Foldable rotor unmanned aerial vehicle aeromagnetic measurement system based on cesium optical pump

Abstract

The utility model relates to the technical field of unmanned aerial vehicle aeromagnetic measurement equipment, in particular to a foldable rotor unmanned aerial vehicle aeromagnetic measurement system based on a cesium optical pump, which comprises a rotor unmanned aerial vehicle, a cesium optical pump magnetometer probe, a magnetometer host, an RTK, a ground station remote control device and an electric supporting piece, a power supply and a flight control system which are connected through a circuit are arranged in the rotor unmanned aerial vehicle; the magnetometer host, the RTK and the electric support member are all mounted on the rotor unmanned aerial vehicle, the magnetometer host is connected with the power supply through a circuit, and the RTK and the electric support member are connected with the flight control system through a circuit; the cesium optical pump magnetometer probe is installed at the execution end of the electric supporting piece and electrically connected with the magnetometer host. The ground station remote control device is connected with the flight control system through electric signals, magnetic interference of the rotor unmanned aerial vehicle to the cesium optical pump magnetometer can be reduced, and safety and operation efficiency are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of unmanned aerial vehicle (UAV) aeromagnetic measurement equipment, and specifically relates to a foldable rotor UAV aeromagnetic measurement system based on cesium optical pumping. Background Technique

[0002] The cesium optical pumping magnetometer is a kind of quantum magnetometer. Under the action of an external magnetic field, the hyperfine structure energy levels of cesium atoms will show the Zeeman splitting phenomenon. The size of the splitting is proportional to the magnetic induction intensity. By accurately measuring the frequency between the Zeeman sub-energy levels, the size of the external magnetic field at this time can be calculated. Cesium optical pumping magnetometers are widely used in fields such as aeromagnetic survey, ocean monitoring, geological exploration (mineral resource development, archaeology), earthquake prediction, and even the medical and health system. The practical optical pumping magnetometer has very important application value and prospects in both military and civilian magnetic measurement fields. Compared with other magnetometers, the cesium spectral lamp optical pumping magnetometer has many advantages: the Zeeman energy level transition spectral line intensity of cesium atoms is large, the sensitivity is high, and it is suitable for on-board actual measurement by aircraft. A typical cesium optical pumping magnetometer is the CS-3 high-precision cesium optical pumping magnetometer launched by Scintrex Company of Canada. It uses stable cesium elements as the working substance and is produced according to strict industrial standards. The product is exquisitely designed, has good stability, is sturdy and durable. It has high sensitivity, low noise, continuous reading, automatic hemisphere selection, wide working voltage, large working area, very small dead zone range, and very small turning difference. It is the best choice for aeromagnetic measurement and is also used in the fields of metrology calibration and research.

[0003] Typical applications of cesium optical pumping magnetometers include handheld, shipborne towed, and aircraft-mounted methods. At present, there are already mature applications in China of mounting cesium optical pumping magnetometers on UAVs. For example, the cesium optical pumping magnetometer is fixedly installed on fixed-wing UAVs and unmanned helicopters, or the cesium optical pumping magnetometer is suspended on rotor UAVs. Due to the need to consider the safety of the aircraft platform itself, the fixed installation method has certain limitations. The magnetic exploration rod cannot be far away from the fuselage, resulting in excessive magnetic interference on the aircraft platform and affecting the detection accuracy. And for the suspension installation method, there will also be a phenomenon that the attitude of the cesium optical pumping magnetometer is unstable during flight, affecting the detection accuracy. Based on this, we propose a foldable rotor UAV aeromagnetic measurement system based on cesium optical pumping. Content of the Utility Model

[0004] Aiming at the deficiencies of the existing technology, the purpose of the present utility model is to provide a foldable rotor UAV airborne magnetic measurement system based on cesium optical pumping, which mainly involves mounting a cesium optical pumping magnetometer on a rotor UAV. The magnetic exploration rod for mounting the cesium optical pumping magnetometer adopts a hard-mounted and electrically foldable method. During use, the magnetic exploration rod is vertically lowered away from the fuselage of the rotor UAV through an electric remote control device, which can effectively reduce the magnetic interference of the UAV on the cesium optical pumping magnetometer while ensuring the stable attitude of the cesium optical pumping magnetometer. While improving flight safety and operation efficiency, it can also meet the requirements of airborne magnetic measurement in small areas or hilly areas such as archaeology, river pipeline detection, and unexploded ordnance search.

