An aerial magnetic survey device and a UAV applying the aerial magnetic survey device

Abstract

The application relates to the field of aerial surveying, in particular to an aerial magnetic surveying device and a UAV applying the same. The aerial magnetic surveying device comprises a probe rod for mounting a detection device, a suspension assembly for connecting with a UAV body and a limiting locking assembly. The suspension assembly comprises a hanger and a connecting head. The hanger is connected with the UAV body and has a sliding slot. The sliding plate of the connecting head is matched with the sliding slot. The sliding plate is relatively fixed with the hanger through a first locking bolt. One end of the limiting locking assembly is connected with the side wall of the UAV body, and the other end is fixed with the probe rod. The probe rod is a hollow carbon fiber rod for wiring. The suspension assembly of the UAV is arranged on the belly of the UAV. The probe rod extends to the back side of the UAV body to mount the detection device. The limiting locking assembly is arranged on the back side of the UAV body to connect the UAV body and the probe rod. During flight, the probe rod is horizontal, and the cesium light pump is vertical. The application achieves the technical effects of high stability of the aerial magnetic surveying device, guaranteeing stable operation of the aerial magnetic surveying device and accurate measurement.

Description

Technical Field

[0001] This application relates to the field of aerial exploration equipment, and in particular to an aerial magnetic surveying device and a drone using the aerial magnetic surveying device. Background Technology

[0002] Airborne magnetic survey, also known as airborne magnetic exploration or airborne magnetic surveying, is the earliest, most mature, and most widely used magnetic surveying method in airborne geophysical exploration, holding an important position in the field of geophysical exploration. It involves mounting an airborne magnetometer and its auxiliary equipment on an aircraft to measure the intensity or gradient of the Earth's magnetic field over a pre-set survey line and altitude. With the development of technology, airborne surveying techniques have continuously improved, and its application scope has become increasingly wide, providing crucial data support for geological exploration, mineral resource development, and other fields, greatly promoting the development of related industries.

[0003] Currently common airborne magnetic measurement equipment often suffers from poor stability. Specifically, airborne magnetic measurement equipment is generally suspended on an aircraft, and a probe is installed on the aircraft. The end of the probe extends to the front of the aircraft, keeping the magnetic field probe (helium optical pump, cesium optical pump, etc.) of the airborne magnetic measurement equipment away from the drone, thereby reducing interference from the drone on the measurement.

[0004] However, due to the single hanging point and the long and easily swaying probe, the magnetic measurement equipment will swing slightly with the wind during measurement. At the same time, it is impossible to effectively understand the attitude deviation caused by the random influence of the wind on the magnetic field probe, and thus it is impossible to perform attitude calibration. Since airborne magnetic measurement equipment generally uses attitude data acquisition, the swaying of the magnetic measurement equipment with the wind will seriously affect the accuracy of the measured data. Utility Model Content

[0005] This application provides an airborne magnetic surveying device and a drone using the airborne magnetic surveying device. The airborne magnetic surveying device and the drone have high stability, thus effectively solving the technical problems of poor stability and low accuracy of measured data during aerial surveying. The technical solution adopted is as follows:

[0006] On the one hand, this application provides an airborne magnetic measurement device, including a probe, a suspension assembly, and a limit locking assembly;

[0007] The probe rod is used to install the detection equipment; the probe rod is fixedly connected to the suspension assembly; the suspension assembly is used to connect to the fuselage of the UAV;

[0008] The limiting and locking assembly has two ends, one of which is a locking end for connecting to the side wall of the UAV fuselage; the other end is a connecting end and is fixedly connected to the probe rod.

[0009] By adopting the above technical solution, the airborne magnetic measurement device installs the detection equipment through a probe rod. The probe rod is connected to the fuselage of the UAV via a suspension assembly, and a limit locking assembly connects the fuselage sidewall and the probe rod. This provides multiple connection points for the connection between the probe rod and the fuselage, improving the stability of the airborne magnetic measurement device and solving the problems of poor stability and low accuracy of measured data during aerial surveys.

