A scalable magnetic gradient unmanned aerial vehicle (UAV) unexploded ordnance detection mechanism

Abstract

This invention provides an expandable magnetic gradient unmanned aerial vehicle (UAV) unexploded ordnance (UAV) detection mechanism, belonging to the technical field of detection mechanisms. This expandable magnetic gradient UAV UAV unexploded ordnance detection mechanism includes a multi-rotor UAV platform, UAV landing gear, a single-axis non-magnetic mounting rod, cesium optically pumped magnetometer probes, and a magnetic gradient collector. The single-axis non-magnetic mounting rod is horizontally fixed below the UAV platform, with cesium optically pumped magnetometer probes installed at both ends, forming a single-axis dual-probe magnetic gradient detection unit. An extension shaft connecting rod is also provided, which is vertically connected to the single-axis non-magnetic mounting rod via a quick-connect interface. Cesium optically pumped magnetometer probes are installed at both ends of the extension shaft connecting rod, together with the single-axis non-magnetic mounting rod, forming a dual-axis four-probe magnetic gradient detection unit. The magnetic gradient collector is located inside the UAV fuselage and is electrically connected to each cesium optically pumped magnetometer probe, solving the problems of insufficient detection accuracy and low deployment efficiency of traditional UAV unexploded ordnance detection mechanisms in complex environments.

Description

Technical Field

[0001] This utility model belongs to the field of detection mechanism technology, specifically, it relates to an expandable magnetic gradient unmanned aerial vehicle (UAV) unexploded ordnance detection mechanism. Background Technology

[0002] Unexploded ordnance (UXO) detection is a key technology in military security, disaster reconstruction, and civilian engineering. While traditional man-portable cesium optically pumped magnetometers can locate targets, personnel must be in close proximity to the hazardous area, posing a high safety risk. Unmanned aerial vehicle (UAV) UXO detection systems, by incorporating magnetic gradient detection equipment, isolate operators from the hazardous area, combining detection efficiency with safety, and have become a research hotspot in recent years.

[0003] Traditional magnetic gradient systems often employ a single-axis horizontal dual-probe design, which effectively increases the effective measurement width of a single measurement line and can achieve relatively accurate horizontal positioning of the target based on horizontal magnetic gradient data. However, the vertical positioning accuracy for the target's burial depth is not high. In scenarios with strong interference (such as areas with scattered metal debris), single-dimensional magnetic anomaly signals are prone to generating false alarms, leading to misjudgments. Existing multi-axis magnetic gradient systems mostly use fixed connections or towed cable suspension, resulting in a large and cumbersome overall system structure. They require truck transportation and assembly by a team of at least three people, with significant time spent on system preparation alone, rendering them impractical. Furthermore, towed cable suspension systems are prone to swaying of the extension axis during flight due to airflow disturbances, causing probe position deviations and calculation discrepancies with the system's positioning antenna position, affecting the target positioning accuracy in magnetic gradient calculations. In traditional solutions, "portability" and "detection performance" have become mutually restrictive technical bottlenecks. Utility Model Content

[0004] In view of this, the present invention provides an scalable magnetic gradient unmanned aerial vehicle (UAV) unexploded ordnance detection mechanism, which solves the problems of insufficient detection accuracy and low deployment efficiency of traditional UAV unexploded ordnance detection mechanisms in complex environments, and achieves high-precision positioning, rapid deployment and lightweight design.

[0005] This utility model is implemented as follows:

[0006] This utility model provides an expandable magnetic gradient unmanned aerial vehicle (UAV) unexploded ordnance detection mechanism, comprising a multi-rotor UAV platform, UAV landing gear, a single-axis non-magnetic mounting rod, a cesium optically pumped magnetometer probe, and a magnetic gradient acquisition device, wherein:

[0007] The single-axis non-magnetic mounting rod is horizontally fixed below the UAV platform, and the cesium optical pump magnetometer probes are installed at both ends to form a single-axis dual-probe magnetic gradient detection unit.

