Unmanned aerial vehicle for underground electromagnetic anomaly detection

Abstract

The utility model relates to an unmanned aerial vehicle for underground electromagnetic anomaly detection, and belongs to the technical field of unmanned aerial vehicle detection. Comprising an unmanned aerial vehicle body; the magnetic gradient detection device is carried on the unmanned aerial vehicle body; the magnetic gradient detection device comprises a telescopic supporting arm, a posture switching mechanism and at least two magnetic sensing units. The at least two magnetic sensing units are arranged at intervals in the axial direction of the telescopic supporting arm; the posture switching mechanism is connected with the unmanned aerial vehicle body and the telescopic supporting arm and used for driving the telescopic supporting arm to be switched between the horizontal storage position and the vertical working position. The vertical distance between the at least two magnetic sensing units is obviously increased in the vertical direction, and the requirement of geomagnetic vertical gradient measurement for the length of a sensor base line is met.

Description

TECHNICAL FIELD

[0001] The utility model belongs to unmanned plane detection technical field, concretely relates to a kind of unmanned plane for underground electromagnetic anomaly detection. BACKGROUND

[0002] With the rapid development of unmanned plane technology, using unmanned plane to carry magnetometer for aerial magnetic survey has become an important means of physical exploration, mineral resources investigation and underground pipeline detection.

[0003] In the unmanned plane geomagnetic detection system, detection accuracy and flight safety are often a pair of contradictions. In order to obtain high-quality data, the magnetic sensor needs to be as far away from the unmanned plane body (strong electromagnetic interference source generated by motor and circuit) as possible, while maintaining stable attitude.

[0004] At present, most of the light unmanned plane only carries a single magnetic sensor to measure geomagnetic field. However, the geomagnetic field changes with time (diurnal variation) will interfere with the measurement results. Although it can be corrected by setting up ground base station, a more effective method is to use vertical gradient measurement (i.e. arranging two sensors in vertical direction to do differential). However, on the existing unmanned plane platform, due to the limitation of take-off and landing height, it is difficult to install a long enough vertical support to realize gradient measurement with enough baseline length under the premise of ensuring safety. SUMMARY

[0005] To solve the above technical problems, the utility model provides a kind of unmanned plane for underground electromagnetic anomaly detection.

[0006] In order to realize the above purpose, the utility model adopts the technical scheme that:

[0007] Provide a kind of unmanned plane for underground electromagnetic anomaly detection, it include:

[0008] Unmanned plane body;

[0009] Magnetic gradient detection device carried on the unmanned plane body;

[0010] The magnetic gradient detection device includes telescopic support arm, attitude switching mechanism and at least two magnetic sensing units;

[0011] At least two magnetic sensing units are arranged along the axial direction of telescopic support arm;

[0012] The attitude switching mechanism connects the unmanned plane body and telescopic support arm, for driving telescopic support arm to switch between horizontal storage position and vertical working position;

[0013] Wherein, when being in the horizontal storage position, telescopic support arm is retracted along horizontal direction and adheres to the bottom of the unmanned plane body;

[0014] When in the vertical working position, the telescopic support arm is flipped down to a vertical posture and in an extended state to pull apart the spacing between at least two of the magnetic sensing units in the vertical direction.

[0015] Preferably, the posture switching mechanism comprises a driving assembly and a connecting assembly;

[0016] The root of the telescopic support arm is hinged to the UAV body through a rotating shaft;

[0017] One end of the driving assembly is connected to the UAV body, and the other end is connected to the telescopic support arm through the connecting assembly, which drives the telescopic support arm to rotate around the rotating shaft by outputting linear displacement or rotational torque.

[0018] Preferably, the driving assembly is one of a pneumatic push rod, a hydraulic push rod, or an electric linear push rod;

[0019] When the driving assembly is in the retracted state, the telescopic support arm remains in the horizontal storage position;

[0020] When the driving assembly is in the extended state, the telescopic support arm is flipped to the vertical working position.

[0021] Preferably, the telescopic support arm comprises a first arm segment and a second arm segment;

[0022] The first arm segment and the second arm segment are slidingly sleeved and driven to telescope by a gas cylinder.

