An unmanned aerial vehicle airborne seismograph

Abstract

The utility model discloses an unmanned plane aviation seismograph, including unmanned plane platform, sensor module, communication module, communication management module, clock synchronization module, power management module and main control module, power management module is connected with unmanned plane platform, sensor module, communication module, communication management module, clock synchronization module and main control module. The utility model discloses through modularization design and based on hardware logic's communication management, has realized wired, wireless, node three working mode's automatic seamless switching, has greatly promoted the compatibility with existing equipment, the flexibility of exploration operation and intelligent level, simultaneously, utilize unmanned plane platform to overcome complex topography limit, and combine high accuracy synchronization and data redundancy mechanism, the reliability of data acquisition, quality and overall exploration efficiency have been improved obviously.

Description

Technical Field

[0001] This utility model relates to the field of unmanned aerial vehicle (UAV) airborne seismograph technology, and in particular to an UAV airborne seismograph. Background Technology

[0002] In the field of geophysical exploration, seismic exploration is an important means of detecting underground structures and resources. Traditional seismic data acquisition systems mainly rely on wired instruments, connecting acquisition stations and central recording units through a large number of ground cables. Although these systems have stable transmission and strong real-time performance, they are extremely difficult to deploy in complex terrains (such as hills, water areas, forests, and swamps), resulting in problems such as cumbersome wiring, high labor costs, and low exploration efficiency. With the development of technology, wireless seismographs and nodal seismographs have gradually been applied. The maturity of UAV technology has provided a new platform for the deployment of seismic exploration equipment. By using UAVs to carry seismic acquisition equipment, areas that are difficult for humans to reach can be quickly reached, significantly improving exploration efficiency. However, existing UAV seismic exploration methods typically involve simply mounting ground-based seismic equipment onto the UAV without deep integration and optimization for aerial applications. Specifically, this results in the following drawbacks: 1. Poor compatibility and flexibility: Existing equipment uses a single, fixed communication mode, either purely wireless transmission or purely node recording. It cannot dynamically switch working modes according to actual exploration task requirements and site conditions. Furthermore, due to the proprietary interfaces and protocols of different manufacturers, equipment cannot be mixed and networked, leading to low equipment utilization. 2. Low level of intelligence: Switching between working modes often relies on manual judgment and configuration. It cannot automatically identify the connected communication modules and select the optimal transmission path after the equipment is powered on, increasing operational complexity and reducing work efficiency. In light of the above, this application proposes an UAV aerial seismograph. Summary of the Invention

[0003] The purpose of this invention is to address the shortcomings of existing technologies by proposing an unmanned aerial seismograph.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: An unmanned aerial seismograph (UAV) includes an UAV platform, a sensor module, a communication module, a communication management module, a clock synchronization module, a power management module, and a main control module. The power management module is connected to the UAV platform, sensor module, communication module, communication management module, clock synchronization module, and main control module. The main control module is connected to the sensor module, communication module, communication management module, and clock synchronization module. The communication module is connected to the communication management module. The sensor module is connected to the clock synchronization module. The communication module includes a wireless communication unit, a wired communication unit, and a node mode; The communication management module includes a modular interface slot with detection pins, a main controller data bus, a status detection circuit, a priority encoder, a data switch array, and a local storage module.

[0005] Preferably, the unmanned aerial vehicle platform is equipped with a high-precision positioning system and a shock-resistant gimbal; The sensor module supports connection to various types of detectors, including electromagnetic induction and piezoelectric ceramic detectors, and receives the same synchronization signal as the clock synchronization module to ensure that all data sampling points have a unified global timestamp. The clock synchronization module includes a high-precision temperature-controlled crystal oscillator and a GNSS receiver. The GNSS receiver provides absolute time and pulse-per-second (PPS) signals. The main control module uses the PPS signals to calibrate its own sampling clock, thereby ensuring that all collected data samples have microsecond-level timestamps synchronized with UTC time.

