Mine area hidden disaster-causing detection unmanned aerial vehicle electromagnetic data acquisition equipment

Abstract

The utility model discloses a mine area concealed disaster causing detection uses unmanned plane electromagnetic data acquisition equipment, including unmanned plane main part, the unmanned plane main part is integrated with electromagnetic data acquisition module, attitude stability circuit, high accuracy positioning circuit, main control module and power module, and power module is connected with electromagnetic data acquisition module, attitude stability circuit, high accuracy positioning circuit and main control module, the electromagnetic data acquisition module includes electromagnetic sensor, and electromagnetic sensor is connected with main control module, is used for gathering mine area underground electromagnetic signal and is transmitted to main control module. The utility model discloses through the filtering and data fusion calibration of attitude stability circuit, and the attitude noise interference is reduced greatly, realizes centimeter level positioning accuracy through high accuracy positioning circuit combination bimodulus positioning, difference positioning and error compensation, and the overall electromagnetic data acquisition precision is improved significantly with the cooperation of auxiliary structure and the environmental adaptability, provides reliable support for concealed disaster causing body detection.

Description

Technical Field

[0001] This utility model relates to the field of concealed disaster detection technology in mining areas, and in particular to an electromagnetic data acquisition device for unmanned aerial vehicles (UAVs) used for concealed disaster detection in mining areas. Background Technology

[0002] Hidden hazards in mining areas are significant hidden dangers leading to coal mine safety accidents. Accurately detecting their location and morphology is crucial for safe production in mining areas. Due to its advantages such as high mobility, wide detection range, and no need for personnel to enter dangerous areas, UAV electromagnetic detection technology is widely used in the detection of hidden hazards in mining areas. This technology uses UAVs equipped with electromagnetic data acquisition equipment to collect electromagnetic response signals of underground media, and after analysis and processing, it can identify and locate the hazards.

[0003] However, the mining area has a complex environment with large terrain undulations and numerous sources of electromagnetic interference. During the flight of the UAV, it is easily affected by airflow, resulting in attitude fluctuations and significant noise in the attitude data collected by the attitude sensor. At the same time, traditional positioning modules are affected by mining area buildings, terrain obstruction, and electromagnetic interference, resulting in large positioning errors. Attitude noise can cause the electromagnetic data acquisition direction to deviate, and positioning errors can cause the data to mismatch with the detection location. The combined effect of these two factors leads to insufficient accuracy of the collected electromagnetic data, making it difficult to accurately identify the location and boundaries of hidden disaster-causing bodies and affecting the detection effect. Therefore, this application proposes an electromagnetic data acquisition device for UAVs for detecting hidden disaster-causing bodies in mining areas. Utility Model Content

[0004] The purpose of this invention is to address the shortcomings of existing technologies by proposing an electromagnetic data acquisition device for unmanned aerial vehicles (UAVs) used for detecting hidden disasters in mining areas.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] An electromagnetic data acquisition device for unmanned aerial vehicles (UAVs) used for detecting hidden disasters in mining areas includes a UAV body. The UAV body integrates an electromagnetic data acquisition module, an attitude stabilization circuit, a high-precision positioning circuit, a main control module, and a power supply module. The power supply module is connected to the electromagnetic data acquisition module, the attitude stabilization circuit, the high-precision positioning circuit, and the main control module.

[0007] The electromagnetic data acquisition module includes an electromagnetic sensor, which is connected to the main control module and is used to collect underground electromagnetic signals in the mining area and transmit them to the main control module.

[0008] The main control module is used to receive and process electromagnetic data, attitude data and positioning data, and control the coordinated operation of each module;

[0009] The attitude stabilization circuit includes an attitude sensor, a noise filtering circuit, and an attitude calibration unit connected in sequence. The attitude calibration unit is connected to the main control module and is used to collect UAV attitude data and transmit it to the main control module after noise suppression and calibration.

[0010] The high-precision positioning circuit includes a dual-mode positioning chip, a differential positioning module, and a positioning error compensation unit. The dual-mode positioning chip is connected to the differential positioning module and the positioning error compensation unit, and the positioning error compensation unit is connected to the main control module. It is used to achieve high-precision positioning of the UAV and transmit the positioning data to the main control module.