[0023] Preferably, the at least two magnetic sensing units comprise a first sensor and a second sensor;

[0024] The first sensor is arranged at the free end of the telescopic support arm;

[0025] The second sensor is arranged at the root of the telescopic support arm.

[0026] Preferably, the bottom of the UAV body is provided with a storage groove matching its outer shape, and when in the horizontal storage position, the telescopic support arm and the magnetic sensing units are at least partially embedded in the storage groove.

[0027] Preferably, the cross-sectional shape of the telescopic support arm is configured as a streamlined shape, which extends in the flight direction of the UAV body.

[0028] Preferably, the cross-sectional profile of the streamlined shape is drop-shaped or spindle-shaped, with the blunt end facing the advancing direction of the UAV body and the sharp tail end facing the rear of the UAV body.

[0029] The utility model provides a kind of unmanned plane for underground electromagnetic anomaly detection, the beneficial effect of the utility model is reflected in:

[0030] When the unmanned plane is in the stage of ground transportation, standby take-off or preparation landing, the telescopic support arm is in horizontal storage position.In this state, the telescopic support arm is folded along the horizontal direction by the control of attitude switching mechanism, and its overall axis is substantially parallel to the fuselage plane of unmanned plane body, and is attached to the bottom area of unmanned plane body.The storage mode of this horizontal attachment makes the equipment height below unmanned plane to be minimum, effectively ensures the ground clearance in the process of taking off and landing, and avoids the detection device from colliding with ground.

[0031] When the unmanned plane is in the stage of ground transportation, standby take-off or preparation landing, the telescopic support arm is in horizontal storage position.In this state, the telescopic support arm is folded along the horizontal direction by the control of attitude switching mechanism, and its overall axis is substantially parallel to the fuselage plane of unmanned plane body, and is attached to the bottom area of unmanned plane body.The storage mode of this horizontal attachment makes the equipment height below unmanned plane to be minimum, effectively ensures the ground clearance in the process of taking off and landing, and avoids the detection device from colliding with ground. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 The utility model provides the stereogram (hidden attitude switching mechanism) of unmanned plane for underground electromagnetic anomaly detection for the utility model;

[0033] Figure 2 The utility model provides the structure diagram one of attitude switching mechanism in unmanned plane for underground electromagnetic anomaly detection for the utility model (horizontal storage position);

[0034] Figure 3 The utility model provides the structure diagram two of attitude switching mechanism in unmanned plane for underground electromagnetic anomaly detection for the utility model (by horizontal storage position transition vertical working position);

[0035] Figure 4 The utility model provides the structure diagram one of telescopic support arm in unmanned plane for underground electromagnetic anomaly detection for the utility model (contraction state);

[0036] Figure 5 The utility model provides the structure diagram two of telescopic support arm in unmanned plane for underground electromagnetic anomaly detection for the utility model (elongation state).

[0037] BRIEF DESCRIPTION OF DRAWINGS

[0038] 1, unmanned aerial vehicle body; 2, telescopic support arm; 201, first arm section; 202, second arm section; 3, attitude switching mechanism; 301, driving assembly; 302, connecting assembly; 4, magnetic sensing unit; 5, storage groove. DETAILED DESCRIPTION

[0039] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0040] Please refer to Figures 1-5 The specific embodiments provided by the present application are as follows:

[0041] As Figures 1 to 3 shown, the embodiment of the present application provides an unmanned aerial vehicle for underground electromagnetic anomaly detection, which mainly comprises an unmanned aerial vehicle body 1 and a magnetic gradient detection device carried on the unmanned aerial vehicle body 1. The magnetic gradient detection device is mainly composed of a telescopic support arm 2, an attitude switching mechanism 3 and at least two magnetic sensing units 4.

[0042] Specifically, the attitude switching mechanism 3 plays a connecting and driving role, which is connected between the unmanned aerial vehicle body 1 and the telescopic support arm 2, so as to movably mount the telescopic support arm 2 below the unmanned aerial vehicle body 1. The at least two magnetic sensing units 4 are installed on the telescopic support arm 2 for collecting geomagnetic signals; in order to realize gradient measurement, the at least two magnetic sensing units 4 are not arranged in a concentrated manner, but are arranged at intervals along the axial direction (i.e. the length extension direction) of the telescopic support arm 2, so as to form a physical distance between two or more sensors.