[0008] An extension shaft connecting rod is also provided. The extension shaft connecting rod is vertically connected to the single-axis non-magnetic mounting rod through a quick-connect interface. The cesium optical pump magnetometer probe is installed at each end of the extension shaft connecting rod. Together with the single-axis non-magnetic mounting rod, it forms a dual-axis four-probe magnetic gradient detection unit.

[0009] The magnetic gradient acquisition device is located inside the fuselage of the UAV and is electrically connected to the probes of each cesium optical pump magnetometer to synchronously acquire magnetic anomaly signals.

[0010] The technical advantages of the scalable magnetic gradient UAV unexploded ordnance detection mechanism provided by this utility model are as follows: Through the combination design of single-axis dual probes and extended-axis four probes, it is compatible with conventional single-axis detection and dual-axis detection in complex environments, and can quickly switch detection modes to improve mission adaptability; the magnetic gradient collector is integrated into the fuselage, and the external interface is only the aviation plugs corresponding to the four gradient probes, so that the operator only needs to connect a maximum of four connectors to complete the preparation work before powering on the system, making the system simpler and easier to operate.

[0011] Based on the above technical solution, the scalable magnetic gradient UAV unexploded ordnance detection mechanism of this utility model can be further improved as follows:

[0012] The quick-connect interface includes a horizontal expansion interface located in the middle of the single-axis non-magnetic mounting rod, and a matching plug at one end of the expansion shaft connecting rod. After the plug is inserted into the expansion interface, it is fixed by screws to form a detachable rigid connection.

[0013] The benefits of adopting the above-mentioned improved scheme are as follows: the screw-fixed quick-connect structure realizes "plug and lock", and a single person can complete the installation of the extension shaft within 2 minutes, improving the efficiency of the splicing method; the rigid connection ensures the stability of the dual-axis structure during flight and avoids deviation of detection data caused by shaking.

[0014] Furthermore, the connection end between the extended shaft connecting rod and the single-axis non-magnetic mounting rod is provided with a one-way guide structure.

[0015] The unidirectional nature refers to the fact that before takeoff, the extension shaft is in a folded state, which does not affect the stability of the UAV platform. After takeoff, under the gravity of the extension shaft, it naturally moves vertically downward, ensuring a vertical downward state during flight. This maintains the vertical relationship between the extension shaft and the original single axis, ensuring that the gradient position relationship of the four cesium optical pump magnetometers is fixed and unchanged (for example, the two vertical probes are on the same vertical line and 0.5 meters apart). Secondly, when landing, the extension shaft folds in one direction upon contact with the ground, which does not affect the stability of the aircraft platform during landing and allows the UAV platform to land stably.

[0016] The advantages of adopting the above-mentioned improved scheme are: the guide structure ensures that the extension axis can only be installed perpendicular to the single axis, avoiding structural interference or probe orientation errors caused by reverse installation; no additional calibration steps are required, ensuring biaxial orthogonality and improving the accuracy of magnetic gradient calculation.

[0017] Furthermore, the extended shaft connecting rod and the single-axis non-magnetic mounting rod are connected by a pipe clamp assembly, which includes two semi-annular clamps hinged by a shaft pin, and are respectively fixed to the connecting ends of the single shaft and the extended shaft.

[0018] The beneficial effects of adopting the above-mentioned improvement scheme are as follows: the hinged design of the shaft pin allows the extension shaft to rotate around the connection point, providing a mechanical basis for automatic bending and unfolding; the semi-circular clamp wraps around the single shaft and the extension shaft, increasing the contact area and improving the connection strength while allowing controllable rotation.

[0019] Furthermore, the clamp assembly is equipped with a limiting structure. When the extension shaft is in working condition, the end faces of the two clamps are completely overlapped, and the horizontal and vertical extension states of the extension shaft are locked by the limiting block. When the drone lands, the extension shaft rotates counterclockwise due to ground resistance, and the two clamps rotate to a right angle, thus achieving folding and storage.

