阅读说明：本技术 一种半航空瞬变电磁探测接收系统专用无人机 (Special unmanned aerial vehicle of half aviation transition electromagnetic detection receiving system ) 是由 孙怀凤 陈成栋 杨洋 杜利明 朱裕振 叶琼瑶 于 2020-03-31 设计创作，主要内容包括：本发明公开了一种半航空瞬变电磁探测接收系统专用无人机,包括：空芯机架,所述空芯机架具有多个机臂,每个机臂的端部设置有动力系统,空芯机架中间为具有容纳分体式接收线圈的线圈收纳舱；所述动力系统包括同轴分布的旋翼轴、绝缘机翼和双层电机,所述绝缘机翼分为上下两层,均连接到旋翼轴上；所述双层电机的内外层电机旋转方向相反,用于消除内部转子转动时产生的电磁信号干扰,且所述绝缘机翼不会因切割磁感线而产生电磁干扰。(The invention discloses a special unmanned aerial vehicle for a semi-aviation transient electromagnetic detection receiving system, which comprises: the coil receiving device comprises an air-core frame, a coil receiving cabin and a coil processing system, wherein the air-core frame is provided with a plurality of arms, the end part of each arm is provided with a power system, and the middle of the air-core frame is provided with the coil receiving cabin for accommodating a split type receiving coil; the power system comprises a rotor shaft, an insulating wing and a double-layer motor which are coaxially distributed, wherein the insulating wing is divided into an upper layer and a lower layer which are connected to the rotor shaft; the inner-layer motor and the outer-layer motor of the double-layer motor are opposite in rotating direction and used for eliminating electromagnetic signal interference generated when the inner rotor rotates, and the insulating wing cannot generate electromagnetic interference due to cutting of magnetic induction lines.)

1. The utility model provides a special unmanned aerial vehicle of half aviation transition electromagnetic detection receiving system, adopts many rotor unmanned aerial vehicle, characterized by includes:

the coil receiving device comprises an air-core frame, a coil receiving cabin and a coil processing system, wherein the air-core frame is provided with a plurality of arms, the end part of each arm is provided with a power system, and the middle of the air-core frame is provided with the coil receiving cabin for accommodating a split type receiving coil;

the power system comprises a rotor shaft, an insulating wing and a double-layer motor which are coaxially distributed, wherein the insulating wing is divided into an upper layer and a lower layer which are connected to the rotor shaft;

the inner-layer motor and the outer-layer motor of the double-layer motor are opposite in rotating direction and used for eliminating electromagnetic signal interference generated when the inner rotor rotates, and the insulating wing cannot generate electromagnetic interference due to cutting of magnetic induction lines.

2. The special unmanned aerial vehicle for the semi-aviation transient electromagnetic detection receiving system as claimed in claim 1, wherein the power system further comprises a flight control unit, in communication with the double-layer motor, for automatic flight control of the unmanned aerial vehicle flight.

3. The unmanned aerial vehicle special for the semi-aviation transient electromagnetic detection receiving system as claimed in claim 1, wherein the coil receiving chamber comprises: the coil receiving groove is internally provided with the coil anti-skidding damping pad, and the coil receiving groove is uniformly provided with a plurality of coil fixing lock catches for fixing the split type receiving coil.

4. The unmanned aerial vehicle special for the semi-aviation transient electromagnetic detection receiving system as claimed in claim 1, wherein the split type receiving coil comprises: coil shell, internal coil and upper cover, coil shell and upper cover are connected fixedly, and the inside standing groove that is equipped with of coil shell places the internal coil of different turns and different materials according to the different demands of surveying.

5. The unmanned aerial vehicle special for the semi-aviation transient electromagnetic detection receiving system as claimed in claim 1, wherein the coil upper cover is provided with a data transmission port for connecting with an internal coil data transmission port for transmitting internal coil data.