[0043] The unmanned aerial vehicle can change the spatial form of the telescopic support arm 2 through the action of the attitude switching mechanism 3, which specifically means that the telescopic support arm 2 is switched between the horizontal storage position and the vertical working position to adapt to different flight stages of the unmanned aerial vehicle.

[0044] When the unmanned aerial vehicle is in the stage of ground transportation, standby take-off or preparation for landing, the telescopic support arm 2 is in the horizontal storage position. In this state, the telescopic support arm 2 is folded along the horizontal direction under the control of the attitude switching mechanism 3, and its overall axis is approximately parallel to the fuselage plane of the unmanned aerial vehicle body 1 and is attached to the bottom area of the unmanned aerial vehicle body 1. This horizontal attachment storage mode makes the equipment height below the unmanned aerial vehicle the lowest, effectively ensures the ground clearance during take-off and landing, and avoids the detection device from colliding with the ground.

[0045] When the unmanned aerial vehicle is airborne and enters the detection area, the telescopic support arm 2 is in the vertical working position when the geomagnetic data needs to be collected. In this process, the attitude switching mechanism 3 drives the telescopic support arm 2 to be flipped downward relative to the unmanned aerial vehicle body 1, so that it changes from a horizontal attitude to a vertical attitude. At the same time, the telescopic support arm 2 is in an extended state (i.e. its length is greater than that when it is stored). Through this downward flipping to a vertical attitude and combined with the extension of the arm body, on the one hand, the vertical distance between the at least two magnetic sensing units 4 is significantly increased in the vertical direction, meeting the requirement of the sensor baseline length for the geomagnetic vertical gradient measurement; on the other hand, the magnetic sensing unit 4 at the bottom end of the telescopic support arm 2 is pushed away to a position far away from the unmanned aerial vehicle body 1, thereby effectively reducing the electromagnetic interference of the motor and electronic equipment of the unmanned aerial vehicle body 1 on the detection signal.

[0046] In a preferred embodiment, the specific structure of the attitude switching mechanism 3 includes a driving assembly 301 and a connecting assembly 302. In order to realize the flipping action of the telescopic support arm 2, the root of the telescopic support arm 2 is hinged to the unmanned aerial vehicle body 1 through a rotating shaft, which defines the rotating axis of the telescopic support arm 2 relative to the unmanned aerial vehicle body 1, so that it can swing in the pitch direction.

[0047] In addition, one end of the driving assembly 301 is connected to the unmanned aerial vehicle body 1 as a fixed fulcrum, and the other end is connected to the telescopic support arm 2 through the connecting assembly 302 (such as a hinged seat). In operation, the driving assembly 301 outputs linear displacement or rotational torque, which is transmitted and converted by the connecting assembly 302 and acts on the telescopic support arm 2, thereby driving the telescopic support arm 2 to rotate around the rotating shaft at the root, realizing the angle switching between the horizontal storage position and the vertical working position.

[0048] In a preferred embodiment, for the specific selection of the driving assembly 301, any one of a pneumatic push rod, a hydraulic push rod or an electric linear push rod can be selected as the power source according to the actual load demand and the onboard energy configuration of the unmanned aerial vehicle.

[0049] The linear reciprocating motion state of the driving assembly 301 directly determines the spatial attitude of the telescopic support arm 2. Specifically, when the driving assembly 301 is in the retracted state (i.e. the push rod is retracted), the driving assembly 301 pulls or holds the telescopic support arm 2 through the connecting assembly 302, so that it is stably maintained in the horizontal storage position; in this state, the telescopic support arm 2 is attached to the body, reducing the overall profile size.

[0050] Conversely, when the driving assembly 301 is started and in the extended state (i.e. the push rod is extended), the pushing force output by the driving assembly 301 is transmitted through the connecting assembly 302 to push the telescopic support arm 2 to rotate downward around the rotating shaft until the telescopic support arm 2 is completely flipped to the vertical working position, thereby completing the switching from the storage mode to the working mode

[0051] As Figures 4 to 5 shown, in a preferred embodiment, the telescopic support arm 2 adopts a segmented structure, which specifically includes a first arm section 201 and a second arm section 202. The two arm sections are mechanically connected in a sliding sleeve fitting manner, that is, one arm section is inserted into the other arm section, and the two can slide relative to each other along the axis direction, thereby changing the overall length of the telescopic support arm 2.