[0011] Preferably, the noise filtering circuit includes a resistor R1 and a Kalman filter chip U1. One end of the resistor R1 is electrically connected to one end of the capacitor C1, and one end of the resistor R1 is also connected to the attitude sensor. The other end of the resistor R1 is electrically connected to one end of the resistor R2 and one end of the capacitor C2. The other ends of the capacitors C1 and C2 are both grounded. The other end of the resistor R2 is electrically connected to pin 2 of the operational amplifier Q1. Pin 1 of the operational amplifier Q1 is electrically connected to one end of the capacitor C3. The other end of the capacitor C3 is electrically connected to one end of the resistor R3 and one end of the resistor R4. The other end of the resistor R3 is grounded. The other end of the resistor R4 is electrically connected to the anode of the diode D1. The cathode of the diode D1 is electrically connected to pin 3 of the operational amplifier Q1. Pin 3 of the operational amplifier Q1 is electrically connected to the input terminal of the Kalman filter chip U1. The output terminal of the Kalman filter chip U1 is connected to the attitude calibration unit.

[0012] Preferably, the attitude calibration unit includes a gyroscope, an accelerometer, and a data fusion chip. The output terminals of the gyroscope and the accelerometer are both connected to the input terminal of the data fusion chip. The input terminal of the data fusion chip is connected to the output terminal of the Kalman filter chip U1. The output terminal of the data fusion chip is connected to the main control module.

[0013] Preferably, the dual-mode positioning chip is a GPS / BeiDou dual-mode positioning chip, preferably model UM220-IV; the differential positioning module adopts a BDS / GPS dual-frequency differential module, preferably model M8T, and the output terminal of the differential positioning module is connected to the differential signal input terminal of the dual-mode positioning chip.

[0014] Preferably, the positioning error compensation unit includes an error detection chip and a compensation calculation chip. The input terminal of the error detection chip is connected to the output terminal of the dual-mode positioning chip, the output terminal of the error detection chip is connected to the input terminal of the compensation calculation chip, and the output terminal of the compensation calculation chip is connected to the main control module.

[0015] Preferably, the main control module uses an STM32H743VIT6 microcontroller. The main control module is also connected to a data storage module and a wireless communication module. The data storage module uses an SD card storage chip for data storage, and the wireless communication module uses a 5G communication module for communication.

[0016] Preferably, the bottom of the drone body is provided with a shock-absorbing mounting base, and the electromagnetic data acquisition module is fixed to the bottom of the drone body through the shock-absorbing mounting base. The shock-absorbing mounting base is provided with a rubber shock-absorbing pad and a spring shock-absorbing assembly.

[0017] Compared with existing technologies, the beneficial effects of this utility model are:

[0018] 1. By setting up an attitude stabilization circuit and using a noise filtering unit that combines a two-stage RC filter and a Kalman filter, high-frequency noise and dynamic noise in the data acquired by the attitude sensor are effectively filtered out; combined with data fusion calibration of the gyroscope and accelerometer, real-time correction of the UAV's attitude is achieved, significantly reducing the interference of attitude noise on electromagnetic data acquisition.

[0019] 2. The high-precision positioning circuit uses a GPS / BeiDou dual-mode positioning chip in conjunction with a dual-frequency differential positioning module to improve the stability and accuracy of the positioning signal; and with the positioning error compensation unit, it detects and corrects positioning errors in real time, so that the positioning accuracy reaches the centimeter level, ensuring that the electromagnetic data and the detection position are accurately matched.

[0020] 3. The main control module enables the collaborative work of each module. Combined with the shock-absorbing mounting base and power management module auxiliary structure, the adaptability and stability of the equipment in the complex environment of the mining area are further improved. The collected electromagnetic data has higher accuracy, providing reliable data support for the accurate identification and location of hidden disaster-causing bodies in the mining area.

[0021] This invention significantly reduces attitude noise interference through filtering and data fusion calibration of the attitude stabilization circuit; it achieves centimeter-level positioning accuracy through a high-precision positioning circuit combined with dual-mode positioning, differential positioning, and error compensation; and it enhances environmental adaptability with auxiliary structures, thus significantly improving the overall accuracy of electromagnetic data acquisition and providing reliable support for the detection of concealed disaster-causing bodies. Attached Figure Description

[0022] Figure 1 This is a block diagram of the UAV electromagnetic data acquisition device for detecting hidden disasters in mining areas proposed in this utility model.

[0023] Figure 2 This is a block diagram showing the connection between the attitude stabilization circuit and the main control module in the electromagnetic data acquisition device for unmanned aerial vehicles (UAVs) used for detecting hidden disasters in mining areas proposed in this utility model.

