A transient electromagnetic transmitting and receiving loop winding and unwinding device carried by a remote control vehicle

Abstract

The utility model discloses a kind of transient electromagnetic emission back line retraction device carried by remote control car, it is related to transient electromagnetic emission back line technical field, including remote control car body, remote control car body is equipped with take-up and pay-off device, article storehouse and positioning system;Take-up and pay-off device includes winding shaft, winding shaft is connected with rotary drive device by pivot, winding shaft is wound with cable, the free end of cable is connected with current transmitter after passing through auxiliary take-up and pay-off device;Counterweight is placed in article storehouse, counterweight is detachably fixed on cable by counterweight assembly device;All terrain tire is installed on remote control car body, all terrain tire is connected with vehicle drive system by wheel pivot, spring buffer component and wheel pivot moving component are further equipped between all terrain tire and vehicle drive system.The utility model is simple in structure, convenient to operate, can automatically complete the wire paying-off, winding work of various terrains, without manual wiring, greatly improve work efficiency.

Description

Technical Field

[0001] This utility model relates to the field of transient electromagnetic transmission loop technology, specifically to a transient electromagnetic transmission loop take-up and take-down device mounted on a remote-controlled vehicle. Background Technology

[0002] Transient electromagnetic methods, as one of the commonly used geophysical methods in modern geological exploration, are widely used in mineral resource exploration, engineering geological surveys, and geological disaster early warning due to their advantages such as sensitivity to low-resistivity bodies, large detection depth, and strong anti-interference ability.

[0003] Traditional transient electromagnetic transmitting loop devices are typically deployed using fixed or manually mobile methods. The transmitting coils must be manually transported or dragged along the ground to complete the survey line setup. This is not only inefficient in complex terrains (such as mountains, swamps, and mining subsidence zones), but also poses high personnel safety risks and poor data acquisition continuity. While some researchers have attempted to mount the transmitting device on UAV platforms in recent years, limitations such as UAV payload capacity, the difficulty of electromagnetic interference control, and low-altitude flight stability make it difficult to meet the stringent requirements of high-power transmitting loop devices in terms of size, weight, and electromagnetic compatibility. Furthermore, existing ground-mobile devices are prone to coil geometry distortion due to vibration during movement, severely affecting the uniformity of the transmitting magnetic field and the signal-to-noise ratio of the received signal.

[0004] To address the aforementioned technical bottlenecks, there is an urgent need to develop a transient electromagnetic transmission loop deployment scheme that combines mobility, high stability, and strong environmental adaptability, in order to achieve efficient and accurate transient electromagnetic data acquisition in complex terrain. Utility Model Content

[0005] To overcome the shortcomings of the prior art, this utility model provides a transient electromagnetic transmitter and receiver device mounted on a remote control vehicle. It has a simple structure, is easy to operate, and can automatically complete the laying and retrieving of lines in various terrains without the need for manual wiring, thus greatly improving work efficiency.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] In the first aspect, this utility model provides a transient electromagnetic transmission and retraction device for a remote control vehicle, including a remote control vehicle body, wherein the remote control vehicle body is provided with a retraction device, a storage compartment and a positioning system.

[0008] The take-up and unwinding device includes a winding spool, which is connected to a rotary drive device via a rotating shaft. A cable is wound on the winding spool, and the free end of the cable passes through the auxiliary take-up and unwinding device and is connected to a current transmitter.

[0009] The storage compartment contains a counterweight, which is detachably fixed to the cable via a counterweight assembly device.

[0010] The remote-controlled vehicle is equipped with all-terrain tires, which are connected to the vehicle drive system via wheel axles. A spring buffer component and a wheel axle moving component are also provided between the all-terrain tires and the vehicle drive system.

[0011] As a further implementation, it also includes a central processing unit, which is connected to the positioning system, the vehicle drive system, the auxiliary cable take-up and unwinding device, the rotary drive device, and the counterweight assembly device.

[0012] As a further implementation, the auxiliary cable reeling device includes a telescopic rod, the end of which is provided with a sensor with a hole, and the free end of the cable passes through the hole in the sensor.

[0013] As a further implementation, the counterweight assembly device includes a rotating platform, on which a robotic arm is mounted, and at the end of the robotic arm is a robotic hand.

[0014] As a further implementation, it also includes a smooth counterweight platform, which is installed at one end of the remote-controlled vehicle body.