[0052] In order to realize the automatic control of the above sliding telescopic action, the telescopic support arm 2 is equipped with a cylinder as a driving element. The cylinder is arranged in the structure of the telescopic support arm 2, and the cylinder body and the piston rod are connected with the first arm section 201 and the second arm section 202 respectively (or vice versa). When the arm length needs to be changed, by controlling the inflation extension or deflation retraction of the cylinder, the cylinder outputs an axial pushing and pulling force, directly driving the relative linear displacement between the first arm section 201 and the second arm section 202, thereby driving the telescopic support arm 2 to transform between the retracted state and the extended state.

[0053] In a preferred embodiment, in order to optimize the effect of gradient measurement, at least two magnetic sensing units 4 are specifically configured as a first sensor and a second sensor. The first sensor is installed at the free end of the telescopic support arm 2 (i.e. the end away from the unmanned aerial vehicle body 1), and when the telescopic support arm 2 is in the vertical working position and is extended, the free end is located at the lowermost part of the entire device, so that the first sensor is farthest away from the electromagnetic interference source of the unmanned aerial vehicle body 1, and the purest geomagnetic signal is obtained.

[0054] The second sensor is installed at the root of the telescopic support arm 2 (i.e. the end close to the shaft or the connection). This head-to-tail layout method utilizes the full length of the telescopic support arm 2, and builds the maximum vertical baseline distance between the first sensor and the second sensor, thereby improving the sensitivity and accuracy of detecting the geomagnetic vertical gradient.

[0055] In a preferred embodiment, in order to further optimize the aerodynamic shape of the unmanned aerial vehicle and reduce the storage volume, the bottom of the unmanned aerial vehicle body 1 is provided with a storage groove 5 matched with the shape thereof. The storage groove 5 specifically represents a recessed space opened in the abdomen of the unmanned aerial vehicle, and the length, width and depth dimensions thereof are matched according to the geometric profile of the telescopic support arm 2 and the magnetic sensing unit 4 installed on the arm.

[0056] When the telescopic support arm 2 is driven to the horizontal storage position, the telescopic support arm 2 enters the inner region of the storage slot 5. At this time, the telescopic support arm 2 and the protruding magnetic sensing unit 4 can be embedded in the storage slot 5 as a whole or at least partially. This embedded structure makes the profile of the bottom of the unmanned aerial vehicle more flat, eliminating the obvious protrusions, not only effectively reducing the air resistance of the unmanned aerial vehicle during flight (especially fast maneuvering), but also increasing the ground clearance when the unmanned aerial vehicle takes off and lands, preventing the precision instruments from being bumped during landing.

[0057] In a preferred embodiment, the cross-sectional shape of the telescopic support arm 2 is configured as a streamline. In the installation layout, the extension direction of the streamline profile is consistent with the forward flight direction of the unmanned aerial vehicle body 1.

[0058] Specifically, unlike traditional circular or square pipes, this streamline cross-section can guide the airflow to flow smoothly over the surface of the support arm, avoiding strong airflow separation or Karman vortex street effects behind the arm body. When the unmanned aerial vehicle performs geomagnetic detection tasks for forward flight, the streamline significantly reduces air resistance, and more critically, effectively suppresses the high-frequency oscillation of the telescopic support arm 2 caused by airflow disturbance. Since the magnetic sensing unit 4 is extremely sensitive to slight mechanical vibrations (vibrations can cause the sensor to cut the geomagnetic field, thereby generating false signal noise), this stable aerodynamic shape reduces dynamic magnetic interference caused by mechanical oscillation from the source, thereby ensuring the purity and accuracy of the data collected by the magnetic sensing unit 4

[0059] In a preferred embodiment, the cross-sectional profile of the streamline is specifically a water droplet shape or a spindle shape (similar to a standard airfoil). When the telescopic support arm 2 is in the vertical working position for forward flight operation, the layout of the cross-sectional profile has a clear directionality: the wider blunt end as the windward face, facing the forward direction of the unmanned aerial vehicle body 1; and the gradually tapering pointed tail end as the leeward face, facing the rear of the unmanned aerial vehicle body 1.

