CN112485832A - Suspension type active stabilization platform - Google Patents
Suspension type active stabilization platform Download PDFInfo
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- CN112485832A CN112485832A CN202011486784.5A CN202011486784A CN112485832A CN 112485832 A CN112485832 A CN 112485832A CN 202011486784 A CN202011486784 A CN 202011486784A CN 112485832 A CN112485832 A CN 112485832A
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- Prior art keywords
- active stabilization
- attitude
- stabilization platform
- sensor coil
- controller
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
- G01V3/08—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices
- G01V3/10—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices using induction coils
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- Life Sciences & Earth Sciences (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Mechanical Engineering (AREA)
- Environmental & Geological Engineering (AREA)
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- General Life Sciences & Earth Sciences (AREA)
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Abstract
本发明提出一种悬吊式主动稳定平台，包括安装平板、传感器线圈、控制器、飞控、挂扣和姿态调整部件，传感器线圈固定安装在安装平板的中央位置，传感器线圈用于采集磁场信息；控制器和飞控均固定安装在安装平板上，姿态调整部件固定安装在安装平板的外周，控制器用于控制传感器线圈进行磁场信息采集，姿态调整部件用于悬吊式主动稳定平台的姿态稳定，飞控与姿态调整部件电连接，飞控能够控制调节姿态调整部件；挂扣设置于安装平板的上表面，挂扣所处的位置与悬吊式主动稳定平台的重心重合，悬吊式主动稳定平台可以保证安装在内的传感器线圈的姿态稳定，从而保证采样所获得的磁场向量为固定方向。
The invention provides a suspended active stabilization platform, which includes a mounting plate, a sensor coil, a controller, a flight control, a hook and an attitude adjustment component. The sensor coil is fixedly installed at the central position of the mounting plate, and the sensor coil is used to collect magnetic field information. ;The controller and flight controller are fixedly installed on the installation plate, the attitude adjustment part is fixedly installed on the outer periphery of the installation plate, the controller is used to control the sensor coil to collect magnetic field information, and the attitude adjustment part is used for the attitude stabilization of the suspended active stabilization platform , the flight control and the attitude adjustment part are electrically connected, and the flight control can control and adjust the attitude adjustment part; the hanging buckle is arranged on the upper surface of the installation plate, and the position of the hanging buckle coincides with the center of gravity of the suspended active stabilization platform. The stable platform can ensure that the posture of the sensor coil installed inside is stable, so as to ensure that the magnetic field vector obtained by sampling is in a fixed direction.
Description
Technical Field
The invention relates to the technical field of magnetic field information acquisition, in particular to a suspension type active stabilization platform.
Background
In the field of aeroelectromagnetic geophysical prospecting, a common scheme is to suspend a magnetic sensor (usually a coil) by using an aircraft (including manned and unmanned aircraft) and acquire magnetic field information in the process of advancing. The aircraft is connected with the sensor through a non-metal soft suspension cable. The effect of the suspension cable is to pull the distance (8-10m) between the aircraft and the sensor so as to avoid magnetic interference noise brought by the aircraft.
The sensor coil is influenced by the traction force of the cable, gravity and aerodynamic force in the air to generate random change of attitude, and the amplitude of the random change is determined by the speed, maneuvering state, meteorological conditions and the like of the towing aircraft. Some electromagnetic methods for large depth surveys, such as wide-area electromagnetic methods, maintain high demands on the attitude of the sensor coil. At this time, the random change of the posture of the sensor coil can lead the collected magnetic field information data to be inaccurate, thereby bringing about the difficult problem of data processing and even the embarrassment that the data is unavailable.
Disclosure of Invention
In order to solve the above problems, the present invention provides a suspension type active stabilization platform.
The invention is realized by the following technical scheme:
the invention provides a suspension type active stabilization platform which comprises an installation flat plate, a sensor coil, a controller, a flight control component, a hanging buckle and a posture adjustment component, wherein the sensor coil is fixedly installed at the central position of the installation flat plate and is used for acquiring magnetic field information; the controller and the flight control are both fixedly installed on the installation flat plate, the attitude adjusting component is fixedly installed on the periphery of the installation flat plate, the controller is used for controlling the sensor coil to acquire magnetic field information, the attitude adjusting component is used for stabilizing the attitude of the suspension type active stabilization platform, the flight control is electrically connected with the attitude adjusting component, and the flight control can control and adjust the attitude adjusting component; the hanging buckle is arranged on the upper surface of the mounting flat plate, and the position of the hanging buckle coincides with the gravity center of the suspension type active stabilization platform.
Furthermore, the suspension type active stabilization platform further comprises a supporting arm, one end of the supporting arm is fixedly connected with the side edge of the installation flat plate, and the other end of the supporting arm is fixedly provided with the posture adjusting component.