[0006] Preferably, the wireless communication unit is a pluggable module, including 4G / 5G, Wi-Fi, and LoRa modules, which is responsible for wirelessly transmitting data to the ground station or cloud in complex terrain or scenarios requiring real-time monitoring. The wired communication unit is a pluggable module, including RS-485, Ethernet and fiber optic modem modules, used to provide stable, high-speed and low-latency data backhaul capabilities in scenarios where drones land or where wiring is convenient. The node mode is a working state that automatically enters when neither the wireless communication unit nor the wired communication unit is connected, and stores the data locally.

[0007] Preferably, the modular interface slot with detection pins provides physical slots for wireless communication units and wired communication units. Detection pins are provided in the physical slots. When the module is inserted, the detection pins in the slots are mechanically pulled low to generate a hardware signal indicating that the module is in place.

[0008] Preferably, the status detection circuit includes a chip U1. Pin 1 of chip U1 is electrically connected to one end of resistor R1, pin 2 of chip U1 is electrically connected to one end of resistor R2, pins 2 and 3 of chip U1 are grounded, pin 4 of chip U1 is electrically connected to one end of capacitor C1 and one end of resistor R3, the other end of capacitor C1 is grounded, the other end of resistor R3 is electrically connected to the power supply voltage of the power management module, the other end of resistor R1 is electrically connected to the detection pin of the wired communication unit, and the other end of resistor R2 is electrically connected to the detection pin of the wireless communication unit.

[0009] Preferably, the receiving pin of the priority encoder is electrically connected to pin 4 of chip U1. The priority encoder is used to receive the output of the status detection circuit. The priority encoder is provided with a highest priority pin, a second highest priority pin and other input pins. The highest priority pin is connected to the detection pin of the wired communication unit, the second highest priority pin is connected to the detection pin of the wireless communication unit, and the input pins are connected to a high level VCC. The priority is fixed by hardware wiring and the corresponding mode selection code is output. The priority order is: wired > wireless > node.

[0010] Preferably, the data switch array is a multiplexer chip, used to physically connect the data path of the selected communication module and disconnect all unselected paths according to the code output by the priority encoder. The multiplexer chip includes a control pin, an input channel, and an output channel. The control pin is electrically connected to the output pin of the priority encoder. There are three input channels, which are respectively connected to the data lines of the wired communication unit, the wireless communication unit, and the main control module. There are two output channels, which are respectively connected to the data transmission line TX and the reception line RX of the main control module. The local storage module is an SD card memory, which is directly controlled by the main control module in node mode and serves as a temporary carrier for data.

[0011] Compared with existing technologies, the beneficial effects of this utility model are: With its pluggable modular design, a single device can be compatible with multiple transmission methods and can be networked with existing seismic instrument systems by adapting to dedicated cables from different manufacturers, greatly improving the utilization rate of the equipment and the flexibility of exploration organization. The communication management module based on pure hardware logic realizes fully automatic identification and switching of working modes. Users only need to insert the corresponding module, and the system will automatically select the optimal communication path, completely avoiding the tediousness of manual configuration and the risk of misoperation, reducing the operating threshold and improving work efficiency. This utility model achieves automatic and seamless switching between wired, wireless, and node working modes through modular design and hardware logic-based communication management, greatly improving compatibility with existing equipment, flexibility of exploration operations, and intelligence level. At the same time, it overcomes the limitations of complex terrain by using a drone platform and combines high-precision synchronization and data redundancy mechanisms to significantly improve the reliability, quality, and overall exploration efficiency of data acquisition. Attached Figure Description

[0012] Figure 1 This is a system block diagram of an unmanned aerial vehicle (UAV) airborne seismometer proposed in this utility model; Figure 2 This is a block diagram of the communication module in an unmanned aerial vehicle (UAV) airborne seismometer proposed in this utility model; Figure 3This is a block diagram of the communication management module in an unmanned aerial vehicle (UAV) airborne seismometer proposed in this utility model; Figure 4 The circuit diagram is shown in the state detection circuit of the UAV airborne seismometer proposed in this utility model. Detailed Implementation