[0010] Preferably, the suspension assembly includes a bracket and a connector; the bracket is used to connect to the fuselage of the UAV; the bracket is provided with a sliding slot; the connector includes a sliding plate that mates with the sliding slot; and the probe is fixedly connected to the connector.

[0011] By adopting the above technical solution, the mounting bracket is connected to the UAV fuselage, the sliding plate of the connector cooperates with the sliding slot of the mounting bracket, and the probe is fixedly connected to the connector, so that the probe is stably connected to the UAV through the suspension assembly, thereby enhancing the stability of the connection between the airborne magnetic measurement device and the UAV.

[0012] Preferably, a locking groove is provided on the sliding plate, and a first locking bolt is provided on the bracket. The first locking bolt is used to engage with the locking groove to achieve relative fixation between the sliding plate and the bracket.

[0013] By adopting the above technical solution, the sliding plate is engaged with the first locking bolt on the bracket through the locking groove, thereby achieving relative fixation between the sliding plate and the bracket and enhancing the stability of the suspension assembly.

[0014] Preferably, the limiting and locking assembly includes a locking block, a pull rod, and a locking member. The locking block is used to connect to the side wall of the UAV's fuselage. The locking block has a slot. One end of the pull rod is provided with an insert, and the other end is fixedly connected to a probe. The locking member is used to fix the insert to the locking block.

[0015] By adopting the above technical solution, one end of the pull rod is fixed to the locking block by inserts and locking components, and the other end is connected to the probe rod, which can further enhance the stability of the connection between the probe rod and the UAV fuselage.

[0016] Preferably, the locking element is configured as a second locking bolt, and the insert has a hole for the second locking bolt to pass through.

[0017] By adopting the above technical solution, the insert can be more securely fixed to the locking block by the insertion hole on the insert and the second locking bolt, thereby further improving the overall stability of the airborne magnetic measurement device.

[0018] Preferably, the probe is a carbon fiber rod with a hollow interior for wiring.

[0019] By adopting the above technical solution, the probe rod is made of carbon fiber, which is lightweight and can reduce the impact on the flight performance of the UAV; the hollow interior is used for wiring, which can avoid the cables being exposed and reduce the risk of the cables being affected by external factors, while making the structure of the airborne magnetic measurement device more neat.

[0020] Preferably, the detection device includes a magnetic field collector and a cesium optical pump probe.

[0021] By adopting the above technical solution, the airborne magnetic measurement device is equipped with a magnetic field acquisition unit and a cesium optical pump probe, which can realize the function of acquiring magnetic field data, and is helpful for airborne magnetic measurement work.

[0022] Preferably, the detection device further includes a three-component fluxgate sensor and a laser altimeter.

[0023] By adopting the above technical solutions, the detection equipment of the airborne magnetic surveying device is enhanced with a three-component fluxgate sensor and a laser altimeter, enabling the airborne magnetic surveying device to acquire three-component magnetic field data and UAV altitude data, thus enriching the detection function of the airborne magnetic surveying device and improving the comprehensiveness and accuracy of the aerial survey data.

[0024] Secondly, this application provides a UAV employing the aforementioned airborne magnetic measurement equipment, using the following technical solution:

[0025] A drone includes a fuselage, a suspension assembly located on the belly of the fuselage, a probe rod connected at one end to the suspension assembly, and the other end extending toward the rear of the fuselage; the probe rod is located at the rear of the fuselage for mounting detection equipment.

[0026] The limiting and locking component is also located on the rear side of the machine, and the locking end is connected to the side wall of the machine body, while the connecting end is connected to the probe rod located at the rear of the machine body.

[0027] By adopting the above technical solutions, the probe, suspension assembly, and limit locking assembly of the airborne magnetic surveying device work together to improve the installation stability of the airborne magnetic surveying device on the UAV and reduce probe sway. The probe extends to the rear of the fuselage and the detection equipment is installed behind the fuselage, which can keep the detection equipment away from the UAV and reduce the interference of the UAV on the detection. The limit locking assembly is located on the rear of the fuselage and connects the fuselage side wall and the probe, further enhancing the stability of the probe, thereby improving the stability of the aerial surveying process and the accuracy of the measured data.