[0005] To achieve the above purpose, the present utility model provides the following technical solutions: A foldable rotor UAV airborne magnetic measurement system based on cesium optical pumping, comprising a rotor UAV, a cesium optical pumping magnetometer probe, a magnetometer host, an RTK, a ground station remote control device, and an electric support member; a power supply and a flight control system connected by a circuit are provided inside the rotor UAV; the magnetometer host, the RTK, and the electric support member are all mounted on the rotor UAV. Among them, the magnetometer host is connected to the power supply through a circuit, and the RTK and the electric support member are connected to the flight control system through a circuit; the cesium optical pumping magnetometer probe is installed at the execution end of the electric support member and is electrically connected to the magnetometer host; the ground station remote control device is connected to the flight control system through an electrical signal for controlling the flight of the rotor UAV and controlling the cesium optical pumping magnetometer probe to approach or move away from the rotor UAV.

[0006] Preferably, the electric support member is an electric folding magnetic exploration rod assembly; the electric folding magnetic exploration rod assembly includes a base, a support motor, an adjustment motor, a support rod, a second steering arm, a connecting rod, a second joint, a second magnetic exploration rod, and an orientation adjustment component; the base is installed on the lower side of the magnetometer host; the support motor and the adjustment motor are coaxially installed on the base, and the support motor and the adjustment motor have the same rotation speed and opposite rotation directions; one end of the support rod is fixedly connected to the output end of the support motor, and the other end is movably connected to the side of the second joint of the connecting rod; the second steering arm is fixedly connected to the output end of the adjustment motor; the top of the second joint of the connecting rod is movably connected to the second steering arm through a connecting rod; the first end of the second magnetic exploration rod is fixedly connected to the bottom end of the second joint, and the cesium optical pumping magnetometer probe is arranged at the tail end of the second magnetic exploration rod through the orientation adjustment component.

[0007] Preferably, at least part of the structural members of the electric support member are made of non-magnetic materials.

[0008] Preferably, the support rod includes a first steering arm, a first magnetic exploration rod, and a first joint; the first steering arm is fixedly connected to the first joint through the first magnetic exploration rod; the first steering arm is fixedly connected to the output end of the support motor; the first joint is rotatably connected to the side of the second joint.

[0009] Preferably, the first magnetic detection rod is inserted into the first rudder arm and the first joint.

[0010] Preferably, the orientation adjustment assembly consists of a probe mounting base, a probe angle adjustment screw, and a probe mounting clamp. The probe mounting base is fixedly arranged at the tail end of the second magnetic detection rod; the probe mounting clamp is movably arranged on the probe mounting base through the probe angle adjustment screw; the cesium optical pumping magnetometer probe is mounted on the probe mounting clamp.

[0011] Preferably, the included angle range between the orientation of the cesium optical pumping magnetometer probe and the axis of the second magnetic detection rod is 0 - 90 degrees.

[0012] Preferably, the electric folding magnetic detection rod assembly further includes a plurality of buckles; the plurality of buckles are distributed along the length direction of the electric folding magnetic detection rod assembly body.

[0013] Preferably, the main body of the rotary-wing unmanned aerial vehicle is made of carbon fiber composite material.

[0014] Preferably, the rotary-wing unmanned aerial vehicle is an electric drive type six-rotor unmanned aerial vehicle.

[0015] Compared with the prior art, the beneficial effects of the present utility model are as follows: by integrally installing the cesium optical pumping magnetometer on the rotary-wing unmanned aerial vehicle, where the cesium optical pumping magnetometer probe is installed on the magnetic detection rod far from the fuselage, and the magnetic detection rod can be folded and retracted through a reduction motor, it can effectively reduce the magnetic interference of the rotary-wing unmanned aerial vehicle on the cesium optical pumping magnetometer, improve flight safety and operation efficiency, so as to meet the requirements of small-area or hilly terrain aeromagnetic surveys such as archaeology, river pipeline detection, and unexploded ordnance search. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a schematic structural diagram of Embodiment 1 of the present invention;

[0017] Figure 2 is a schematic structural diagram of the electric folding magnetic detection rod assembly of the present invention;

[0018] Figure 3 is a schematic structural diagram of the unfolding process of the electric folding magnetic detection rod assembly 2 of the present invention;

[0019] Figure 4 is a schematic structural diagram of the folding process of the electric folding magnetic detection rod assembly 2 of the present invention;

[0020] Figure 5 is a schematic diagram of the angle adjustment of the cesium optical pumping magnetometer probe 3 of the present invention;

[0021] Figure 6 is a schematic structural diagram of the folding state of Embodiment 1 of the present invention.