[0020] The beneficial effects of adopting the above-mentioned improvement scheme are as follows: In the working state, the limit block locks the extension shaft to extend horizontally and vertically, ensuring that the four probes form a stable dual-axis detection plane. When landing, it automatically folds to a right angle, reducing the space occupied during transportation and avoiding damage from ground collisions.

[0021] Furthermore, the clamp assembly is designed for unidirectional rotation, allowing the extended axis to fold counterclockwise in the direction of the UAV fuselage, while clockwise rotation is restricted by the limiting block.

[0022] The beneficial effects of adopting the above-mentioned improvement scheme are as follows: it only allows folding towards the fuselage (counterclockwise), avoiding the probe from falling off due to accidental collisions during flight as the extension axis may bend outwards; the clockwise limit ensures that the extension axis is always vertically downward during flight, maintaining the stability of the dual-axis detection attitude and improving data reliability.

[0023] Furthermore, the drone landing gear is a bottom support structure used to stably park the drone.

[0024] Furthermore, the limiting structure consists of a protrusion and a groove on the end face of the tube clamp, which locks and releases the extension shaft in its working and folded states through the interlocking of the protrusion and groove.

[0025] The advantages of adopting the above-mentioned improved scheme are: the concave-convex matching limit block structure is simple and reliable, reduces manufacturing costs, eliminates the need for electronic control components, avoids folding failure caused by circuit faults, and adapts to complex climatic conditions.

[0026] Furthermore, both the single-axis non-magnetic mounting rod and the extension shaft connecting rod are made of non-magnetic materials.

[0027] Furthermore, the distance between the probes at both ends of the single-axis non-magnetic mounting rod is 1-1.5m, and the distance between the extension shaft connecting rod and the single-axis non-magnetic mounting rod is 0.5-1m, forming a horizontal and vertical dual-axis magnetic gradient detection unit.

[0028] Compared with existing technologies, the advantages of the scalable magnetic gradient unmanned aerial vehicle (UAV) unexploded ordnance detection mechanism provided by this invention are:

[0029] This invention significantly improves the combat effectiveness of unexploded ordnance detection mechanisms for UAVs through collaborative innovation in mechanical structure and mechanism design. Regarding ease of operation, the quick-connect interface and one-way clamp assembly design allow for switching between single-axis and dual-axis modes without complex tools, enabling deployment by a single person in a short time, greatly shortening the emergency response cycle. The automatic bending and retracting structure, driven by gravity and mechanically limited, enables the extension shaft to automatically unfold to a stable detection attitude during takeoff and automatically fold upon landing due to ground action, avoiding the cumbersome nature and risk of misoperation associated with traditional manual operation, while also reducing the energy consumption and potential failure points of additional power components.

[0030] Lightweight design is another core advantage of this invention. By using carbon fiber support legs and non-magnetic aluminum alloy mounting rods, the overall weight is significantly reduced. Both single-axis and dual-axis modes are kept within the range that can be carried, disassembled, and assembled by a single soldier. Combined with a compact folding structure, this greatly improves the equipment's transport and deployment capabilities in complex terrain. The selection of non-magnetic materials and optimized structural layout effectively avoid magnetic field interference from the extension shaft and support connection components on the detection signal, ensuring the accuracy of magnetic anomaly data.

[0031] In terms of detection performance, the dual-axis four-probe architecture overcomes the limitations of traditional single-axis mechanisms. Simultaneous acquisition of horizontal and vertical magnetic gradients not only enables precise horizontal positioning of the target but also allows for the inversion of the target's burial depth and magnetic properties through gradient data fusion. Combined with comparison to a target magnetic property database, this significantly improves target recognition capabilities in complex environments and reduces the false alarm rate. The mechanism is compatible with both single-axis and dual-axis modes, allowing for flexible switching according to different detection scenarios, balancing efficiency for routine tasks with accuracy requirements for complex ones. Attached Figure Description