[0015] As a further implementation, the smooth counterweight platform includes a horizontal smooth counterweight platform and an inclined smooth counterweight platform, with a smooth transition between the horizontal smooth counterweight platform and the inclined smooth counterweight platform, and the end of the inclined smooth counterweight platform is arc-shaped.

[0016] As a further implementation, the auxiliary take-up and take-up device is electrically connected to the central processing device via a sensor with a hole.

[0017] As a further implementation, the counterweight includes a counterweight body, which is connected to the cable clamp via a connecting rod, and the cable clamp is detachably fixed to the cable via a counterweight assembly device.

[0018] As a further implementation, the storage compartment is equipped with a shelf, and the counterweight is placed on the shelf.

[0019] As a further implementation, it also includes a battery assembly disposed on the remote-controlled vehicle body.

[0020] The beneficial effects of this utility model are as follows:

[0021] This invention provides a transient electromagnetic transmission and retrieval device mounted on a remote-controlled vehicle, suitable for laying and retrieving cables on various rugged mountain roads. It reduces labor costs, improves work efficiency, and can precisely control the side length parameters and direction of the transmission and retrieval cable. By installing a counterweight on the cable, the top of the retrieval cable is fixed, ensuring that the retrieval cable is not subjected to excessive disturbance and maintaining the retrieval cable in a square shape. This prevents errors in detection accuracy caused by the influence of manual wiring.

[0022] This invention provides a transient electromagnetic transmitter return cable retraction device mounted on a remote-controlled vehicle, which can automatically complete the return cable retrieval operation, reduce the shortened cable life caused by dragging the return cable, improve the return cable retrieval efficiency by unloading and retrieving the counterweight and cable, and quickly prepare for the wiring of the secondary transmitter return cable, greatly improving the efficiency of transient electromagnetic detection and verification of multiple transmitter return cables. Attached Figure Description

[0023] The accompanying drawings, which form part of this specification, are used to provide a further understanding of this utility model. The illustrative embodiments of this utility model and their descriptions are used to explain this utility model and do not constitute an improper limitation of this utility model.

[0024] Figure 1 This is a schematic diagram of the overall structure of the transient electromagnetic transmitting and receiving device of this utility model.

[0025] Figure 2 This is a schematic diagram of the storage compartment of the transient electromagnetic transmission loop take-up and take-up device of this utility model;

[0026] Figure 3 This is a schematic diagram of the transient electromagnetic transmitting and receiving device of this utility model in operation.

[0027] The components include: 1. Remote control vehicle body; 2. Positioning system; 3. Central processing device; 4. Battery assembly; 51. Vehicle drive system; 52. Wheel axle; 53. All-terrain tires; 61. Cable reel housing; 62. Rotary drive device; 63. Shaft; 64. Cable reel; 7. Auxiliary cable reel; 8. Storage compartment; 81. Storage compartment outer wall; 82. Counterweight body; 83. Shelf; 84. Connecting rod; 85. Cable clamp; 91. Horizontal smooth counterweight platform; 92. Inclined smooth counterweight platform; 10. Cable; 111. Rotating platform; 112. Robotic arm; 113. Robotic hand; 12. Current transmitter. Detailed Implementation

[0028] It should be noted that the following detailed description is exemplary and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used in this invention have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0029] Example 1

[0030] like Figure 1 As shown, this embodiment provides a transient electromagnetic transmission and retraction device mounted on a remote-controlled vehicle, including a remote-controlled vehicle body 1, which is equipped with a retraction device, a storage compartment 8, and a positioning system 2.

[0031] The take-up and unwinding device includes a winding spool 64, which is connected to a rotary drive device 62 via a rotating shaft 63. A cable 10 is wound on the winding spool 64, and the free end of the cable 10 passes through the auxiliary take-up and unwinding device 7 and is connected to the current transmitter 12.

[0032] The storage compartment 8 contains a counterweight, which is detachably fixed to the cable 10 by a counterweight assembly device.

[0033] The remote-controlled vehicle body 1 is equipped with an all-terrain tire 53, which is connected to the vehicle drive system 51 via a wheel axle 52. A spring buffer component and a wheel axle moving component are also provided between the all-terrain tire 53 and the vehicle drive system 51.

[0034] It also includes a central processing unit 3 and a battery assembly 4. The central processing unit 3 is used to control the automated operation of the entire transmitter and receiver, and is connected to the positioning system 2, the vehicle drive system 51, the auxiliary receiver 7, the rotary drive unit 62, and the counterweight assembly unit.

