A ground penetrating radar suspension and stabilization device for unmanned aerial vehicles

Abstract

The utility model discloses a kind of unmanned vehicle surveying and mapping ground penetrating radar suspension and stabilizing device, including the suspension stable support spheroid connected in the abdomen of unmanned vehicle, suspension stable support spheroid bottom has the spheroid aperture of inside and outside intercommunication, suspension stable support spheroid inner magnetic suspension is equipped with suspension stable support spheroid, suspension stable support spheroid is connected with suspension stable support column, ground penetrating radar is suspended in the lower end of suspension stable support column;Suspension stable support spheroid inner side wall is inlaid with a plurality of first permanent magnet and fixed, suspension stable support spheroid outer side is inlaid with a plurality of second permanent magnet and fixed;First permanent magnet and second permanent magnet mutually close one side magnetic pole same;The core advantage of the device is through multiple magnetic suspension and active stabilizing structure, greatly improve the stability and surveying and mapping precision of ground penetrating radar in unmanned vehicle flight, while giving consideration to installation flexibility.

Description

Technical Field

[0001] This utility model relates to the field of surveying equipment technology, specifically to a ground-penetrating radar suspension and stabilization device for UAV surveying. Background Technology

[0002] The core purpose of using drones equipped with ground-penetrating radar for mapping is to quickly and non-destructively acquire spatial distribution information of underground and subsurface targets, providing accurate data support for scenarios such as engineering construction, resource exploration, and environmental monitoring.

[0003] The core surveying and mapping objectives include underground resource exploration, engineering survey and assessment, environmental and disaster monitoring, archaeological and geological research, and emergency rapid investigation, such as detecting the location and direction of groundwater resources, underground water veins, karst caves, mineral resources, shallow ore bodies, and underground pipelines (water pipes, cables, gas pipelines) to avoid excavation and damage.

[0004] When a drone carries a ground-penetrating radar for mapping, the attitude stability of the ground-penetrating radar is easily affected by the drone's movement and natural wind. A special suspension structure is needed to further improve the attitude stability of the ground-penetrating radar during operation. Utility Model Content

[0005] The purpose of this invention is to provide a suspension and stabilization device for ground-penetrating radar used in UAV mapping, which can improve the attitude stability of the ground-penetrating radar during operation and facilitate the acquisition of more accurate and stable data in mapping.

[0006] To achieve the above objectives, this utility model provides the following technical solution: A ground-penetrating radar suspension and stabilization device for UAV mapping includes a suspension stabilization support spherical shell connected to the belly of the UAV. The bottom of the suspension stabilization support spherical shell has an opening that communicates with the inside and outside of the shell. A suspension stabilization support sphere is magnetically levitated inside the suspension stabilization support spherical shell. A suspension stabilization support column is connected to the suspension stabilization support sphere. The ground-penetrating radar is suspended at the lower end of the suspension stabilization support column. Multiple first permanent magnets are embedded and fixed on the inner wall of the suspension stabilizing support spherical shell, and multiple second permanent magnets are embedded and fixed on the outer side of the suspension stabilizing support spherical shell. The first and second permanent magnets have the same magnetic poles on the side that are close to each other.

[0007] Preferably, multiple eddy current damping coils are embedded and fixed on the inner wall of the suspension stabilizing support spherical shell. The eddy current damping coils are evenly distributed on the inner wall of the suspension stabilizing support spherical shell, and the eddy current damping coils are multi-turn conductive coils that are connected end to end.

[0008] Explanation: Eddy current damping coils can generate electromagnetic damping force, rapidly attenuating the sway of the sphere and further improving the instantaneous stability of the radar.

[0009] Preferably, the suspension stabilizing support column is connected to the suspension stabilizing support sphere through a longitudinal stabilizing mechanism. The longitudinal stabilizing mechanism includes a longitudinal stabilizing receiving hole that extends radially inside the suspension stabilizing support sphere. The bottom of the suspension stabilizing support sphere has a support column sliding connection hole that is coaxially connected to the longitudinal stabilizing receiving hole. The suspension stabilizing support column is slidably connected in the support column sliding connection hole. A first permanent magnet ring is fixed at the upper and lower ends of the longitudinal stabilizing receiving hole. Two second permanent magnet rings are fixed at one end of the suspension stabilizing support column in the longitudinal stabilizing receiving hole, with the second permanent magnet rings located between the two first permanent magnet rings. The first permanent magnet ring and the second permanent magnet ring have the same magnetic poles on the side closest to each other.

[0010] Description: It adopts a longitudinal dual stabilization design, which can accurately adapt to and adjust vertical vibration. The longitudinal stabilization mechanism achieves passive limiting through the repulsion of like poles of permanent magnet rings, and is combined with the active drive compensation of linear motor. It can suppress longitudinal vibration and actively adjust radar altitude to adapt to different surveying scenarios.