[0022] In the figure: 1 Rotor UAV, 2 Electric folding magnetic exploration rod assembly, 3 Cesium optical pumping magnetometer probe, 4 Magnetometer host, 5 RTK, 6 Ground station remote control device, 201 Base, 202 First worm reduction motor, 203 Second worm reduction motor, 204 First rudder arm, 205 Second rudder arm, 206 First magnetic exploration rod, 207 Connecting rod, 208 First joint, 209 Second joint, 210 Second magnetic exploration rod, 211 Probe mounting seat, 212 Probe angle adjustment screw, 213 Probe mounting clamp. Specific embodiments

[0023] The following details the specific embodiments of the present invention with reference to the accompanying drawings, enabling those skilled in the art to more clearly understand how to practice the present invention. Although the present invention is described in conjunction with its preferred specific embodiments, these embodiments are merely illustrative and do not limit the scope of the present invention.

[0024] Specific embodiment 1: Please refer to Figure 1 A foldable rotor UAV airborne magnetic measurement system based on cesium optical pumping, mainly used for airborne magnetic measurement. The foldable rotor UAV airborne magnetic measurement system based on cesium optical pumping includes: Rotor UAV 1, Electric folding magnetic exploration rod assembly 2, Cesium optical pumping magnetometer probe 3, Magnetometer host 4, RTK 5, Ground station remote control device 6; The rotor UAV 1 is an electric-driven UAV, typically recommended as a six-rotor UAV. The RTK 5 is installed at the upper end of the rotor UAV 1 fuselage and is used to input positioning data information to the magnetometer host 4. The magnetometer host 4 is installed at the lower end of the rotor UAV 1 fuselage. The electric folding magnetic exploration rod assembly 2 is installed below the rotor UAV 1 fuselage and is fixedly installed on the lower box surface of the magnetometer host 4. The cesium optical pumping magnetometer probe 3 is installed at one end of the electric folding magnetic exploration rod assembly 2 away from the rotor UAV 1. The ground station remote control device 6 is electrically connected to the rotor UAV and is used for controlling the flight of the rotor UAV and for remotely controlling the folding and unfolding of the electric folding magnetic exploration rod assembly.

[0025] Inside the rotor UAV 1, there is a power supply and a flight control system (flight management and control system) connected by circuits. The magnetometer host 4 is connected to the power supply by a circuit. The RTK 5 and the electric folding magnetic exploration rod assembly 2 are connected to the flight control system by circuits.

[0026] The electric folding magnetic exploration rod assembly 2 has the functions of unfolding and folding; Please refer to Figure 2, the electric folding magnetic exploration rod assembly 2 is composed of a base 201, a first worm reduction motor 202, a second worm reduction motor 203, a first rudder arm 204, a second rudder arm 205, a first magnetic exploration rod 206, a connecting rod 207, a first joint 208, a second joint 209, a second magnetic exploration rod 210, a probe mounting seat 211, a probe angle adjustment screw 212, and a probe mounting clamp 213. Among them, the base 201 is fixedly connected to the box body of the magnetometer host 4. The first worm reduction motor 202 and the second worm reduction motor 203 are coaxially installed at the lower end of the base 201, and the first worm reduction motor 202 and the second worm reduction motor 203 have the same rotational speed and opposite rotational directions;

[0027] Both the first worm reduction motor 202 and the second worm reduction motor 203 are connected to the flight control system of the rotary-wing unmanned aircraft 1, so that the ground station remote control device 6 can remotely control the folding and unfolding of the electric folding magnetic exploration rod assembly 2.