[0032] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments of this utility model will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 An example diagram of a scalable magnetic gradient unmanned aerial vehicle (UAV) unexploded ordnance detection mechanism;

[0034] Figure 2 Side view of a scalable magnetic gradient unmanned aerial vehicle (UAV) unexploded ordnance detection mechanism;

[0035] Figure 3 This is a bending diagram of the extension shaft connecting rod of this utility model;

[0036] Figure 4 This is an example diagram of the extension shaft connecting rod of this utility model;

[0037] Figure 5 This is an example diagram of the pipe clamp assembly of this utility model;

[0038] Figure 6 This is an example diagram of the limiting structure of this utility model;

[0039] The attached diagram lists the components represented by each number as follows:

[0040] 10. Unmanned Aerial Vehicle (UAV) platform; 20. UAV landing gear; 30. Single-axis non-magnetic mounting rod; 31. Pipe clamp assembly; 40. Extension shaft connecting rod; 41. Extension shaft; 42. Limiting structure. Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings.

[0042] like Figures 1-3 The image shown is a first embodiment of a scalable magnetic gradient unmanned aerial vehicle (UAV) unexploded ordnance detection mechanism provided by this utility model. In this embodiment, it includes a multi-rotor UAV platform 10, a UAV landing gear 20, a single-axis non-magnetic mounting rod 30, a cesium optically pumped magnetometer probe, and a magnetic gradient collector, wherein:

[0043] A single-axis non-magnetic mounting rod 30 is horizontally fixed below the UAV platform 10, with cesium optical pump magnetometer probes installed at both ends to form a single-axis dual-probe magnetic gradient detection unit;

[0044] An extension shaft connecting rod 40 is also provided. The extension shaft connecting rod 40 is vertically connected to the single-axis non-magnetic mounting rod 30 through a quick-connect interface. Cesium optical pump magnetometer probes are installed at both ends of the rod, which together with the single-axis non-magnetic mounting rod 30 form a dual-axis four-probe magnetic gradient detection unit.

[0045] The magnetic gradient acquisition unit is located inside the fuselage of the UAV and is electrically connected to the probes of each cesium optical pump magnetometer to synchronously acquire magnetic anomaly signals.

[0046] Available cesium optically pumped magnetometer probe models include the domestic Nanjing Fangzhiyu MG03, the cesium optically pumped magnetometer from the Aerospace Information Research Institute of the Chinese Academy of Sciences, the cesium optically pumped magnetometer from Peking University, and the foreign cesium optically pumped magnetometer CS3, etc.

[0047] like Figure 4 As shown, in the above technical solution, the quick-connect interface includes a horizontal expansion interface located in the middle of the single-axis non-magnetic mounting rod 30, and a matching plug at one end of the expansion shaft connecting rod 40. After the plug is inserted into the expansion interface, it is fixed by screws to form a detachable rigid connection.

[0048] Furthermore, in the above technical solution, the connection end between the extension shaft connecting rod 40 and the single-axis non-magnetic mounting rod 30 is provided with a one-way guide structure.

[0049] like Figure 5 , Figure 6 As shown, further, in the above technical solution, the extension shaft connecting rod 40 and the single shaft non-magnetic mounting rod 30 are connected by a pipe clamp assembly 31. The pipe clamp assembly 31 includes two semi-annular clamps hinged by a shaft pin, which are respectively fixed to the connection ends of the single shaft and the extension shaft 41.

[0050] Furthermore, in the above technical solution, the pipe clamp assembly 31 is provided with a limiting structure 42. When the extension shaft 41 is in the working state, the end faces of the two clamps are completely overlapped, and the horizontal and vertical extension states of the extension shaft 41 are locked by the limiting block. When the drone lands, the extension shaft 41 rotates counterclockwise due to ground resistance, and the two clamps rotate to a right angle state, realizing folding and storage.

