection device based on a quad-rotor drone, characterized in that: It includes an aeromagnetic detection system, a carrying system, a quad-rotor drone (1) and a computer ground station (14); The mounting system is installed below the quad-rotor drone (1), and the mounting system is composed of a carbon fiber plate (2) and a carbon fiber tube (3), the carbon fiber plate (2) is a mounting shell with an internal cavity, the carbon fiber plate (2) and the quad-rotor drone (1) are connected via a mounting frame, and the carbon fiber tube (3) is two in number and is arranged on both sides of the carbon fiber plate (2); The aeromagnetic detection system comprises a micro-electromechanical rubidium atomic optical pump magnetometer probe (4), a fluxgate magnetometer probe (5), an attitude meter (6), a barometric altimeter (7), a multi-data synchronous collector (8), an optical pump frequency counter and controller (9), a data storage U disk (11), a laser altimeter (12), and a GPS antenna (13); A micro-electromechanical rubidium atomic optical pump magnetometer probe (4) is installed at the inner end of the corresponding carbon fiber tube (3), a fluxgate magnetometer probe (5) is arranged on the outer side of the middle section of one of the carbon fiber tubes (3), the attitude meter (6) and the barometric altimeter (7) are integrated in the multi-data synchronous collector (8), the data storage USB disk (11) is arranged on one side of the outer wall of the carbon fiber board (2), the multi-data synchronous collector (8) and the optical pump frequency counter and controller (9) are installed inside the carbon fiber board (2), and the laser altimeter (12) is installed on the carbon fiber board (2).

2. The ultra-low altitude aeromagnetic detection device based on a quad-rotor drone according to claim 1, characterized in that: The multi-data synchronous collector (8) is connected to the data storage U disk (11) via a data conductor, a flight control data transparent transmission pipeline (17) is provided at the bottom of the carbon fiber board (2), an Ethernet is provided inside the flight control data transparent transmission pipeline (17), and the multi-data synchronous collector (8) is connected to the computer ground station (14) via the Ethernet.

3. The ultra-low altitude aeromagnetic detection device based on a quad-rotor drone according to claim 2, characterized in that: The quad-rotor drone (1) is equipped with a GPS locator, the GPS locator having the GPS antenna (13), the carbon fiber tubes (3) are composed of a plurality of carbon fiber branch tubes, adjacent carbon fiber branch tubes are connected via a pipe connector, the total length of the carbon fiber tube (3) on each side is 1.2 m, the diameter is 3 mm, and the wall thickness is 1 mm.

4. The ultra-low altitude aeromagnetic detection device based on a quad-rotor drone according to claim 3 is characterized in that: The multi-data synchronous collector (8) including the attitude meter (6) and the barometric altimeter (7) is connected to the optical pump frequency counter and controller (9), the GPS antenna (13), and the laser altimeter (12).

5. The ultra-low altitude aeromagnetic detection device based on a quad-rotor drone according to claim 4, characterized in that: The multi-data synchronous collector (8) is also internally integrated with a GPS receiver, and the carbon fiber board (2) is internally provided with an external power supply module for a drone.

6. The ultra-low altitude aeromagnetic detection device based on a quad-rotor drone according to claim 5, characterized in that: The mounting frame comprises a hardware connector (15) fixed to the top of the carbon fiber board (2), the hardware connector (15) having an M300 mounting bracket (16), the hardware connector (15) being fixed to the bottom of the quad-rotor drone (1), and the M300 mounting bracket (16) being bundled with the tripod of the quad-rotor drone (1) in cooperation with a cable tie.

7. The ultra-low altitude aeromagnetic detection device based on a quad-rotor drone according to claim 6, characterized in that: The mounting frame also includes a connecting piece (18) mounted on the top end of the carbon fiber plate (2), a secondary connecting piece (19) being fixedly provided on the top end of the connecting piece (18), and the secondary connecting piece (19) being fixed on the bottom end of the quad-rotor drone (1).

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