[0028] Preferably, the detection device includes a cesium optical pump; when the UAV is in flight, the probe is in a horizontal state; and the cesium optical pump is in a vertical state.

[0029] By adopting the above technical solution, the airborne magnetic measurement device is installed on the UAV. The probe rod is connected with the suspension assembly and the limit locking assembly to improve the stability of the airborne magnetic measurement device. The probe rod is in a horizontal state and the cesium optical pump is in a vertical state, which can better collect data such as magnetic field and improve the accuracy of aerial survey data.

[0030] In summary, this application includes at least one of the following beneficial technical effects:

[0031] 1. This airborne magnetic measurement device provides multiple support and fixing points for the probe rod through the cooperation of the suspension assembly and the limit locking assembly, reducing the swaying of the probe rod during flight. The suspension assembly is connected to the UAV fuselage through the bracket, and the cooperation of the sliding plate and the sliding slot, as well as the locking of the first locking bolt, achieves a stable connection between the probe rod and the UAV fuselage in the suspension position, reducing the influence of external factors on the attitude of the detection equipment, thereby improving the accuracy of the measured data. This represents a significant improvement and enhancement compared to existing technologies.

[0032] 2. By strategically positioning the airborne magnetic surveying device on the UAV, interference from the UAV's own magnetic field on the detection equipment is reduced. The placement of the suspension and locking components at the rear of the fuselage provides stable support for the probe, making it more stable during flight. Specific configurations for the probe and cesium optical pump facilitate more accurate measurements, thereby improving the accuracy and reliability of UAV aerial surveying, representing a significant improvement over existing UAV aerial surveying technologies. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the structure of the airborne magnetic measurement equipment in the embodiments of this application;

[0034] Figure 2 This is an exploded structural diagram of the suspension assembly and the limiting and locking assembly in the embodiments of this application;

[0035] Figure 3 This is a structural schematic diagram of the UAV from the front view in an embodiment of this application;

[0036] Figure 4 This is a structural schematic diagram of the UAV from the rear view in an embodiment of this application;

[0037] Figure 5 This is a schematic diagram of the structure of the UAV in a forward flight attitude in the embodiments of this application.

[0038] The attached diagram is labeled as follows: 1. Probe rod; 2. Suspension assembly; 21. Hanger; 211. Bracket; 212. Connecting seat; 213. Sliding slot; 22. Connector; 221. Sliding plate; 222. Locking groove; 23. First locking bolt; 3. Limit locking assembly; 31. Locking block; 311. Slot; 32. Pull rod; 321. Insert; 33. Locking element; 4. Magnetic field collector; 5. Cesium optical pump probe; 6. Three-component fluxgate sensor; 7. Laser altimeter; 8. Body. Detailed Implementation

[0039] The following is in conjunction with the appendix Figures 1 to 5 This application will be described in further detail.

[0040] This application discloses an airborne magnetic measurement device and a drone using the airborne magnetic measurement device, which effectively solves the technical problems of poor stability and low accuracy of measured data in airborne magnetic measurement devices during aerial surveys.

[0041] Currently, the most common technology on the market is the suspended fluxgate magnetic measurement technology, which uses multiple cables or a lightweight frame to suspend the fluxgate sensor under the rotorcraft. When in operation, after the aircraft takes off, the fluxgate sensor suspended below hangs down and centers due to its own weight.

[0042] However, the following problems and drawbacks exist: 1. The suspended magnetic measurement system cannot guarantee that the relative position between the fluxgate sensor and the aircraft is unique for each flight. Since the relative position is not unique, the magnetic field is greatly affected by the aircraft. The magnetic measurement values ​​between the sensor and the aircraft must be calibrated before each flight.

[0043] 2. During measurement, the existing suspended magnetic measurement system will sway slightly with the wind, causing the magnetic sensor's attitude to be inconsistent with the aircraft's attitude. The attitude data acquired by the suspended system is calibrated using an accelerometer fixed to the aircraft; therefore, this attitude data cannot accurately reflect the attitude deviation caused by the random influence of wind on the magnetic sensor. This makes attitude calibration inconvenient.