6. The unmanned aerial vehicle special for the semi-aviation transient electromagnetic detection receiving system as claimed in claim 1, wherein a signal receiving and recording module, a signal synchronization module, a signal storage module, a data simultaneous transmission module, a coil attitude recording module and a control module are integrated in the coil housing;

the control module sets various parameters of signal receiving, including fundamental frequency of signal acquisition, gain multiple of signal acquisition and signal acquisition mode;

the signal receiving and recording module receives the set parameters, starts to collect electromagnetic signals and collects flight attitude information by using the coil attitude recording module;

the signal storage module is used for transmitting the acquired electromagnetic signals and the attitude information to signals for storage;

the signal synchronization module is synchronized with the transmitter through a GPS (global positioning system) so as to ensure normal operation of electromagnetic signal receiving;

and the data simultaneous transmission module is used for transmitting the acquired electromagnetic signals and the attitude information to the ground station in real time.

7. The unmanned aerial vehicle special for the semi-aviation transient electromagnetic detection receiving system as claimed in claim 1, wherein heat dissipation holes are arranged on the side surface of the hollow rack, and air intake is guaranteed to meet the heat dissipation requirements of internal components during flight.

8. The unmanned aerial vehicle special for the semi-aviation transient electromagnetic detection receiving system as claimed in claim 1, wherein a battery compartment is disposed on a horn of the air core frame, the battery compartment comprises a battery shock pad, a battery receiving groove and a battery compartment cover, a plurality of battery shock pads are disposed in the battery receiving groove, and the battery receiving groove is covered by the battery compartment cover.

9. The unmanned aerial vehicle special for the semi-aviation transient electromagnetic detection receiving system as claimed in claim 1, wherein a circle of rubber pad is fixed inside the battery hatch cover in contact with the battery, and the battery is not exposed after the hatch cover is fastened.

10. A semi-airborne transient electromagnetic detection system, comprising:

the drone, ground station, and transmitter of any of claims 1-9;

the ground station control transmitter transmits signals, the signals are transmitted to the semi-aviation transient electromagnetic detection receiving equipment through the GPS, the split type receiving coil of the semi-aviation transient electromagnetic detection receiving equipment acquires electromagnetic signals, and the acquired electromagnetic signals and attitude information are transmitted to the ground station in real time.

Technical Field

The invention belongs to the technical field of exploration, and particularly relates to a special unmanned aerial vehicle for a semi-aviation transient electromagnetic detection receiving system.

Background

The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.

The semi-aviation transient electromagnetic method has the advantages that the excitation source is placed on the ground surface, and a man-machine or unmanned-machine mounted receiving device is used for acquiring transient response in the air, so that the semi-aviation transient electromagnetic method integrates the advantages of a ground transient electromagnetic method and an aviation transient electromagnetic method, has the characteristics of high signal-to-noise ratio, flexibility, high efficiency, large detection depth and the like of acquired data, can be suitable for areas with complex geological and topographic conditions such as alpine regions, high-altitude mountain regions, deserts, gobi, forest coverage areas, karst development areas and the like, and has a wider application range compared with other exploration methods.

However, the inventor finds in research that, during the existing semi-aviation transient electromagnetic acquisition, a transient electromagnetic receiving coil is suspended below the unmanned aerial vehicle through a cable, so as to avoid the influence of the unmanned aerial vehicle system on the transient electromagnetic signal (the transient electromagnetic receiving coil is directly placed on the unmanned aerial vehicle, and there is a problem of the influence of the unmanned aerial vehicle on the transient electromagnetic signal during operation).

At present, a helicopter system and an unmanned aerial vehicle system are all mounted with a receiving coil through flexible connection and are issued by an airplane, a rope is generally adopted for mounting, the helicopter system is generally mounted below the airplane by about 100 plus 130m, and the unmanned aerial vehicle system is generally mounted below the airplane by about 5-10 m.

This mounting method brings about a number of problems:

1. there is the error in aircraft location and receiving coil location, and the error is unfixed, because flight in-process aircraft turn etc. can cause the speed to change, and this distance also can change, causes unmanned aerial vehicle location and coil location inaccurate, and then influences the location problem in the data processing in later stage.