[0013] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0014] Reference Figure 1-4 An unmanned aerial seismograph includes an unmanned aerial vehicle platform, a sensor module, a communication module, a communication management module, a clock synchronization module, a power management module, and a main control module. The unmanned aerial vehicle platform is equipped with a high-precision positioning system and an anti-seismic gimbal. The power management module is connected to the UAV platform, sensor module, communication module, communication management module, clock synchronization module and main control module. The main control module is connected to the sensor module, communication module, communication management module and clock synchronization module. The communication module is connected to the communication management module. The sensor module is connected to the clock synchronization module. The sensor module supports connection to various types of detectors, including electromagnetic induction and piezoelectric ceramic detectors, and receives the same synchronization signal as the clock synchronization module to ensure that all data sampling points have a unified global timestamp. The clock synchronization module includes a high-precision temperature-controlled crystal oscillator and a GNSS receiver. The GNSS receiver provides absolute time and pulse-per-second (PPS) signals. The main control module uses the PPS signals to calibrate its own sampling clock, thereby ensuring that all acquired data samples have microsecond-level timestamps synchronized with UTC time. The principle of data acquisition via the sensor module is existing technology and will not be elaborated here. The GNSS receiver of the clock synchronization module first locks onto the satellite signal, obtains the absolute time coordinate, and generates a high-precision PPS pulse per second. This PPS pulse signal is simultaneously sent to the sensor module and the main control module. The main control module uses the rising edge of this pulse as a reference to precisely trigger the starting phase of the sampling clock of the ADC pin of the main control module through a hardware interrupt, and performs microsecond-level calibration on the internal clock counter. After receiving the synchronization trigger signal, the sensor module immediately performs synchronous data acquisition and digitization of the signals from the multi-channel connected electromagnetic induction or piezoelectric ceramic detectors, ensuring that all data samples are stamped with a high-precision timestamp that is strictly synchronized with UTC time. The communication module includes a wireless communication unit, a wired communication unit, and a node mode; The wireless communication unit is a pluggable module, including 4G / 5G, Wi-Fi, and LoRa modules, which is responsible for transmitting data wirelessly to the ground station or cloud in complex terrain or scenarios requiring real-time monitoring. The wired communication unit is a pluggable module, including RS-485, Ethernet and fiber optic modem modules, used to provide stable, high-speed and low-latency data backhaul capabilities in scenarios where drones land or where cabling is convenient. Node mode is a working state that is automatically entered when neither the wireless communication unit nor the wired communication unit is connected, and the data is stored locally. The communication management module includes a modular interface slot with detection pins, a main controller data bus, a status detection circuit, a priority encoder, a data switch array, and a local storage module. The modular interface slot with detection pins provides physical slots for wireless communication units and wired communication units. The physical slots are equipped with detection pins, which are mechanically pulled low when the module is inserted, generating a hardware signal that the module is in place. The status detection circuit includes chip U1. Pin 1 of chip U1 is electrically connected to one end of resistor R1. Pin 2 of chip U1 is electrically connected to one end of resistor R2. Pins 2 and 3 of chip U1 are grounded. Pin 4 of chip U1 is electrically connected to one end of capacitor C1 and one end of resistor R3. The other end of capacitor C1 is grounded. The other end of resistor R3 is electrically connected to the power supply voltage of the power management module. The other end of resistor R1 is electrically connected to the detection pin of the wired communication unit. The other end of resistor R2 is electrically connected to the detection pin of the wireless communication unit. In the initial state, neither the wireless nor the wired module is inserted, and the pull-up resistors in their respective interface slots are all at a high level (logic '1'). This high level reaches the input of the AND gate chip U1 through resistors R1 and R2. According to the logic function of the AND gate chip U1, the output is only high when all inputs are high. Therefore, the output of chip U1 outputs a high level, which triggers the node mode enable. When the wired module is inserted, its interface slot's detection pin is physically shorted to ground (GND) by the module's internal ground pin, causing the signal to be pulled low. This low level enables the wireless and wired modules to connect to the input of the AND gate chip U1. The signal is transmitted through resistor R1 to pin 1 of chip U1. According to the logic of AND gate chip U1, as long as one input is low, the output is low. Therefore, the output of chip U1 immediately becomes low, thus immediately disabling the node mode. When both wired and wireless modules are inserted, the signal is pulled low (logic '0'), and both inputs of chip U1 (pin 1 and pin 2) are low. According to the logic of AND gate chip U1, the output (pin 4) remains low ('0'). The module status is directly reflected by the level change, realizing the hardware drive for communication mode switching. The receiving pin of the priority encoder is electrically connected to pin 4 of chip U1. The priority encoder is used to receive the output of the status detection circuit. The priority encoder has a highest priority pin, a second highest priority pin, and other input pins. The highest priority pin is connected to the detection pin of the wired communication unit, and the second highest priority pin is connected to the detection pin of the wireless communication unit. The input pins are connected to a high level VCC, and the priority is fixed by hardware wiring, and the corresponding mode selection code is output. The priority order is: wired > wireless > node. The data switch array is a multiplexer chip used to physically connect the data path of the selected communication module and disconnect all unselected paths according to the code output by the priority encoder. The multiplexer chip includes control pins, input channels and output channels. The control pins are electrically connected to the output pins of the priority encoder. There are three input channels, which are connected to the data lines of the wired communication unit, the wireless communication unit and the main control module through electronic switches. There are two output channels, which are connected to the data transmission line TX and the reception line RX of the main control module. The specific process of path switching is as follows: The priority encoder outputs a 2-bit binary code, such as 01, based on the detected module insertion state. This code is directly applied to the control pins of the multiplexer chip, such as S0 and S1. The CMOS switching logic circuit inside the multiplexer chip decodes the state of S0 and S1. For the code 01, the CMOS switching logic circuit generates a drive signal to physically close the electronic switch connected to the input channel. The CMOS switching logic circuit ensures that the electronic switches connected to all other channels remain completely open. In addition, the CMOS switching logic circuit is an existing circuit built into the priority encoder, and its specific operating logic is existing technology in this field, which will not be described in detail here. The local storage module is an SD card storage device, which is directly controlled by the main control module in node mode and serves as a temporary carrier for data. This utility model achieves automatic and seamless switching between wired, wireless, and node working modes through modular design and hardware logic-based communication management, greatly improving compatibility with existing equipment, flexibility of exploration operations, and intelligence level. At the same time, it overcomes the limitations of complex terrain by using a drone platform and combines high-precision synchronization and data redundancy mechanisms to significantly improve the reliability, quality, and overall exploration efficiency of data acquisition.