[0024] Figure 3This is a block diagram showing the connection between the high-precision positioning circuit and the main control module in the electromagnetic data acquisition device for unmanned aerial vehicles (UAVs) used for detecting hidden disasters in mining areas proposed in this utility model.

[0025] Figure 4 This is a circuit diagram of the noise filtering circuit in the electromagnetic data acquisition equipment for unmanned aerial vehicles (UAVs) used for detecting hidden disasters in mining areas, as proposed in this utility model. Detailed Implementation

[0026] 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.

[0027] Reference Figure 1-4 The electromagnetic data acquisition equipment for unmanned aerial vehicles (UAVs) used for detecting hidden disasters in mining areas includes a UAV body, which integrates an electromagnetic data acquisition module, an attitude stabilization circuit, a high-precision positioning circuit, a main control module, and a power supply module. The power supply module is connected to the electromagnetic data acquisition module, the attitude stabilization circuit, the high-precision positioning circuit, and the main control module, and provides power to the electromagnetic data acquisition module, the attitude stabilization circuit, the high-precision positioning circuit, and the main control module.

[0028] The bottom of the drone body is equipped with a shock-absorbing mounting base. The electromagnetic data acquisition module is fixed to the bottom of the drone body through the shock-absorbing mounting base. The shock-absorbing mounting base is equipped with rubber shock-absorbing pads and spring shock-absorbing components. The shock-absorbing mounting base can buffer the vibration during the drone's flight, prevent the vibration from causing the electromagnetic sensor's attitude to shift, and further reduce the impact of attitude noise on the acquired data.

[0029] The electromagnetic data acquisition module includes an electromagnetic sensor, which is connected to the main control module and is used to collect underground electromagnetic signals in the mining area and transmit them to the main control module.

[0030] The main control module is used to receive and process electromagnetic data, attitude data, and positioning data, and to control the coordinated operation of various modules. The main control module uses an STM32H743VIT6 microcontroller. The main control module is also connected to a data storage module and a wireless communication module. The data storage module uses an SD card storage chip for data storage, and the wireless communication module uses a 5G communication module for communication. The SD card storage module realizes local data backup, and the 5G communication module realizes real-time data transmission back to the ground control center, improving the timeliness of data processing.

[0031] The attitude stabilization circuit includes an attitude sensor, a noise filtering circuit, and an attitude calibration unit connected in sequence. The attitude calibration unit is connected to the main control module and is used to collect UAV attitude data and transmit it to the main control module after noise suppression and calibration.

[0032] The noise filtering circuit includes resistor R1 and Kalman filter chip U1. One end of resistor R1 is electrically connected to one end of capacitor C1, and one end of resistor R1 is also connected to the attitude sensor. The other end of resistor R1 is electrically connected to one end of resistor R2 and one end of capacitor C2. The other ends of capacitors C1 and C2 are both grounded. The other end of resistor R2 is electrically connected to pin 2 of operational amplifier Q1. Pin 1 of operational amplifier Q1 is electrically connected to one end of capacitor C3. The other end of capacitor C3 is electrically connected to one end of resistor R3 and one end of resistor R4. The other end of resistor R3 is grounded. The other end of resistor R4 is electrically connected to the positive terminal of diode D1. The cathode of diode D1 is electrically connected to pin 3 of operational amplifier Q1, pin 3 of operational amplifier Q1 is electrically connected to the input terminal of Kalman filter chip U1, and the output terminal of Kalman filter chip U1 is connected to the attitude calibration unit. Resistor R1, capacitor C1, resistor R2, capacitor C2, operational amplifier Q1, capacitor C3, resistor R3, resistor R4 and diode D1 constitute a two-stage RC filter circuit. The structure of combining two-stage RC filtering with Kalman filter chip U1 first filters out high-frequency noise through the RC filter circuit, and then the Kalman filter chip U1 performs adaptive filtering on dynamic noise, effectively reducing noise interference in attitude data.

[0033] The attitude calibration unit includes a gyroscope, an accelerometer, and a data fusion chip. The outputs of the gyroscope and accelerometer are connected to the input of the data fusion chip, the input of the data fusion chip is connected to the output of the Kalman filter chip U1, and the output of the data fusion chip is connected to the main control module. By fusing the dual sensor data of the gyroscope and accelerometer and combining it with the noise-filtered attitude data, real-time attitude calibration is achieved, correcting the acquisition error caused by the attitude fluctuation of the UAV.