[0011] Preferably, a linear motor stator is embedded and fixed on the inner wall of the longitudinal stabilizing receiving hole, a linear drive support ring is fixed at one end of the suspension stabilizing support column in the longitudinal stabilizing receiving hole, and a linear motor mover is fixed on the outside of the linear drive support ring. The stator of the linear motor is arranged along the axial direction of the longitudinal stable receiving hole.

[0012] Note: With active drive compensation from a linear motor, it can suppress longitudinal vibration and actively adjust the radar altitude, making it easy to adapt to various surveying scenarios.

[0013] Preferably, a first connecting plate is fixed to the top of the suspension stabilizing support spherical shell, the first connecting plate has multiple first fastening connection holes, and the first connecting plate is fastened to the belly position of the UAV by multiple screws; The lower end of the suspension stabilizing support column is rotatably connected to a deflection support ring coaxial with it. The lower end of the deflection support ring is fixed with a second connecting plate. The second connecting plate has multiple second fastening connection holes. The ground penetrating radar is fastened to the lower side of the second connecting plate by multiple bolts.

[0014] Note: The deflection support ring, driven by a servo motor and worm gear, can precisely adjust the horizontal angle of the ground penetrating radar. It can actively adjust the angle to adapt to various needs, meet the mapping requirements of different directions, and improve the versatility of the device.

[0015] Compared with the prior art, the beneficial effects of this utility model are reflected in the following aspects: 1. The present invention has a reasonable structural design. Its core advantage is that it greatly improves the stability and mapping accuracy of ground penetrating radar in UAV flight through multiple magnetic levitation and active stabilization structures, while also taking into account installation flexibility. 2. This utility model adopts a non-contact magnetic levitation stabilization scheme, which can reduce interference. The spherical shell and the sphere are magnetically levitated through permanent magnets with the same pole. The absence of mechanical contact can avoid the transmission of vibration caused by friction, and greatly reduce the impact of UAV flight swaying on ground penetrating radar. 3. This utility model adopts eddy current damping for rapid vibration reduction. The closed eddy current damping coil inside the spherical shell can generate electromagnetic damping force, which can quickly attenuate the sway of the sphere and further improve the instantaneous stability of the radar, making it suitable for the complex working conditions of UAV high-altitude flight. 4. This utility model has dual longitudinal stabilization, which can accurately adapt to and adjust vertical vibration. The longitudinal stabilization mechanism achieves passive limiting through the repulsion of the same pole of the permanent magnet ring, and is combined with the active drive compensation of the linear motor. It can suppress longitudinal vibration and actively adjust the radar height to adapt to different surveying scenarios. Attached Figure Description

[0016] Figure 1 This is the front view of this utility model; Figure 2 This is a schematic diagram of the structure of the suspension stabilizing support spherical shell of this utility model; Figure 3 This is a schematic diagram of the structure of the suspension stabilizing support sphere of this utility model; Figure 4 This is a schematic diagram of the longitudinal stabilizing mechanism of this utility model; Figure 5 This is a schematic diagram of the structure of the second connecting plate of this utility model.

[0017] In the figure, 10-suspension stabilizing support spherical shell, 101-spherical shell opening, 102-eddy current damping coil, 103-first connecting plate, 104-first fastening connection hole, 11-suspension stabilizing support sphere, 12-suspension stabilizing support column, 121-deflection support ring, 122-second connecting plate, 123-second fastening connection hole, 13-first permanent magnet, 14-second permanent magnet, 15-longitudinal stabilizing mechanism, 150-longitudinal stabilizing receiving hole, 151-support column sliding connection hole, 152-first permanent magnet ring, 153-second permanent magnet ring, 154-linear motor stator, 155-linear drive support ring, 156-linear motor mover, 20-ground penetrating radar. Detailed Implementation

[0018] The following is combined Figures 1-5This utility model will be described in detail. For ease of description, the orientations mentioned below are defined as follows: The directions of up, down, left, right, front, and back mentioned below are consistent with the directions of up, down, left, right, front, and back in the projection relationship of their respective main views or structural schematic diagrams.

[0019] Example 1: A ground-penetrating radar suspension and stabilization device for UAV mapping, such as Figure 1 As shown, it includes a suspension stabilization support spherical shell 10 connected to the belly of the UAV. The bottom of the suspension stabilization support spherical shell 10 has a spherical shell opening 101 that communicates with the inside and outside. A suspension stabilization support sphere 11 is magnetically levitated inside the suspension stabilization support spherical shell 10. A suspension stabilization support column 12 is connected to the suspension stabilization support sphere 11. The ground penetrating radar 20 is suspended at the lower end of the suspension stabilization support column 12. It should be noted that the drone involved in this utility model refers to the existing surveying drone, which is a common surveying drone in the field. This application does not specifically limit the structure or model of the drone. Ground-penetrating radar 20 is a commercially available ground-penetrating radar of existing technology used for mapping; like Figure 2 As shown, multiple first permanent magnets 13 are embedded and fixed in the inner wall of the suspension stabilizing support spherical shell 10, such as... Figure 3 As shown, multiple second permanent magnets 14 are embedded and fixed on the outer side of the suspension stabilizing support sphere 11; The first permanent magnet 13 and the second permanent magnet 14 are neodymium iron boron permanent magnets of the prior art; The first permanent magnet 13 and the second permanent magnet 14 have the same magnetic poles on the side that are close to each other.