Further, the posture adjusting component comprises a motor and fan blades, and the motor drives the fan blades to rotate.
Further, the suspension type active stabilization platform further comprises a power supply, the power supply is fixedly installed on the installation flat plate, and the power supply supplies power to the controller, the sensor coil, the flight control component and the attitude adjustment component.
Furthermore, the suspension type active stabilization platform further comprises a sling, one end of the sling is tied to the hanging buckle, and the other end of the sling is fixed on the aircraft.
The invention has the beneficial effects that:
the suspension type active stabilization platform provided by the invention is connected with the aircraft through the sling, and when the aircraft suspends the suspension type active stabilization platform to acquire magnetic field information, the attitude stabilization of the suspension type active stabilization platform is automatically adjusted through the attitude adjusting part, so that a sensor coil arranged on the installation flat plate can keep a stable attitude, and the magnetic field vector acquired by sampling is ensured to be in a fixed direction.
Drawings
Fig. 1 is a schematic structural view of a suspended active stabilization platform according to the present invention;
fig. 2 is a reference diagram illustrating a usage status of the suspended active stabilization platform according to the present invention.
Detailed Description
In order to more clearly and completely describe the technical scheme of the invention, the invention is further described with reference to the accompanying drawings.
Referring to fig. 1 and 2, the present invention provides a suspended active stabilization platform, which includes a mounting plate 20, a sensor coil 15, a controller 12, a flight control 13, a suspension buckle 11, and an attitude adjustment component 16, wherein the sensor coil 15 is fixedly mounted at a central position of the mounting plate 20, and the sensor coil 15 is used for acquiring magnetic field information; the controller 12 and the flight controller 13 are both fixedly mounted on the mounting plate 20, the attitude adjusting component 16 is fixedly mounted on the periphery of the mounting plate 20, the controller 12 is used for controlling the sensor coil 15 to acquire magnetic field information, the attitude adjusting component 16 is used for stabilizing the attitude of the suspended active stabilization platform, the flight controller 13 is electrically connected with the attitude adjusting component 16, and the flight controller 13 can control and adjust the attitude adjusting component 16; the hanging buckle 11 is arranged on the upper surface of the installation flat plate 20, and the position of the hanging buckle 11 is coincided with the gravity center of the suspension type active stabilization platform. The suspension type active stabilization platform further comprises a supporting arm 19, one end of the supporting arm 19 is fixedly connected with the side edge of the installation flat plate 20, and the other end of the supporting arm 19 is fixedly provided with the posture adjusting component 16. The posture adjusting component 16 comprises a motor 17 and fan blades 18, and the motor 17 drives the fan blades 18 to rotate. The suspension type active stabilization platform further comprises a sling 10, wherein one end of the sling 10 is tied to the hanging buckle 11, and the other end of the sling 10 is fixed on an aircraft.
In this embodiment, the suspended active stabilization platform is connected to the aircraft through the suspension cable 10, and the sensor coil 15 is fixedly mounted on the mounting plate 20. When the suspended active stabilization platform is disturbed by airflow to generate attitude change, the attitude adjusting component 16 and the flight control 13 of the suspended active stabilization platform actively correct the attitude change to keep the attitude stable. The power of the motor 17 and the distance between the motor 17 and the sensor coil 15 together determine the size of the electromagnetic shadow. The motor 17 is exchanged to change the platform structure in the design and test, so as to effectively eliminate the electromagnetic influence of the whole suspension type active stabilization platform.
The sling 10 is connected with the suspension type active stabilization platform in a single point manner, and the aircraft pulls the upper end of the sling 10 to always keep a stretched state, so that the stressed state is stable. The slings 10 carry substantially all of the weight of the suspended active stability platform and are a source of power for the overall advancement of the suspended active stability platform. The sling 10 suspension point coincides with the overall centre of gravity of the suspended active stability platform.
The controller 12 and the flight control 13 are mutually matched, a pixhawk unmanned aerial vehicle is adopted for open source flight control, and an MPU9250 type AHRS chip is adopted as a chip of the controller 12. The open source code of the open source flight control of the pixhawk unmanned aerial vehicle is modified, and only the functions of sensing and adjusting the attitude (course, roll and pitch) are reserved. For position, altitude, velocity information is ignored. The motor 17 does not necessarily bear the weight of the platform structure and the equipment, and is only used for posture adjustment, so that the power and the volume are very limited.
Further, the suspension type active stabilization platform further comprises a power supply 14, the power supply 14 is fixedly installed on the installation flat plate 20, and the power supply 14 supplies power to the controller 12, the sensor coil 15, the flight control 13 and the attitude adjustment component 16.
In this embodiment, the power source 14 is fixed to the mounting plate 20, is a rechargeable battery, and can supply power to the electronic components on the suspended active stabilization platform.