[0034] The high-precision positioning circuit includes a dual-mode positioning chip, a differential positioning module, and a positioning error compensation unit. The dual-mode positioning chip is connected to the differential positioning module and the positioning error compensation unit. The positioning error compensation unit is connected to the main control module. It is used to achieve high-precision positioning of the UAV and transmit the positioning data to the main control module.

[0035] The dual-mode positioning chip is a GPS / BeiDou dual-mode positioning chip, with the UM220-IV model being a preferred choice. The differential positioning module adopts a BDS / GPS dual-frequency differential module, with the M8T model being a preferred choice. The output of the differential positioning module is connected to the differential signal input of the dual-mode positioning chip. GPS / BeiDou dual-mode positioning can improve the stability of positioning signal reception and avoid positioning failure caused by obstruction or interference of a single system. The dual-frequency differential module can improve positioning accuracy to the centimeter level, significantly reducing positioning errors.

[0036] The positioning error compensation unit includes an error detection chip and a compensation calculation chip. The input terminal of the error detection chip is connected to the output terminal of the dual-mode positioning chip, and the output terminal of the error detection chip is connected to the input terminal of the compensation calculation chip. The output terminal of the compensation calculation chip is connected to the main control module. The error detection chip detects the error components in the positioning data in real time, and the compensation calculation chip corrects them, further improving the accuracy of the positioning data. This invention significantly reduces attitude noise interference through filtering and data fusion calibration of the attitude stabilization circuit. By combining a high-precision positioning circuit with dual-mode positioning, differential positioning, and error compensation, centimeter-level positioning accuracy is achieved. With the aid of auxiliary structures to improve environmental adaptability, the overall accuracy of electromagnetic data acquisition is significantly improved, providing reliable support for the detection of concealed disaster-causing bodies.

[0037] It should be noted that the compensation operation chip has a built-in preset differential positioning error correction circuit. Based on the reference signal output by the BDS / GPS dual-frequency differential module, it performs differential operation with the dual-mode positioning raw data collected by the error detection chip. The error components such as ionospheric delay and multipath effect are quantified through hardware logic circuits, and the compensated positioning data is output. This correction logic is implemented through the circuit topology fixed inside the chip and does not rely on external algorithms.

[0038] The data fusion chip has a built-in complementary filter circuit. The data fusion chip uses an existing complementary filter circuit to achieve data fusion. Its principle is a prior art in this field and will not be described separately here.

[0039] In addition, the gyroscope and accelerometer use high-precision devices built into the MPU6050 integrated chip, and the attitude sensor uses the MPU9250 nine-axis attitude sensor, which integrates a three-axis accelerometer, a three-axis gyroscope and a three-axis magnetometer. The operating principles of the gyroscope, accelerometer and attitude sensor are also existing technologies in this field, and will not be described separately here.

[0040] Working Principle: When the UAV is flying with its various modules, the power supply module provides stable power to the electromagnetic data acquisition module, attitude stabilization circuit, high-precision positioning circuit, and main control module. In the electromagnetic data acquisition module, electromagnetic sensors collect underground electromagnetic signals from the mining area and convert them into digital signals for transmission to the main control module. In the attitude stabilization circuit, attitude sensors collect attitude data, which is then filtered by a two-stage RC filter circuit in the noise filtering circuit to remove high-frequency noise. Dynamic noise is then filtered out by a Kalman filter chip U1. The processed attitude sensor data, angular velocity data from the gyroscope, and linear acceleration data from the accelerometer are fused and calibrated by a multi-sensor data fusion algorithm using a data fusion chip. The gyroscope's fast dynamic response is used to correct accelerometer static drift, while the accelerometer's high static accuracy is used to calibrate the gyroscope's accumulated error. Finally, the corrected data is output. The system generates drift-free, highly dynamic, and precise attitude data, and uploads the corrected attitude data to the main control module. In the high-precision positioning circuit, a GPS / BeiDou dual-mode positioning chip receives positioning signals, while a BDS / GPS dual-frequency differential module provides differential signals to improve basic positioning accuracy. An error detection chip collects the raw positioning data from the dual-mode positioning chip in real time, and, combined with the differential reference signal from the BDS / GPS dual-frequency differential module, identifies systematic and random errors in the positioning data. A compensation calculation chip calls a preset error correction model to quantize and cancel the detected error components, outputting centimeter-level precise positioning data, which is then uploaded to the main control module. The main control module receives electromagnetic data, attitude data, and positioning data, stores them synchronously in an SD card storage chip, and transmits them back to the ground via a 5G communication module. Simultaneously, a vibration-damping mounting base buffers vibrations to further ensure the stability of data acquisition.