[0020] Example 2: Based on Example 1, such as Figure 2 As shown, multiple eddy current damping coils 102 are embedded and fixed on the inner wall of the suspension stabilizing support spherical shell 10. The eddy current damping coils 102 are evenly distributed on the inner wall of the suspension stabilizing support spherical shell 10. The eddy current damping coils 102 are multi-turn conductive coils that are connected end to end in a closed loop.

[0021] Example 3: Based on Example 2, such as Figure 1 As shown, the suspension stabilizing support column 12 is connected to the suspension stabilizing support ball 11 via the longitudinal stabilizing mechanism 15, as... Figure 4 As shown, the longitudinal stabilizing mechanism 15 includes a longitudinal stabilizing receiving hole 150 that extends radially inside the suspension stabilizing support ball 11, and a support column sliding connection hole 151 that is coaxially connected to the longitudinal stabilizing receiving hole 150 at the bottom of the suspension stabilizing support ball 11. The suspension stabilizing support column 12 is slidably connected in the support column sliding connection hole 151. A first permanent magnet ring 152 is fixed at the upper and lower ends of the longitudinal stabilizing receiving hole 150. Two second permanent magnet rings 153 are fixed at one end of the suspension stabilizing support column 12 located in the longitudinal stabilizing receiving hole 150. The second permanent magnet rings 153 are located between the two first permanent magnet rings 152. The first permanent magnet ring 152 and the second permanent magnet ring 153 are neodymium iron boron permanent magnets of the prior art; The first permanent magnet ring 152 and the second permanent magnet ring 153 have the same magnetic poles on the side that are close to each other.

[0022] Example 4: Based on Example 3, such as Figure 4 As shown, a linear motor stator 154 is embedded and fixed on the inner wall of the longitudinal stabilizing receiving hole 150, and a linear drive support ring 155 is fixed at one end of the suspension stabilizing support column 12 in the longitudinal stabilizing receiving hole 150. A linear motor mover 156 is fixed on the outside of the linear drive support ring 155. The linear motor stator 154 and the linear motor mover 156 are existing linear motor structures. The linear motor stator 154 is arranged along the axial direction of the longitudinal stabilizing receiving hole 150.

[0023] Example 5: Based on Example 4, such as Figure 1 As shown, a first connecting plate 103 is fixed to the top of the suspension stabilizing support spherical shell 10. The first connecting plate 103 has multiple first fastening connection holes 104. The first connecting plate 103 is fastened to the underside of the UAV by multiple screws. The UAV is not shown in the figure. like Figure 5 As shown, the lower end of the suspension stabilizing support column 12 is rotatably connected to a deflection support ring 121 coaxial with it. The lower end of the deflection support ring 121 is fixed with a second connecting plate 122. The second connecting plate 122 has multiple second fastening connection holes 123. The ground penetrating radar 20 is fastened to the lower side of the second connecting plate 122 by multiple bolts. The deflection support ring 121 is driven by a prior art servo motor fixed to the suspension stabilization support column 12 to rotate around the axis of the suspension stabilization support column 12 via a worm gear transmission.