[0028] The head end of the first rudder arm 204 is fixedly connected to the output shaft of the first worm reduction motor 202. When the first worm reduction motor 202 rotates, it drives the first rudder arm 204 to rotate synchronously. The first joint 208 and the side part of the second joint 209 are rotatably connected, and the first magnetic exploration rod 206 is installed as a support member between the first rudder arm 204 and the first joint 208; in this embodiment, the first magnetic exploration rod 206 is fixedly connected to the first rudder arm 204 and the first joint 208 by insertion;

[0029] The head end of the second rudder arm 205 is fixedly connected to the output shaft of the second worm reduction motor 203. The connecting rod 207 is used as an alignment member, and its head end is rotatably connected to the tail end of the second rudder arm 205 and its tail end is rotatably connected to the top end of the second joint 209; when the second worm reduction motor 203 rotates, it drives the second rudder arm 205 to rotate synchronously, and the second rudder arm 205 can drive the connecting rod 207 to pull the second joint 209; the head end of the second magnetic exploration rod 210 is fixedly connected to the bottom end of the second joint 209, the probe mounting seat 211 is arranged at the tail end of the second magnetic exploration rod 210, the probe mounting clamp 213 is installed on the probe mounting seat 211 through the probe angle adjustment screw 212, and the axis of the probe angle adjustment screw 212 is perpendicular to the axis of the second magnetic exploration rod 210. After loosening the probe angle adjustment screw 212, the probe mounting clamp 213 can rotate relative to the probe mounting seat 211 with the probe angle adjustment screw 212 as the axis. The cesium optical pumping magnetometer probe 3 is installed on the probe mounting clamp 213. By loosening the probe angle adjustment screw 212, the orientation angle of the cesium optical pumping magnetometer probe 3 can be adjusted within the range of 0 - 90 degrees.

[0030] The cesium optical pumping magnetometer probe 3 is connected to the magnetometer host 4 through a flexible cable (not shown in the figure). For this reason, in one embodiment, a plurality of buckles for wiring can be arranged along the length direction of the electric folding magnetic exploration rod assembly 2.

[0031] Please refer to the unfolding process of the electric folding magnetic exploration rod assembly 2 Figure 3 , when the drone takes off and operates normally, it is necessary to unfold the electric folding magnetic exploration rod assembly 2. At this time, the first worm reduction motor 202 drives the first steering arm 204 to rotate counterclockwise, and the second worm reduction motor 203 drives the second steering arm 205 to rotate clockwise, unfolding and straightening the electric folding magnetic exploration rod assembly 2. At this time, the electric folding magnetic exploration rod assembly 2 is in a state close to perpendicular to the drone fuselage, and the cesium optical pump magnetometer probe 3 is far away from the fuselage of the rotor drone 1, effectively reducing the magnetic interference of the drone fuselage on the cesium optical pump magnetometer probe 3.

[0032] Please refer to the folding process of the electric folding magnetic exploration rod assembly 2 Figure 4 , when the drone finishes its operation and lands, it is necessary to fold the electric folding magnetic exploration rod assembly 2. At this time, the first worm reduction motor 202 drives the first steering arm 204 to rotate clockwise, and the second worm reduction motor 203 drives the second steering arm 205 to rotate counterclockwise, folding the electric folding magnetic exploration rod assembly 2. The folded state can improve the safety of the drone during landing and facilitate circulation and transportation.

[0033] Please refer to the angle adjustment of the cesium optical pump magnetometer probe 3 Figure 5 , when operating at different latitudes, it is necessary to adjust the installation angle of the cesium optical pump magnetometer probe 3 accordingly. First, loosen the probe angle adjustment screw 212, rotate the cesium optical pump magnetometer probe 3 and the probe mounting clamp 213 simultaneously to the required angle, and then tighten the probe angle adjustment screw 212 to complete the angle adjustment of the cesium optical pump magnetometer probe 3.

[0034] In one embodiment, the main body of the rotor drone 1 is made of carbon fiber composite material.

[0035] In one embodiment, to reduce electromagnetic interference, except for the two motors, the other structural components of the electric folding magnetic exploration rod assembly 2 can be made of non-magnetic materials such as carbon fiber, nylon, titanium alloy TC4, and aluminum alloy 6061.

[0036] Through this technical solution, by integrating the cesium optical pump magnetometer on the rotor drone, where the cesium optical pump magnetometer probe is installed on the magnetic exploration rod far from the fuselage, and the magnetic exploration rod can be folded and retracted by the reduction motor, the magnetic interference of the rotor drone on the cesium optical pump magnetometer can be effectively reduced, improving flight safety and operation efficiency. Thus, it can meet the needs of small-area or hilly terrain aeromagnetic surveys such as archaeology, river pipeline detection, and unexploded ordnance search.

[0037] Although the embodiments of the present utility model have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principle and spirit of the present utility model. The scope of the present utility model is defined by the appended claims and their equivalents.