[0041] 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 electromagnetic data acquisition device for unmanned aerial vehicles (UAVs) used for detecting hidden disasters in mining areas, comprising the main body of the UAV, characterized in that, The main body of the UAV integrates an electromagnetic data acquisition module, an attitude stabilization circuit, a high-precision positioning circuit, a main control module, and a power supply module. The power supply module is connected to the electromagnetic data acquisition module, the attitude stabilization circuit, the high-precision positioning circuit, and the main control module. The electromagnetic data acquisition module includes an electromagnetic sensor, which is connected to the main control module and is used to collect underground electromagnetic signals in the mining area and transmit them to the main control module. The main control module is used to receive and process electromagnetic data, attitude data and positioning data, and control the coordinated operation of each module; The attitude stabilization circuit includes an attitude sensor, a noise filtering circuit, and an attitude calibration unit connected in sequence. The attitude calibration unit is connected to the main control module and is used to collect UAV attitude data and transmit it to the main control module after noise suppression and calibration. The high-precision positioning circuit includes a dual-mode positioning chip, a differential positioning module, and a positioning error compensation unit. The dual-mode positioning chip is connected to the differential positioning module and the positioning error compensation unit, and the positioning error compensation unit is connected to the main control module. It is used to achieve high-precision positioning of the UAV and transmit the positioning data to the main control module.

2. The UAV electromagnetic data acquisition equipment for detecting concealed disasters in mining areas according to claim 1, characterized in that, The noise filtering circuit includes a resistor R1 and a Kalman filter chip U1. One end of the resistor R1 is electrically connected to one end of the capacitor C1, and the other end of the resistor R1 is also connected to the attitude sensor. The other end of the resistor R1 is electrically connected to one end of the resistor R2 and one end of the capacitor C2. The other ends of the capacitors C1 and C2 are both grounded. The other end of the resistor R2 is electrically connected to pin 2 of the operational amplifier Q1. Pin 1 of the operational amplifier Q1 is electrically connected to one end of the capacitor C3. The other end of the capacitor C3 is electrically connected to one end of the resistor R3 and one end of the resistor R4. The other end of the resistor R3 is grounded. The other end of the resistor R4 is electrically connected to the anode of the diode D1. The cathode of the diode D1 is electrically connected to pin 3 of the operational amplifier Q1. Pin 3 of the operational amplifier Q1 is electrically connected to the input terminal of the Kalman filter chip U1. The output terminal of the Kalman filter chip U1 is connected to the attitude calibration unit.

3. The UAV electromagnetic data acquisition equipment for detecting concealed disasters in mining areas according to claim 2, characterized in that, The attitude calibration unit includes a gyroscope, an accelerometer, and a data fusion chip. The outputs of the gyroscope and the accelerometer are connected to the input of the data fusion chip. The input of the data fusion chip is connected to the output of the Kalman filter chip U1. The output of the data fusion chip is connected to the main control module.

4. The UAV electromagnetic data acquisition equipment for detecting concealed disasters in mining areas according to claim 1, characterized in that, The dual-mode positioning chip is a GPS / BeiDou dual-mode positioning chip; the differential positioning module adopts a BDS / GPS dual-frequency differential module, and the output end of the differential positioning module is connected to the differential signal input end of the dual-mode positioning chip.

5. The UAV electromagnetic data acquisition equipment for detecting concealed disasters in mining areas according to claim 1, characterized in that, The positioning error compensation unit includes an error detection chip and a compensation calculation chip. The input terminal of the error detection chip is connected to the output terminal of the dual-mode positioning chip, the output terminal of the error detection chip is connected to the input terminal of the compensation calculation chip, and the output terminal of the compensation calculation chip is connected to the main control module.

6. The UAV electromagnetic data acquisition equipment for detecting concealed disasters in mining areas according to claim 1, characterized in that, The main control module uses an STM32H743VIT6 microcontroller. The main control module is also connected to a data storage module and a wireless communication module. The data storage module uses an SD card storage chip for data storage, and the wireless communication module uses a 5G communication module for communication.

7. The UAV electromagnetic data acquisition equipment for detecting concealed disasters in mining areas according to claim 1, characterized in that, The bottom of the drone body is equipped with a shock-absorbing mounting base. The electromagnetic data acquisition module is fixed to the bottom of the drone body through the shock-absorbing mounting base. The shock-absorbing mounting base is equipped with a rubber shock-absorbing pad and a spring shock-absorbing assembly.

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