[0015] Working principle: During use, the power management module supplies power to each unit, the main control module starts, the control clock synchronization module locks the GNSS satellite signal, acquires high-precision UTC time and continuously receives the second pulse PPS signal for self-clock calibration, the sensor module powers on and prepares to receive the detector signal, the status detection circuit in the communication management module monitors the detection pin level of the wired and wireless communication unit interface slots in real time, the priority encoder encodes the detected status according to the fixed hardware wiring priority: wired > wireless > node. If a wired module is inserted, the encoder outputs a code representing "wired mode" regardless of whether a wireless module is inserted. The data switch array connects the data path of the corresponding communication unit through the control pin and input channel according to the code output by the encoder, cuts off all unselected paths, and generates a mode. In wired mode, the data is transmitted to the ground station in real time through RS-485, Ethernet and other cables. In wireless mode, the data is transmitted to the cloud or ground receiver through 4G / 5G or Wi-Fi. If no module is inserted, node mode is entered, the data switch array closes all external paths, and the main control module automatically writes the data to the local SD card. The main control module uses a high-precision clock calibrated by the PPS signal as a reference to control the sensor module to synchronously acquire and digitize multi-channel seismic signals. All data samples are stamped with a uniform microsecond-level timestamp. The acquired data is cached in the main control module. At the same time, the main control module transmits the cached data through the path selected by the communication management module. If in node mode or communication is interrupted, the data is continuously stored in the local SD card. Once communication is restored, the cached historical data is automatically sent back to ensure data integrity. This achieves the purpose of automatically switching communication paths, completely avoiding the tediousness of manual configuration and the risk of misoperation. Moreover, one device is compatible with multiple transmission methods, making it compatible with special cables from different manufacturers, thereby improving the utilization rate of the equipment and the flexibility of exploration organization.