[0035] The battery assembly 4 is mounted on the remote-controlled vehicle body 1. It can independently provide power for the wiring and rewinding of transient electromagnetic radiation loops multiple times (no less than ten times).

[0036] The cable rewinding device also includes a housing 61, which is connected to the remote control vehicle body 1. The cable rewinding spool 64, the rotating shaft 63, and the rotary drive device 62 are all located inside the housing 61. The cable rewinding spool 64 is driven to rotate and stop by the rotary drive device 62. One rotary drive device 62 is located on each side to process various signals from the central processing device 3 in a timely manner, preventing misalignment or slippage caused by slow start-up or stopping and inconsistent movement with the remote control vehicle. The rotary drive device 62 is connected to the cable rewind drum 64 via the rotating shaft 63, controlling the cable rewind drum 64 to wind or unwind the cable 10.

[0037] The auxiliary cable reel-in / unwinding device 7 includes a telescopic rod. The telescopic rod's extension and retraction control the relative position of the cable 10 and the reel 64, ensuring the cable 10 is evenly removed from or wound around the reel 64. A perforated sensor is installed at the end of the telescopic rod. The free end of the cable 10 passes through the hole in the sensor, which records the length of the cable 10 passing through it and sends this information back to the central processing device 3. During operation, the central processing device 3 controls the extension and retraction of its rod to evenly remove or wind the cable 10 from the reel 64. The perforated sensor calculates and records the length of the cable 10 passing through it and sends a signal to the central processing device 3. To ensure proper cable reel-in / unwinding, when the remote-controlled vehicle stops, the sensor at the end of the auxiliary cable reel-in / unwinding device 7 should return to the center position of the smooth counterweight platform before installing or unloading the counterweight.

[0038] The counterweight assembly device includes a rotating platform 111, which is mounted on the remote-controlled vehicle body 1. A robotic arm 112 is installed on the rotating platform 111, and a robotic hand 113 is attached to the end of the robotic arm 112. The rotation and extension of the rotating platform 111 and the robotic arm 112 ensure the flexible movement of the assembly robotic hand 113. The central processing device 3 can control the assembly robotic hand 113 to remove the counterweight from the storage compartment 8 and fix it to the anchor position on the cable 10. During operation, the rotating platform 111 and the robotic arm 112 control the assembly robotic hand 113 to approach the counterweight. The counterweight is picked up by extracting air from the assembly robotic hand 113, and the counterweight is lowered by filling the assembly robotic hand 113 with air.

[0039] This utility model also includes a smooth counterweight platform, which is installed at one end of the remote control vehicle body 1 to meet the relative sliding requirements of the cable 10 and the counterweight on the remote control vehicle. The smooth counterweight platform includes a horizontal smooth counterweight platform 91 and an inclined smooth counterweight platform 92, with a smooth transition between the horizontal smooth counterweight platform 91 and the inclined smooth counterweight platform 92, and the end of the inclined smooth counterweight platform 92 is arc-shaped. It can meet the movement and processing requirements of the cable 10 and the counterweight without causing wear, jamming or stretching.

[0040] like Figure 2As shown, the storage compartment 8 is equipped with a shelf 83, on which the counterweight is placed. The counterweight includes a counterweight body 82, which is connected to a cable clamp 85 via a connecting rod 84. The cable clamp 85 is detachably fixed to the cable 10 via a counterweight assembly device. The inside of the cable clamp 85 should be rough to prevent relative slippage when fixing the cable 10. During assembly, the assembly robot 113 removes the counterweight from the storage compartment 8 and suspends it directly above the smooth counterweight platform. Then, the cable clamp 85 is fixed vertically downwards to the cable 10. After fixing, the counterweight is released, and it tilts to both sides onto the smooth counterweight platform due to gravity. During unloading, the assembly robot 113 uses the flexible movement of the rotating platform 111 and the robotic arm 112 to place the counterweight on the tilted side and remove it by suction. After rotation and adjustment, the counterweight is placed back into the storage compartment 8.