Of course, the present invention may have other embodiments, and based on the embodiments, those skilled in the art can obtain other embodiments without any creative effort, and all of them are within the protection scope of the present invention.
Claims (5)
1. A suspension type active stabilization platform is characterized by comprising an installation flat plate, a sensor coil, a controller, a flight control component, a hanging buckle and a posture adjusting component, wherein the sensor coil is fixedly installed in the center of the installation flat plate and is used for acquiring magnetic field information; the controller and the flight control are both fixedly installed on the installation flat plate, the attitude adjusting component is fixedly installed on the periphery of the installation flat plate, the controller is used for controlling the sensor coil to acquire magnetic field information, the attitude adjusting component is used for stabilizing the attitude of the suspension type active stabilization platform, the flight control is electrically connected with the attitude adjusting component, and the flight control can control and adjust the attitude adjusting component; the hanging buckle is arranged on the upper surface of the mounting flat plate, and the position of the hanging buckle coincides with the gravity center of the suspension type active stabilization platform.
2. The active stabilization platform of claim 1, further comprising a support arm, one end of the support arm being fixedly connected to a side of the mounting plate, and the other end of the support arm being fixedly mounted with the attitude adjustment component.
3. A suspended active stabilization platform according to claim 1 wherein the attitude adjustment component comprises a motor and a fan blade, the motor rotating the fan blade.
4. The active stabilization platform of claim 1, further comprising a power source fixedly mounted to the mounting plate, the power source providing power to the controller, the sensor coil, the flight control, and the attitude adjustment component.
5. The active suspended stability platform of claim 1, further comprising a sling, one end of the sling being attached to the buckle, the other end of the sling being secured to an aircraft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011486784.5A CN112485832A (en) | 2020-12-16 | 2020-12-16 | Suspension type active stabilization platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011486784.5A CN112485832A (en) | 2020-12-16 | 2020-12-16 | Suspension type active stabilization platform |
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| Publication Number | Publication Date |
|---|---|
| CN112485832A true CN112485832A (en) | 2021-03-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011486784.5A Pending CN112485832A (en) | 2020-12-16 | 2020-12-16 | Suspension type active stabilization platform |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102770784A (en) * | 2009-10-23 | 2012-11-07 | 吉欧泰科航空物探有限公司 | Towed assembly for fixed-wing aircraft for geophysical exploration |
| CN103721421A (en) * | 2012-10-16 | 2014-04-16 | 田瑜 | Aircraft with a plurality of rotors |
| CN105867436A (en) * | 2015-11-27 | 2016-08-17 | 深圳市星图智控科技有限公司 | Unmanned aerial vehicle and holder system thereof |
| CN105947227A (en) * | 2016-05-26 | 2016-09-21 | 苏州天地衡遥感科技有限公司 | Stabilizing platform of airborne optoelectronic pod |
| CN111422343A (en) * | 2020-03-31 | 2020-07-17 | 山东大学 | A special unmanned aerial vehicle for semi-aviation transient electromagnetic detection and receiving system |
| CN111580536A (en) * | 2020-05-22 | 2020-08-25 | 三峡大学 | Transmission line inspection drone based on magnetic field induction control |
| CN213986861U (en) * | 2020-12-16 | 2021-08-17 | 深圳市广域鹏翔研究开发有限公司 | Suspension type active stabilization platform |
-
2020
- 2020-12-16 CN CN202011486784.5A patent/CN112485832A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102770784A (en) * | 2009-10-23 | 2012-11-07 | 吉欧泰科航空物探有限公司 | Towed assembly for fixed-wing aircraft for geophysical exploration |
| CN103721421A (en) * | 2012-10-16 | 2014-04-16 | 田瑜 | Aircraft with a plurality of rotors |
| CN105867436A (en) * | 2015-11-27 | 2016-08-17 | 深圳市星图智控科技有限公司 | Unmanned aerial vehicle and holder system thereof |
| CN105947227A (en) * | 2016-05-26 | 2016-09-21 | 苏州天地衡遥感科技有限公司 | Stabilizing platform of airborne optoelectronic pod |
| CN111422343A (en) * | 2020-03-31 | 2020-07-17 | 山东大学 | A special unmanned aerial vehicle for semi-aviation transient electromagnetic detection and receiving system |
| CN111580536A (en) * | 2020-05-22 | 2020-08-25 | 三峡大学 | Transmission line inspection drone based on magnetic field induction control |
| CN213986861U (en) * | 2020-12-16 | 2021-08-17 | 深圳市广域鹏翔研究开发有限公司 | Suspension type active stabilization platform |
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Application publication date: 20210312 |
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| RJ01 | Rejection of invention patent application after publication |