2. Through the flexible coupling carry, cause receiving coil's rocking, sway etc. easily, the gesture of coil can produce great change, leads to the magnetic flux of passing through in the coil constantly to produce the change, finally makes the quality variation of data of gathering can't gather accurate signal even, need increase extra sensor and just can gather these gesture information to the analysis is complicated.

3. Unmanned aerial vehicle's load is limited, and at aircraft turn etc. in-process, can produce great centrifugal force, make the coil (heavier) of carry in the below produce outside power down to relatively fixed position when the skew steadily flies, in case turn too fiercely, cause the aircraft to fall into the air easily.

4. The heavy object hung below the airplane is easy to hang down due to hanging on external objects such as trees and the like.

5. The heavy objects are hung below the airplane, the operation is very complicated, the requirement on operators is high, and accidents are easy to happen.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention provides the special unmanned aerial vehicle for the semi-aviation transient electromagnetic detection receiving system, which can improve the safety of the semi-aviation transient electromagnetic acquisition system while ensuring the quality of received data.

In order to achieve the above object, one or more embodiments of the present invention provide the following technical solutions:

the utility model provides a special unmanned aerial vehicle of half aviation transition electromagnetic detection receiving system, adopts many rotor unmanned aerial vehicle, includes:

the coil receiving device comprises an air-core frame, a coil receiving cabin and a coil processing system, wherein the air-core frame is provided with a plurality of arms, the end part of each arm is provided with a power system, and the middle of the air-core frame is provided with the coil receiving cabin for accommodating a split type receiving coil;

the power system comprises a rotor shaft, an insulating wing and a double-layer motor which are coaxially distributed, wherein the insulating wing is divided into an upper layer and a lower layer which are connected to the rotor shaft;

the inner-layer motor and the outer-layer motor of the double-layer motor are opposite in rotating direction and used for eliminating electromagnetic signal interference generated when the inner rotor rotates, and the insulating wing cannot generate electromagnetic interference due to cutting of magnetic induction lines.

According to a further technical scheme, the power system further comprises a flight control unit which is communicated with the double-layer motor and used for automatic flight control of the unmanned aerial vehicle.

Further technical solution, the coil storage compartment includes: the coil receiving groove is internally provided with the coil anti-skidding damping pad, and the coil receiving groove is uniformly provided with a plurality of coil fixing lock catches for fixing the split type receiving coil.

In a further technical solution, the split receiving coil includes: coil shell, internal coil and upper cover, coil shell and upper cover are connected fixedly, and the inside standing groove that is equipped with of coil shell places the internal coil of different turns and different materials according to the different demands of surveying.

According to a further technical scheme, a data transmission port is arranged on the coil cover and is used for being connected with the internal coil data transmission port to transmit data of the internal coil.

According to a further technical scheme, a signal receiving and recording module, a signal synchronization module, a signal storage module, a data simultaneous transmission module, a coil posture recording module and a control module are integrated in a coil shell;

the control module sets various parameters of signal receiving, including fundamental frequency of signal acquisition, gain multiple of signal acquisition and signal acquisition mode;

the signal receiving and recording module receives the set parameters, starts to collect electromagnetic signals and collects flight attitude information by using the coil attitude recording module;

the signal storage module is used for transmitting the acquired electromagnetic signals and the attitude information to signals for storage;

the signal synchronization module is synchronized with the transmitter through a GPS (global positioning system) so as to ensure normal operation of electromagnetic signal receiving;

and the data simultaneous transmission module is used for transmitting the acquired electromagnetic signals and the attitude information to the ground station in real time.

According to the further technical scheme, radiating holes are distributed in the side face of the hollow rack, and the air intake is guaranteed to meet the radiating requirements of internal components during flying.

According to the technical scheme, a battery cabin is arranged on the horn of the hollow rack and comprises a battery shock pad, a battery accommodating groove and a battery cabin cover, wherein the battery shock pad is arranged in the battery accommodating groove, and the battery accommodating groove is covered by the battery cabin cover.

According to the further technical scheme, a circle of rubber pad is fixed inside the battery hatch cover which is in contact with the battery, and the battery cannot be exposed after the hatch cover is fastened.