Claims

1. A foldable rotor UAV aeromagnetic measurement system based on cesium optical pumping, characterized in that: It includes a rotor UAV (1), a cesium optical pumping magnetometer probe (3), a magnetometer main unit (4), an RTK (5), a ground station remote control device (6) and an electric support member; inside the rotor UAV (1), there is a power supply and a flight control system connected by a circuit; the magnetometer main unit (4), the RTK (5) and the electric support member are all installed on the rotor UAV (1), wherein the magnetometer main unit (4) is connected to the power supply by a circuit, and the RTK (5) and the electric support member are connected to the flight control system by a circuit; the cesium optical pumping magnetometer probe (3) is installed at the execution end of the electric support member and is electrically connected to the magnetometer main unit (4); the ground station remote control device (6) is connected to the flight control system by an electrical signal, and is used to control the flight of the rotor UAV (1) and control the cesium optical pumping magnetometer probe (3) to approach or move away from the rotor UAV (1).

2. The cesium optical pumping-based foldable rotor UAV aeromagnetic measurement system according to claim 1, wherein: The electric support member is an electric folding magnetic exploration rod assembly (2); the electric folding magnetic exploration rod assembly (2) includes a base (201), a support motor, an adjustment motor, a support rod, a second steering arm (205), a connecting rod (207), a second joint (209), a second magnetic exploration rod (210) and an orientation adjustment component; the base (201) is installed on the lower side of the magnetometer main unit (4); the support motor and the adjustment motor are coaxially installed on the base (201), and the support motor and the adjustment motor have the same rotation speed and opposite rotation directions; one end of the support rod is fixedly connected to the output end of the support motor, and the other end is movably connected to the side of the second joint (209) of the connecting rod; the second steering arm (205) is fixedly connected to the output end of the adjustment motor; the top of the second joint (209) of the connecting rod is movably connected to the second steering arm (205) through the connecting rod (207); the first end of the second magnetic exploration rod (210) is fixedly connected to the bottom end of the second joint (209), and the cesium optical pumping magnetometer probe (3) is arranged at the tail end of the second magnetic exploration rod (210) through the orientation adjustment component.

3. The cesium optical pumping-based foldable rotor UAV aeromagnetic measurement system according to claim 1 or 2, characterized in that: At least part of the structural members of the electric support member are made of non-magnetic materials.

4. The foldable rotor UAV aeromagnetic measurement system based on cesium optical pumping according to claim 2, characterized in that: The support rod includes a first steering arm (204), a first magnetic exploration rod (206) and a first joint (208); the first steering arm (204) is fixedly connected to the first joint (208) through the first magnetic exploration rod (206); the first steering arm (204) is fixedly connected to the output end of the support motor; the first joint (208) is rotatably connected to the side of the second joint (209).

5. The foldable rotor UAV aeromagnetic measurement system based on cesium optical pumping according to claim 4, wherein: The first magnetic exploration rod (206) is plugged into both the first steering arm (204) and the first joint (208).

6. The cesium optical pumping-based foldable rotor UAV aeromagnetic measurement system according to claim 2, wherein: The orientation adjustment component is composed of a probe mounting seat (211), a probe angle adjustment screw (212) and a probe mounting clamp (213), wherein the probe mounting seat (211) is fixedly arranged at the tail end of the second magnetic exploration rod (210); the probe mounting clamp (213) is movably arranged on the probe mounting seat (211) through the probe angle adjustment screw (212); the cesium optical pumping magnetometer probe (3) is installed on the probe mounting clamp (213).

7. The cesium optical pump-based foldable rotor UAV aeromagnetic measurement system according to claim 6, wherein: The included angle between the orientation of the cesium optical pumping magnetometer probe (3) and the axis of the second magnetic exploration rod (210) ranges from 0 to 90 degrees.

8. The foldable rotor UAV aeromagnetic measurement system based on cesium optical pumping according to claim 2, characterized in that: The electric folding magnetic detection rod assembly (2) further includes a plurality of buckles; the plurality of buckles are distributed along the length direction of the body of the electric folding magnetic detection rod assembly (2).

9. The cesium optical pumping-based foldable rotor UAV aeromagnetic measurement system according to claim 2, wherein: The support motor and the adjustment motor are both worm reduction motors.

10. The cesium optical pumping-based foldable rotor UAV aeromagnetic measurement system according to claim 1, wherein: The rotary wing unmanned aerial vehicle (1) is an electric drive type six-rotor unmanned aerial vehicle.

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