[0041] To ensure the remote-controlled car can move on various terrains, the lower part of the car body 1 is equipped with four sets of vehicle drive devices to guarantee the power requirements of the car. The vehicle drive devices include a vehicle drive system 51, all-terrain tires 53, and wheel axles 52 connecting the two. The wheel speed is determined by the magnitude of the current transmitted to the vehicle drive system 51. The wheel direction adopts a stationary steering technology, which is determined by the rotation direction and speed of the wheels at both ends. The vehicle drive system 51 should include a spring buffer component and a wheel axle moving component. The spring buffer component is used to ensure that the remote-controlled car body 1 does not shake significantly when the car travels on uneven roads or when moving and stopping. The wheel axle moving component is used to adjust the height of the wheel axles 52 to adjust the height of the four corners of the car, thereby ensuring the overall level of the car by controlling the height of the four corners.

[0042] The spring buffer component is a spring component fitted onto the connecting rod between the vehicle drive unit and the remote control car body 1 to provide a buffering effect. The wheel axle moving component is a hydraulic rod-like device with telescopic measurement function, which allows for fine adjustment of the height of the wheel axle 52 of the vehicle drive unit to ensure the overall level of the remote control car.

[0043] In this embodiment, the positioning system 2 is a GPS positioning system, which is connected to the central processing unit 3 and is used to assist the remote-controlled vehicle in determining its movement distance and direction. The GPS positioning system is equipped with a level detection device and sends tilt signals to the central processing unit 3 to assist the remote-controlled vehicle in adjusting the height of the wheels of the four sets of vehicle drive devices to ensure that the remote-controlled vehicle is level, thereby ensuring the accuracy of the coordinates obtained by the GPS positioning system.

[0044] Central processing unit 3 should be able to perform the following requirements:

[0045] It can regulate the current of four vehicle drive systems to control the vehicle's forward speed and direction;

[0046] It can adjust the extension speed of the auxiliary cable retraction device 7 according to the vehicle speed, and can process the electrical signal transmitted back by the perforated sensor at the end of the auxiliary cable retraction device 7 to calculate the length of the cable 10.

[0047] The rotation speed of the rotary drive device 62, which can be adjusted to handle the cable winding and unwinding device, is equal to the speed of the remote control vehicle, so as to ensure that the cable 10 on the reel 64 is removed or wound correctly, and will not cause the reel 64 to move or slip with the remote control vehicle body 1.

[0048] It can adjust and process the positioning coordinates given by the GPS positioning system to help correct the forward direction of the remote control car, and can record the position coordinates of the remote control car when the counterweight is installed or unloaded.

[0049] It can control the counterweight assembly device to remove the counterweight from the storage compartment 8 and install it on the cable 10, and it can control the counterweight assembly device to remove the counterweight from the cable 10 and put it back into the storage compartment 8.

[0050] It can automatically complete the wiring and take-up of the transient electromagnetic transmission loop based on the initial transient electromagnetic transmission loop side length parameters and the initial direction of travel, combined with the above functions.

[0051] like Figure 3 As shown, the method for releasing wire using the transient electromagnetic transmitting and receiving device of this application is as follows:

[0052] Select the placement position of the current transmitter 12, set the side length of the transmission loop, the coordinate position of the wiring start point, and the direction of the measurement line; pass the free end of the cable 10 through the sensor hole of the auxiliary cable take-up and release device 7 and fix it on the current transmitter 12 to start the wiring work, and at the same time calculate the length of the cable 10 according to the sensor signal.

[0053] When the length of cable 10 is about to reach the set side length value, the remote control car begins to decelerate. When the calculated length of cable 10 is equal to the side length of the return line, it should stop moving forward immediately, and the cable winding and unwinding device should also stop rotating immediately. The end of the auxiliary cable winding and unwinding device 7 returns to the middle of the smooth counterweight platform.

[0054] At this time, the counterweight assembly device removes the counterweight from the storage compartment 8 and fixes the counterweight to the cable 10 on the smooth counterweight platform. After fixing, the counterweight is released and it tilts onto the smooth counterweight platform due to gravity. The remote control car slowly moves forward a short distance until the counterweight touches the ground. It serves as the inflection point of the transmission return line and plays a fixing role. The position coordinates at this time are recorded.

[0055] After recording the coordinates, the remote control vehicle should adjust its direction according to the set parameters and clear the recorded survey line length. Repeat the above process until the survey line work is completed.

[0056] Remove the other free end of the winding spool 64 and fix it on the current transmitter 12 to begin transient electromagnetic detection.