[0024] In practical application, under the gravity of the ground penetrating radar 20, the ground penetrating radar 20 drives the suspension stabilizing support sphere 11 to freely deflect around its center inside the suspension stabilizing support sphere shell 10 through the suspension stabilizing support column 12, so that the lower end of the ground penetrating radar 20 always faces the ground stably to carry out detection work. The repulsive force generated between multiple first permanent magnets 13 and multiple second permanent magnets 14 enables the suspension stabilizing support ball 11 to be magnetically levitated within the suspension stabilizing support ball shell 10, resulting in almost no frictional resistance during the deflection process of the suspension stabilizing support ball 11, with a fast response and smoother movement. The magnetic field resistance generated by the eddy currents enables the suspended stable support sphere 11 to quickly recover stability after deflection. When the second permanent magnet 14 moves and sweeps across the eddy current damping coil 102, an induced current is generated in the eddy current damping coil 102. Since the eddy current damping coil 102 is a closed coil, it is equivalent to an electromagnet. The electromagnetic field generated by the eddy current damping coil 102 at this time will hinder the movement of the second permanent magnet 14, which will help the suspended stable support sphere 11 to quickly recover stability after deflection. When the UAV experiences vertical motion fluctuations in the air, the suspension stabilizing support column 12 can move relative to the suspension stabilizing support ball 11 along the axis of the longitudinal stabilizing receiving hole 150, making the vertical motion fluctuations of the ground penetrating radar 20 relatively smoother and more stable, which is beneficial to the stability and accuracy of the ground penetrating radar 20. When the suspension stabilizing support column 12 moves relative to the longitudinal stabilizing receiving hole 150, the repulsive force between the second permanent magnet ring 153 and the first permanent magnet ring 152 can play a role in shock absorption and damping, preventing the suspension stabilizing support column 12 from undergoing unstable movement of sudden stop and acceleration. Furthermore, the linear motor stator 154 can drive the linear motor mover 156 to linearly drive the support ring 155 together with the suspension stabilizing support column 12 to move along the axial direction of the longitudinal stabilizing receiving hole 150, adjust the initial position between the second permanent magnet ring 153 and the first permanent magnet ring 152, and thus adjust the damping effect when the suspension stabilizing support column 12 moves relative to the longitudinal stabilizing receiving hole 150.

Claims

1. A ground-penetrating radar suspension and stabilization device for UAV mapping, characterized in that, The system includes a suspension stabilizing support spherical shell (10) connected to the belly of the UAV. The bottom of the suspension stabilizing support spherical shell (10) has a spherical shell opening (101) that communicates with the inside and outside. A suspension stabilizing support sphere (11) is magnetically suspended inside the suspension stabilizing support spherical shell (10). A suspension stabilizing support column (12) is connected to the suspension stabilizing support sphere (11). The ground penetrating radar (20) is suspended at the lower end of the suspension stabilizing support column (12). Multiple first permanent magnets (13) are embedded and fixed on the inner side wall of the suspension stabilizing support sphere (10), and multiple second permanent magnets (14) are embedded and fixed on the outer side of the suspension stabilizing support sphere (11). The first permanent magnet (13) and the second permanent magnet (14) have the same magnetic poles on the side that are close to each other.

2. The ground-penetrating radar suspension and stabilization device for UAV mapping according to claim 1, characterized in that, Multiple eddy current damping coils (102) are embedded and fixed on the inner wall of the suspension stabilizing support spherical shell (10). The eddy current damping coils (102) are evenly distributed on the inner wall of the suspension stabilizing support spherical shell (10). The eddy current damping coils (102) are multi-turn conductive coils that are connected end to end.

3. The ground-penetrating radar suspension and stabilization device for UAV mapping according to claim 1, characterized in that, The suspension stabilizing support column (12) is connected to the suspension stabilizing support ball (11) through a longitudinal stabilizing mechanism (15). The longitudinal stabilizing mechanism (15) includes a longitudinal stabilizing receiving hole (150) that extends radially inside the suspension stabilizing support ball (11). The bottom of the suspension stabilizing support ball (11) has a support column sliding connection hole (151) that is coaxially connected to the longitudinal stabilizing receiving hole (150). The suspension stabilizing support column (12) is slidably connected in the support column sliding connection hole (151). A first permanent magnet ring (152) is fixed at the upper end and the lower end of the longitudinal stabilizing receiving hole (150). Two second permanent magnet rings (153) are fixed at one end of the suspension stabilizing support column (12) located in the longitudinal stabilizing receiving hole (150). The second permanent magnet rings (153) are located between the two first permanent magnet rings (152). The first permanent magnet ring (152) and the second permanent magnet ring (153) have the same magnetic poles on the side that are close to each other.

4. The ground-penetrating radar suspension and stabilization device for UAV mapping according to claim 3, characterized in that, A linear motor stator (154) is embedded and fixed on the inner wall of the longitudinal stabilizing receiving hole (150). A linear drive support ring (155) is fixed at one end of the suspension stabilizing support column (12) located in the longitudinal stabilizing receiving hole (150). A linear motor mover (156) is fixed on the outside of the linear drive support ring (155). The linear motor stator (154) is arranged along the axial direction of the longitudinal stabilizing receiving hole (150).

5. The ground-penetrating radar suspension and stabilization device for UAV mapping according to claim 1, characterized in that, The top of the suspension stabilizing support spherical shell (10) is fixed with a first connecting plate (103), the first connecting plate (103) has a plurality of first fastening connection holes (104), and the first connecting plate (103) is fastened to the belly position of the UAV by a plurality of screws. The lower end of the suspension stabilizing support column (12) is rotatably connected to a deflection support ring (121) coaxial with it. The lower end of the deflection support ring (121) is fixed with a second connecting plate (122). The second connecting plate (122) has multiple second fastening connection holes (123). The ground-penetrating radar (20) is fastened to the lower side of the second connecting plate (122) by multiple bolts.

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