[0044] 3. The data acquisition system is installed below the aircraft. The distance between the data acquisition unit and the magnetic sensor is relatively close, and the relative positions of the data acquisition unit and the sensor are not unique.

[0045] 4. The existing suspension connection structure can seriously affect the overall stability of the aircraft when the ambient wind speed is high and the suspension sway is large, which can easily lead to the risk of crash.

[0046] To address the above problems or deficiencies, this application mainly adopts a solution that combines probe rod 1, suspension assembly 2, and limit locking assembly 3 to improve the stability of aerial surveying. This achieves the effect of enhancing the stability of the aerial magnetic surveying device and the UAV, and improving the accuracy of the measurement data. The following is a further detailed description of this application.

[0047] Reference Figure 1 and Figure 2 First, this application provides an airborne magnetic surveying device, specifically including a probe 1, a suspension assembly 2, and a limiting and locking assembly 3. The probe 1 is a long, straight rod, fixedly connected to the suspension assembly 2. The suspension assembly 2 is used to connect to the fuselage 8 of a UAV, thereby fixing one position of the probe 1 to the fuselage 8. The limiting and locking assembly 3 has a locking end and a connecting end. The locking end is connected to the side wall of the UAV fuselage 8, and the connecting end is fixedly connected to the probe 1, thereby fixing another position of the probe 1 to the fuselage 8. Various detection devices are installed on the probe 1.

[0048] Therefore, by combining the suspension assembly 2 and the limiting and locking assembly 3, on the one hand, the probe rod 1 can be stably connected to the fuselage 8 of the UAV, and on the other hand, multiple support points are provided for the probe rod 1, reducing the swaying of the probe rod 1 and effectively enhancing the stability of the detection equipment. Even in windy environments, the probe rod 1 and the detection equipment are not prone to swaying, making the detection equipment more stable during the measurement process and improving the accuracy of the measured data.

[0049] Specifically, probe 1 is used to install the detection equipment. Probe 1 can be made of carbon fiber, a material that is lightweight and high-strength, making it suitable for use in airborne magnetic surveying devices. Furthermore, probe 1 is hollow inside, allowing for wiring, which makes the wiring layout of the airborne magnetic surveying device more organized and reduces potential interference from exposed wiring. In other implementation scenarios, probe 1 can also be made of lightweight, high-strength, non-magnetic materials such as titanium alloy or aluminum alloy.

[0050] Furthermore, the suspension assembly 2 includes a bracket 21 and a connector 22. The bracket 21 is used to connect to the fuselage 8 of the UAV, and the connection can be achieved by bolts, clips, etc., to ensure the reliability of the connection between the bracket 21 and the UAV fuselage 8. In this application, the bracket 21 includes multiple parallel supports 211, each of which is disposed at the belly of the UAV and fixedly connected to the belly.

[0051] Multiple brackets 211 are connected to a connecting seat 212 on their bottom sides. The bottom of the connecting seat 212 has a groove, and the two side walls of the groove have horizontal sliding slots 213. The connector 22 has a sliding plate 221, which can be inserted horizontally from one end of the sliding slot 213, thereby completing the connection between the connector 22 and the connecting seat 212.

[0052] Furthermore, a locking groove 222 is formed at the edge of the sliding plate 221. The shape of the locking groove 222 can be circular, square, etc. A first locking bolt 23 is provided on the connecting seat 212, which is used to engage with the locking groove 222. When the first locking bolt 23 is inserted into the locking groove 222, the sliding plate 221 can no longer slide relative to the bracket 21. In some cases, a pin or the like can be used instead of the first locking bolt 23 to achieve the locking function.

[0053] The probe rod 1 is fixedly connected to the connector 22 by a clamp. This allows for a detachable connection between the probe rod 1 and the bracket 21.