[0051] Furthermore, in the above technical solution, the pipe clamp assembly 31 is designed for unidirectional rotation, allowing the extension shaft 41 to fold counterclockwise toward the drone body, while clockwise rotation is restricted by the limit block.

[0052] Furthermore, in the above technical solution, the drone landing gear 20 is a bottom support structure used to stably park the drone.

[0053] Specific technical features of the bottom support structure:

[0054] The drone landing gear includes two symmetrically arranged support legs, which are distributed in an inverted "V" or "I" shape at the four corners of the bottom of the drone platform, and support pads are provided at the bottom.

[0055] The upper end of the support leg is fixed to the bottom frame of the drone platform with bolts, and the lower end extends outward to form a support surface to ensure the stability of the drone when it is parked.

[0056] The support legs are made of lightweight, high-strength materials (carbon fiber), balancing load-bearing capacity with the overall lightweight design of the machine.

[0057] The support legs are fixed rather than foldable, providing a stable ground operating reference for the "quick-fit installation" and "automatic bending and retraction" of the extension shaft. When the drone is parked, the extension shaft can be directly connected to the single-axis non-magnetic mounting rod via the tube clamp assembly, without the need for an additional support frame.

[0058] Furthermore, in the above technical solution, the limiting structure 42 is a protrusion and a groove provided on the end face of the tube clamp, which realizes the locking and releasing of the working state and the folded state of the extension shaft through the interlocking of the protrusion and groove.

[0059] Furthermore, in the above technical solution, both the single-axis non-magnetic mounting rod 30 and the extension shaft connecting rod 40 are made of non-magnetic materials.

[0060] Furthermore, in the above technical solution, the distance between the two probes of the single-axis non-magnetic mounting rod 30 is 1-1.5m, and the distance between the extension shaft connecting rod 40 and the single-axis non-magnetic mounting rod 30 is 0.5-1m, forming a horizontal and vertical dual-axis magnetic gradient detection unit.

[0061] Specifically, the principle of this utility model is as follows:

[0062] The technical principle of this utility model integrates knowledge from multiple disciplines such as mechanical design, magnetic detection, and target recognition. At the mechanical structure level, the quick-connect interface ensures the vertical installation of the extension shaft and the single shaft through a unidirectional guide structure, forming a rigid connection with screw fixing. This ensures structural stability during flight and enables rapid assembly and disassembly. The automatic bending and retraction structure utilizes a pin-hinged pipe clamp assembly, with a limiting block mechanically constraining the rotation range of the extension shaft: during flight, gravity keeps the extension shaft in a horizontal and vertical extension state, locked by the limiting block; during landing, the ground reaction force drives the extension shaft to fold towards the fuselage to a safe angle. The entire process requires no electric or hydraulic drive, relying solely on mechanical principles for adaptive adjustment.

[0063] In terms of the magnetic detection principle, the cesium optically pumped magnetometer probe collects spatial magnetic field signals in real time, and the magnetic gradient collector processes the probe data of the horizontal and vertical axes synchronously. Based on the horizontal and vertical magnetic gradient data, the spatial magnetic field distribution of the target is constructed based on the magnetic dipole model, and then the magnetic properties of the target are inverted and the target position is calculated. This can more comprehensively characterize the target features and improve the accuracy and reliability of the detection.

[0064] In terms of mechanism design, lightweighting and non-magnetization are key technical aspects. The selection of lightweight, high-strength materials reduces the overall weight while ensuring structural strength, and the application of non-magnetic materials avoids interference with the detection signal. The layout and spacing of the support legs provide ample operating space for the installation of the extension shaft, and rubber feet enhance ground stability and cushioning performance. Through the organic combination of mechanical structure, material selection, and detection algorithms, the entire mechanism forms a highly efficient and reliable unexploded ordnance detection solution, meeting the stringent safety and efficiency requirements of military scenarios while also providing innovative ideas for the civilian detection field.