[0057] The method for taking back the line using the transient electromagnetic transmitting and receiving device of this application is as follows:

[0058] Note that the remote control car is working in reverse at this time. Remove one free end of cable 10 from the current transmitter 12, and pass the free end through the sensor hole of the auxiliary take-up device 7 and fix it on the reel. Set the length of the transmit return line, the coordinate position of the take-up starting point, and the take-up direction, and start the take-up operation. At the same time, calculate the cable length based on the sensor signal.

[0059] When the length of cable 10 is about to reach the set side length value, the remote control car begins to decelerate, and the smooth counterweight is slowly lifted from the ground and placed on the smooth counterweight platform until the length of the test line is equal to the side length of the return line. The remote control car stops moving forward, the reel 64 stops rotating and stops releasing the line, and the end of the auxiliary reel device 7 returns to the middle of the smooth counterweight platform.

[0060] After the mechanical assembly arm 113 of the counterweight assembly device adjusts its position and attaches to the side of the counterweight, it removes the cable clamp 85 from the cable 10, adjusts its position again, puts the counterweight back into the storage compartment 8 with the counterweight facing down, and records the position coordinates at this time to verify the deviation of the cable winding and unwinding work.

[0061] After recording the coordinates, the remote-controlled vehicle should adjust its direction according to the set parameters and clear the recorded survey line length. Repeat the above process until the line retraction is completed.

[0062] The above description is merely a preferred embodiment of this utility model and is not intended to limit the scope of this utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A transient electromagnetic transmitter-receiver device mounted on a remote-controlled vehicle, characterized in that, Includes a remote-controlled vehicle body, which is equipped with a cable rewinding device, a storage compartment, and a positioning system; The take-up and unwinding device includes a winding spool, which is connected to a rotary drive device via a rotating shaft. A cable is wound on the winding spool, and the free end of the cable passes through the auxiliary take-up and unwinding device and is connected to a current transmitter. The storage compartment contains a counterweight, which is detachably fixed to the cable via a counterweight assembly device. The remote-controlled vehicle is equipped with all-terrain tires, which are connected to the vehicle drive system via wheel axles. A spring buffer component and a wheel axle moving component are also provided between the all-terrain tires and the vehicle drive system.

2. The transient electromagnetic transmitter-receiver device mounted on a remote-controlled vehicle as described in claim 1, characterized in that, It also includes a central processing unit, which is connected to the positioning system, the vehicle drive system, the auxiliary cable take-up and undo device, the rotary drive device, and the counterweight assembly device.

3. The transient electromagnetic transmitter-receiver device mounted on a remote-controlled vehicle as described in claim 1, characterized in that, The auxiliary cable reel-in / out device includes a telescopic rod, the end of which is equipped with a sensor with a hole, and the free end of the cable passes through the hole in the sensor.

4. The transient electromagnetic transmitter-receiver device mounted on a remote-controlled vehicle as described in claim 1, characterized in that, The counterweight assembly device includes a rotating platform, on which a robotic arm is mounted, and at the end of the robotic arm is a robotic hand.

5. The transient electromagnetic transmitter-receiver device mounted on a remote-controlled vehicle as described in claim 1, characterized in that, It also includes a smooth counterweight platform, which is installed at one end of the remote-controlled vehicle body.

6. The transient electromagnetic transmitter-receiver device mounted on a remote-controlled vehicle as described in claim 5, characterized in that, The smooth counterweight platform includes a horizontal smooth counterweight platform and an inclined smooth counterweight platform, with a smooth transition between the horizontal and inclined smooth counterweight platforms, and the end of the inclined smooth counterweight platform is arc-shaped.

7. A transient electromagnetic transmitter-receiver device mounted on a remote-controlled vehicle as described in claim 3, characterized in that, The auxiliary take-up and drop-off device is electrically connected to the central processing device via a perforated sensor.

8. The transient electromagnetic transmitter-receiver device mounted on a remote-controlled vehicle as described in claim 1, characterized in that, The counterweight includes a counterweight body, which is connected to the cable clamp via a connecting rod. The cable clamp is detachably fixed to the cable via a counterweight assembly device.

9. A transient electromagnetic transmitter-receiver device mounted on a remote-controlled vehicle as described in claim 1, characterized in that, The storage compartment is equipped with a shelf, and the counterweight is placed on the shelf.

10. A transient electromagnetic transmitter-receiver device mounted on a remote-controlled vehicle as described in claim 1, characterized in that, It also includes a battery assembly that is mounted on the remote-controlled vehicle body.

Images