In another aspect of the present invention, a semi-airborne transient electromagnetic detection system is disclosed, comprising:

the system comprises semi-aviation transient electromagnetic detection receiving equipment, a ground station and a transmitter;

the ground station control transmitter transmits signals, the signals are transmitted to the semi-aviation transient electromagnetic detection receiving equipment through the GPS, the split type receiving coil of the semi-aviation transient electromagnetic detection receiving equipment acquires electromagnetic signals, and the acquired electromagnetic signals and attitude information are transmitted to the ground station in real time.

The above one or more technical solutions have the following beneficial effects:

this unmanned aerial vehicle's components and parts are all fixed inside high strength light hollow frame through hasp or support, and the louvre is all laid in the frame side, guarantees the intake in order to satisfy the heat dissipation demand of inside components and parts when flying to close a whole set of receiving arrangement and unmanned aerial vehicle as an organic whole.

The two pairs of wings are divided into two layers and are connected to a rotor shaft through a lock catch, and the installation directions of the two pairs of wings are opposite; when the unmanned aerial vehicle flies, the inner layer and outer layer rotating directions of the coaxial double-layer motor are opposite, so that electromagnetic signal interference generated when the inner rotor rotates is eliminated, and electromagnetic interference generated by cutting a magnetic induction line can be avoided by the high-strength insulating wing;

the coil anti-skidding damping pad disclosed by the invention is made of a material with good elasticity and a memory function, is soft in surface, large in friction coefficient and strong in friction force, and can provide enough protection for a receiving coil; the coil fixing lock catch adopts a soft leather lock catch, so that the coil can be fixed, and the damage of the hard lock catch to the appearance of the coil can be avoided;

the battery shock pad disclosed by the invention adopts a circle of rubber pad which is made of a slightly hard material, so that the battery can be protected, the stability of connection between the battery and the unmanned aerial vehicle can be ensured, and a power source is continuously provided for the unmanned aerial vehicle; the battery hatch cover is made of high-strength materials the same as that of the rack, a circle of rubber pad is fixed inside the battery hatch cover which is in contact with the battery, and the battery cannot be exposed after the hatch cover is fastened.

The coil main body and the coil upper shell of the split type coil are of split type structures, can be opened at any time to replace an internal coil, can also be used for placing a fluxgate and the like to receive signals, and can be used for replacing the internal coil or other signal receivers according to field exploration requirements and data requirements at any time.

This is disclosed with signal reception record module, signal synchronization module, signal storage module, data are with biography module, coil gesture record module and control module are whole to be integrated to split type coil's centre, and the modularization combination is easily dismantled, changes easily, has changed the disconnect-type structure of coil and receiver in the past, though increased the degree of difficulty of after-repair maintenance, but the integral type structure makes to carry more convenient, and the reduction of weight also makes it be applicable to the unmanned aerial vehicle that original load is just not high more.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.

FIG. 1 is a block diagram of an apparatus of the present disclosure;

FIG. 2 is a diagram of a coaxial double layer motor of the present disclosure;

FIG. 3 is a coaxial bi-directional rotor shaft diagram of the present disclosure;

fig. 4 is a split receiver coil diagram of the present disclosure;

wherein: 1. the high-strength light hollow rack comprises a high-strength light hollow rack body, 2, a split type receiving coil, 3, a coil storage cabin, 4, a battery cabin, 5, high-strength insulating wings, 6, a coaxial bidirectional rotor shaft, 7, a coaxial double-layer motor, 8, an aviation ceramic shell, 9, a coil main body shell, 10, a coil upper shell, 11, an internal acquisition coil, 12, a signal receiving and recording module, 13, a signal synchronization module, 14, a signal storage module, 15, a data simultaneous transmission module, 16, a coil posture recording module, 17, a control module, 18 and a coil placement groove, 19, a split type coil storage groove, 20, a coil anti-skidding damping pad, 21, a coil fixing lock catch, 22, a battery damping pad, 23, a battery storage groove, 24 and a battery cabin cover.

Detailed Description

It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

The embodiments and features of the embodiments of the present invention may be combined with each other without conflict.