Claims

1. A scalable magnetic gradient unmanned aerial vehicle (UAV) unexploded ordnance detection mechanism, comprising a multi-rotor UAV platform, UAV landing gear, a single-axis non-magnetic mounting rod, a cesium optically pumped magnetometer probe, and a magnetic gradient collector, characterized in that: The single-axis non-magnetic mounting rod is horizontally fixed below the UAV platform, and the cesium optical pump magnetometer probes are installed at both ends to form a single-axis dual-probe magnetic gradient detection unit. An extension shaft connecting rod is also provided. The extension shaft connecting rod is vertically connected to the single-axis non-magnetic mounting rod through a quick-connect interface. The cesium optical pump magnetometer probe is installed at each end of the extension shaft connecting rod. Together with the single-axis non-magnetic mounting rod, it forms a dual-axis four-probe magnetic gradient detection unit. The magnetic gradient acquisition device is located inside the fuselage of the UAV and is electrically connected to the probes of each cesium optical pump magnetometer to synchronously acquire magnetic anomaly signals.

2. The scalable magnetic gradient unmanned aerial vehicle (UAV) unexploded ordnance detection mechanism according to claim 1, characterized in that, The quick-connect interface includes a horizontal expansion interface located in the middle of the single-axis non-magnetic mounting rod, and a matching plug at one end of the expansion shaft connecting rod. After the plug is inserted into the expansion interface, it is fixed by screws to form a detachable rigid connection.

3. The scalable magnetic gradient unmanned aerial vehicle (UAV) unexploded ordnance detection mechanism according to claim 2, characterized in that, The connection end between the extended shaft connecting rod and the single-axis non-magnetic mounting rod is provided with a one-way guide structure.

4. The scalable magnetic gradient unmanned aerial vehicle (UAV) unexploded ordnance detection mechanism according to claim 3, characterized in that, The extended shaft connecting rod and the single-axis non-magnetic mounting rod are connected by a pipe clamp assembly, which includes two semi-annular clamps hinged by a shaft pin, and are respectively fixed to the connecting ends of the single shaft and the extended shaft.

5. A scalable magnetic gradient unmanned aerial vehicle (UAV) unexploded ordnance detection mechanism according to claim 4, characterized in that, The clamp assembly is equipped with a limiting structure. When the extension shaft is in working condition, the end faces of the two clamps are completely overlapped, and the horizontal and vertical extension states of the extension shaft are locked by the limiting block. When the drone lands, the extension shaft rotates counterclockwise due to ground resistance, and the two clamps rotate to a right angle, realizing folding and storage.

6. The scalable magnetic gradient unmanned aerial vehicle (UAV) unexploded ordnance detection mechanism according to claim 5, characterized in that, The clamp assembly is designed for unidirectional rotation, allowing the extended axis to fold counterclockwise in the direction of the UAV fuselage, while clockwise rotation is restricted by the limiting block.

7. A scalable magnetic gradient unmanned aerial vehicle (UAV) unexploded ordnance detection mechanism according to claim 6, characterized in that, The drone landing gear is a bottom support structure used to stably park the drone.

8. A scalable magnetic gradient unmanned aerial vehicle (UAV) unexploded ordnance detection mechanism according to claim 7, characterized in that, The limiting structure consists of a protrusion and a groove on the end face of the tube clamp, which locks and releases the extension shaft in its working and folded states through the interlocking of the protrusion and groove.

9. A scalable magnetic gradient unmanned aerial vehicle (UAV) unexploded ordnance detection mechanism according to claim 8, characterized in that, Both the single-axis non-magnetic mounting rod and the extension shaft connecting rod are made of non-magnetic materials.

10. A scalable magnetic gradient unmanned aerial vehicle (UAV) unexploded ordnance detection mechanism according to claim 9, characterized in that, The distance between the probes at both ends of the single-axis non-magnetic mounting rod is 1-1.5m, and the distance between the extension shaft connecting rod and the single-axis non-magnetic mounting rod is 0.5-1m, forming a horizontal and vertical dual-axis magnetic gradient detection unit.

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