[0016] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. An unmanned aerial vehicle (UAV) airborne seismograph, characterized in that, It includes an unmanned aerial vehicle (UAV) platform, a sensor module, a communication module, a communication management module, a clock synchronization module, a power management module, and a main control module. The power management module is connected to the UAV platform, sensor module, communication module, communication management module, clock synchronization module, and main control module. The main control module is connected to the sensor module, communication module, communication management module, and clock synchronization module. The communication module is connected to the communication management module. The sensor module is connected to the clock synchronization module. The communication module includes a wireless communication unit, a wired communication unit, and a node mode; The communication management module includes a modular interface slot with detection pins, a main controller data bus, a status detection circuit, a priority encoder, a data switch array, and a local storage module.

2. The UAV airborne seismograph according to claim 1, characterized in that, The unmanned aerial vehicle platform is equipped with a high-precision positioning system and a shock-resistant gimbal. The sensor module supports connection to various types of detectors, including electromagnetic induction and piezoelectric ceramic detectors, and receives the same synchronization signal as the clock synchronization module to ensure that all data sampling points have a unified global timestamp. The clock synchronization module includes a high-precision temperature-controlled crystal oscillator and a GNSS receiver. The GNSS receiver provides absolute time and pulse-per-second (PPS) signals. The main control module uses the PPS signals to calibrate its own sampling clock, thereby ensuring that all collected data samples have microsecond-level timestamps synchronized with UTC time.

3. The UAV airborne seismograph according to claim 1, characterized in that, The wireless communication unit is a pluggable module, including 4G / 5G, Wi-Fi, and LoRa modules, responsible for wirelessly transmitting data to the ground station or cloud in complex terrain or scenarios requiring real-time monitoring. The wired communication unit is a pluggable module, including RS-485, Ethernet and fiber optic modem modules, used to provide stable, high-speed and low-latency data backhaul capabilities in scenarios where drones land or where wiring is convenient. The node mode is a working state that automatically enters when neither the wireless communication unit nor the wired communication unit is connected, and stores the data locally.

4. The UAV airborne seismograph according to claim 1, characterized in that, The modular interface slot with detection pins provides physical slots for wireless communication units and wired communication units. Detection pins are provided in the physical slots. When the module is inserted, the detection pins in the slots are mechanically pulled low to generate a "module in place" hardware signal.

5. The UAV airborne seismograph according to claim 1, characterized in that, The status detection circuit includes a chip U1. Pin 1 of chip U1 is electrically connected to one end of resistor R1. Pin 2 of chip U1 is electrically connected to one end of resistor R2. Pins 2 and 3 of chip U1 are grounded. Pin 4 of chip U1 is electrically connected to one end of capacitor C1 and one end of resistor R3. The other end of capacitor C1 is grounded. The other end of resistor R3 is electrically connected to the power supply voltage of the power management module. The other end of resistor R1 is electrically connected to the detection pin of the wired communication unit. The other end of resistor R2 is electrically connected to the detection pin of the wireless communication unit.

6. The UAV airborne seismograph according to claim 5, characterized in that, The receiving pin of the priority encoder is electrically connected to pin 4 of chip U1. The priority encoder is used to receive the output of the status detection circuit. The priority encoder has a highest priority pin, a second highest priority pin and other input pins. The highest priority pin is connected to the detection pin of the wired communication unit, and the second highest priority pin is connected to the detection pin of the wireless communication unit. The input pins are connected to a high level VCC, and the priority is fixed by hardware wiring, and the corresponding mode selection code is output. The priority order is: wired > wireless > node.

7. The UAV airborne seismograph according to claim 1, characterized in that, The data switch array is a multiplexer chip, used to physically connect the data path of the selected communication module and disconnect all unselected paths according to the code output by the priority encoder. The multiplexer chip includes a control pin, an input channel, and an output channel. The control pin is electrically connected to the output pin of the priority encoder. There are three input channels, which are respectively connected to the data lines of the wired communication unit, the wireless communication unit, and the main control module. There are two output channels, which are respectively connected to the data transmission line TX and the reception line RX of the main control module. The local storage module is an SD card memory, which is directly controlled by the main control module in node mode and serves as a temporary carrier for data.

Images