[0054] Furthermore, the limiting and locking assembly 3 includes a locking block 31, a pull rod 32, and a locking element 33. The locking block 31 is used to connect to the side wall of the drone's fuselage 8, and can also be connected by bolts or other means. The locking block 31 has a slot 311. One end of the pull rod 32 is provided with an insert 321, the shape of which matches the slot 311 for easy insertion into the slot 311. The other end of the pull rod 32 is fixedly connected to the probe rod 1 by a clamp, and this fixed connection method is the same as the connection method between the probe rod 1 and the connector 22.

[0055] As the sliding plate 221 is inserted laterally into the sliding slot 213, the insert 321 is simultaneously inserted into the slot 311. That is, while the connector 22 is connected to the connector 212, the insert 321 is also connected to the slot 311.

[0056] The locking element 33 is used to fix the insert 321 onto the locking block 31. The locking element 33 can be configured as a second locking bolt. The insert 321 has a hole for the second locking bolt to pass through. When the second locking bolt passes through the hole and is tightened, the insert 321 is fixed onto the locking block 31, thereby realizing the limiting and locking function of the limit locking assembly 3 on the probe 1.

[0057] In this embodiment, the suspension assembly 2 and the limit locking assembly 3 can also achieve the quick-release function between the probe 1 and the drone body 8 by loosening the first locking bolt 23 and the second locking bolt.

[0058] The detection equipment includes a magnetic field collector 4 and a cesium optical pump probe 5. The magnetic field collector 4 is used to collect magnetic field data, while the cesium optical pump probe 5 is a high-precision magnetic field detection device that can more accurately measure the intensity of the geomagnetic field. The detection equipment also includes a three-component fluxgate sensor 6 and a laser altimeter 7. The three-component fluxgate sensor 6 can measure the three components of the magnetic field, providing more comprehensive magnetic field information for aerial surveying. The laser altimeter 7 is used to measure the altitude of the UAV above the ground, assisting in the aerial surveying work.

[0059] The implementation principle of this embodiment is as follows: This airborne magnetic measurement device provides multiple support points and fixing points for the probe rod 1 through the cooperation of the suspension assembly 2 and the limiting locking assembly 3, reducing the swaying of the probe rod 1 during flight. The suspension assembly 2 is connected to the UAV fuselage 8 through the bracket 21. The cooperation between the sliding plate 221 and the sliding slot 213, as well as the locking of the first locking bolt 23, achieves a stable connection between the probe rod 1 and the UAV fuselage 8 in the suspension position, reducing the influence of external factors on the attitude of the detection equipment, thereby improving the accuracy of the measured data. This represents a significant improvement and enhancement compared to the prior art.

[0060] Secondly, this application also provides a drone employing the aforementioned airborne magnetic measurement device. The drone can be a fixed-wing drone or a multi-rotor drone. This application uses a multi-rotor drone as an example.

[0061] Reference Figure 3 and Figure 4 Specifically, the drone includes a fuselage 8, a suspension assembly 2 located on the belly of the fuselage 8, and a mounting bracket 21 fixedly connected to the belly by bolts. In some embodiments, the mounting bracket 21 may also extend to both sides of the belly and be fixedly connected to the fuselage 8. One end of the probe 1 is fixedly connected to the connector 22, and the other end extends towards the rear of the fuselage 8. The probe 1 is located at the rear of the fuselage 8 for mounting detection equipment.

[0062] The limiting and locking assembly 3 is also located on the rear side of the fuselage 8, and the locking block 31 is fixedly connected to the rear side wall of the fuselage 8 by bolts. The pull rod 32 is connected to the probe rod 1 at the rear of the fuselage 8, thus providing better support for the probe rod 1. This arrangement makes the layout of the airborne magnetic measurement device on the UAV more reasonable, reduces the interference of the UAV on the detection equipment, and further enhances the stability of the airborne magnetic measurement device.

[0063] The rear side of the fuselage 8 mentioned above is determined according to the forward and backward directions of the drone. The front side of the fuselage 8 is the side of the drone's forward direction, and the rear side of the fuselage 8 is the side of the drone's backward direction.