[0060] This forward blunt and rear pointed structure can guide the airflow to flow smoothly over the surface of the arm body and smoothly separate along the pointed tail end, thereby effectively avoiding the formation of turbulent flow regions or Karman vortex streets behind the arm body. By eliminating the periodic lateral forces caused by vortex shedding, the aerodynamic oscillation of the telescopic support arm 2 during flight is greatly reduced, ensuring that the magnetic sensing unit 4 works in a stable mechanical environment and preventing false interference signals caused by mechanical vibration cutting the geomagnetic field.

[0061] Although the embodiments of the present application have been shown and described, it is to be understood that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present application, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An unmanned aerial vehicle for subsurface electromagnetic anomaly detection, characterized in that, The unmanned aerial vehicle comprises: an unmanned aerial vehicle body; a magnetic gradient detection device mounted on the unmanned aerial vehicle body; the magnetic gradient detection device comprises a telescopic support arm, a posture switching mechanism and at least two magnetic sensor units; the at least two magnetic sensor units are arranged along the axial direction of the telescopic support arm; the posture switching mechanism is connected between the unmanned aerial vehicle body and the telescopic support arm, and is used to drive the telescopic support arm to switch between a horizontal storage position and a vertical working position; when in the horizontal storage position, the telescopic support arm is folded along the horizontal direction and is attached to the bottom of the unmanned aerial vehicle body; when in the vertical working position, the telescopic support arm is flipped downward to a vertical posture and is in an elongated state, so as to pull apart the distance between the at least two magnetic sensor units in the vertical direction.

2. The unmanned aerial vehicle for underground electromagnetic anomaly detection according to claim 1, wherein: the posture switching mechanism comprises a driving assembly and a connecting assembly; the root of the telescopic support arm is hinged to the unmanned aerial vehicle body through a rotating shaft; one end of the driving assembly is connected to the unmanned aerial vehicle body, and the other end is connected to the telescopic support arm through the connecting assembly, and the driving assembly drives the telescopic support arm to rotate around the rotating shaft by outputting linear displacement or rotating torque.

3. The unmanned aerial vehicle for underground electromagnetic anomaly detection according to claim 2, wherein: the driving assembly is one of a pneumatic push rod, a hydraulic push rod or an electric linear push rod; when the driving assembly is in a retracted state, the telescopic support arm is kept in the horizontal storage position; when the driving assembly is in an extended state, the telescopic support arm is flipped to the vertical working position.

4. The unmanned aerial vehicle for underground electromagnetic anomaly detection according to claim 3, wherein: the telescopic support arm comprises a first arm section and a second arm section; the first arm section and the second arm section are slidingly sleeved and are driven to be telescopic by a gas cylinder.

5. The unmanned aerial vehicle for underground electromagnetic anomaly detection according to claim 1, wherein: the at least two magnetic sensor units comprise a first sensor and a second sensor; the first sensor is arranged at the free end of the telescopic support arm; the second sensor is arranged at the root of the telescopic support arm.

6. The unmanned aerial vehicle for underground electromagnetic anomaly detection according to claim 1, wherein: a storage groove matching the shape of the unmanned aerial vehicle body is arranged at the bottom of the unmanned aerial vehicle body, and when in the horizontal storage position, the telescopic support arm and the magnetic sensor units are at least partially embedded in the storage groove.

7. The unmanned aerial vehicle for underground electromagnetic anomaly detection according to claim 2, wherein: the cross-sectional shape of the telescopic support arm is configured to be streamlined, and the streamlined shape extends along the flight direction of the unmanned aerial vehicle body.

8. The unmanned aerial vehicle for underground electromagnetic anomaly detection according to claim 7, wherein: the cross-sectional profile of the streamlined shape is in the shape of a water droplet or a spindle, and the blunt end of the cross-sectional profile faces the advancing direction of the unmanned aerial vehicle body, and the sharp tail end faces the rear of the unmanned aerial vehicle body.

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