[0064] Reference Figure 5 Furthermore, by setting a certain tilt on the top surface of the mounting bracket 21, the probe 1 is installed at a certain angle on the underside of the UAV. At this installation angle, when the UAV is in a forward flight attitude, the probe 1 is in a horizontal state, and the cesium optical pump is in a vertical state. This setting is beneficial for the cesium optical pump to measure the geomagnetic field strength more accurately, because the vertically positioned cesium optical pump can better sense the direction of the geomagnetic field, thus improving the measurement accuracy.

[0065] The implementation principle of this embodiment is as follows: By rationally arranging the position of the airborne magnetic surveying device on the UAV, the interference of the UAV's own magnetic field on the detection equipment is reduced. The suspension assembly 2 and the limiting and locking assembly 3, located on the rear side of the fuselage 8, provide stable support for the probe 1, making the probe 1 more stable during flight. The specific state settings of the probe 1 and the cesium optical pump facilitate more accurate measurements by the detection equipment, thereby improving the accuracy and reliability of UAV aerial surveying, representing a significant improvement compared to existing UAV aerial surveying technologies.

[0066] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. An airborne magnetic measurement device, characterized in that: It includes a probe (1), a suspension assembly (2), and a limit locking assembly (3); The probe (1) is used to install the detection equipment; the probe (1) is fixedly connected to the suspension assembly (2); the suspension assembly (2) is used to connect to the fuselage (8) of the UAV; The limiting locking component (3) has two ends, one of which is a locking end for connecting to the side wall of the fuselage (8) of the UAV; the other end is a connecting end and is fixedly connected to the probe (1).

2. The airborne magnetic measurement equipment according to claim 1, characterized in that: The suspension assembly (2) includes a bracket (21) and a connector (22); the bracket (21) is used to connect to the fuselage (8) of the UAV; the bracket (21) is provided with a sliding slot (213); the connector (22) includes a sliding plate (221) that cooperates with the sliding slot (213); the probe (1) is fixedly connected to the connector (22).

3. The airborne magnetic measurement equipment according to claim 2, characterized in that: The sliding plate (221) has a locking groove (222), and the bracket (21) is provided with a first locking bolt (23). The first locking bolt (23) is used to engage with the locking groove (222) to achieve relative fixation between the sliding plate (221) and the bracket (21).

4. The airborne magnetic measurement equipment according to claim 1, characterized in that: The limiting locking assembly (3) includes a locking block (31), a pull rod (32), and a locking member (33). The locking block (31) is used to connect to the side wall of the fuselage (8) of the UAV. The locking block (31) has a slot (311). One end of the pull rod (32) is provided with a insert (321), and the other end is fixedly connected to the probe (1). The locking member (33) is used to fix the insert (321) on the locking block (31).

5. The airborne magnetic measurement equipment according to claim 4, characterized in that: The locking member (33) is configured as a second locking bolt, and the insert (321) is provided with a hole for the second locking bolt to pass through.

6. The airborne magnetic measurement equipment according to claim 5, characterized in that: The probe (1) is a carbon fiber rod with a hollow interior for wiring.

7. The airborne magnetic measurement equipment according to claim 1, characterized in that: The detection equipment includes a magnetic field collector (4) and a cesium optical pump probe (5).

8. The airborne magnetic measurement equipment according to claim 7, characterized in that: The detection device also includes a three-component fluxgate sensor (6) and a laser altimeter (7).

9. A drone, employing the airborne magnetic surveying equipment according to any one of claims 1-8, characterized in that: Includes fuselage (8), the suspension assembly (2) is located on the belly of fuselage (8), one end of the probe (1) is connected to the suspension assembly (2), and the other end extends to the rear of fuselage (8); the probe (1) is located at the rear of fuselage (8) for installing detection equipment; The limiting locking component (3) is also located on the rear side of the body (8), and the locking end is connected to the side wall of the body (8), while the connecting end is connected to the probe rod (1) located at the rear of the body (8).

10. The UAV according to claim 9, characterized in that: The detection device includes a cesium optical pump; when the UAV is in flight attitude, the probe (1) is in a horizontal state; the cesium optical pump is in a vertical state.

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