Distributed Airborne Electromagnetic Detection System

Abstract

The present disclosure discloses a distributed airborne electromagnetic detection system, and relates to an airborne electromagnetic detection technology. The distributed airborne electromagnetic detection system comprises at least one transmitting system, at least one receiving system, at least one trunk module, and an earth station, and also a plurality of Unmanned Aerial Vehicles (UAVs) for carrying the transmitting system, the receiving system, and the trunk module. The distributed airborne electromagnetic detection system does not require high performance or high economical efficiency for a single UAV; under precise synchronous flight conditions, the distance between a type I UAV and a transmitting loop structure can be greatly reduced, thereby significantly reducing the length of unwanted transmitting cable; and in addition, due to the better low-altitude low-speed performance of UAVs, the traveling speed of the entire system can be further reduced, thus obtaining higher quality data.

Claims

1. A distributed airborne electromagnetic detection system, comprising at least one transmitting system, at least one receiving system, at least one trunk module and an earth station, and also a plurality of Unmanned Airborne Vehicles (UAVs) for carrying the transmitting system, the receiving system, and the trunk module.

2. The distributed airborne electromagnetic detection system according to claim 1, wherein the transmitting system comprises at least one airborne transient electromagnetic transmitter, a power module that provides power for the airborne transient electromagnetic transmitter, and a transmitting antenna, and a plurality of UAVs are used as carrying platforms to carry the airborne transient electromagnetic transmitter, the power module and the transmitting antenna, respectively.

3. The transmitting antenna of the distributed airborne electromagnetic detection system according to claim 2, wherein the transmitting antenna comprises a transmitting loop and a transmitting loop carrying structure for carrying the transmitting loop.

4. The distributed airborne electromagnetic detection system according to claim 3, wherein the transmitting loop is made of a conductor material which is a soft conductor material or a hard conductive column.

5. The distributed airborne electromagnetic detection system according to claim 3, wherein the transmitting loop carrying structure is in the shape of a polygon formed by splicing a plurality of straight structural members and a plurality of curved structural members.

6. The distributed airborne electromagnetic detection system according to claim 4, wherein the transmitting loop also serves as the transmitting loop carrying structure when the transmitting loop is made of a hard conductive column.

7. The distributed airborne electromagnetic detection system according to claim 2, wherein the power module is an independent generator, an independent large-capacity battery pack, or a UVA power output module with a high-power power output function.

8. The distributed airborne electromagnetic detection system according to claim 2, wherein the power module is connected to the airborne transient electromagnetic transmitter through a power supply cable.

9. The distributed airborne electromagnetic detection system according to claim 3, wherein the airborne transient electromagnetic transmitter outputs a transmission signal to the transmitting loop through a transmitting cable, and observes an actual transmission signal from the transmitting loop.

10. The distributed airborne electromagnetic detection system according to claim 1, wherein a transmission signal output cable of the airborne transient electromagnetic transmitter is electrically connected with the transmitting loop through a cable disconnecting device which comprises a tensile connector for automatically disconnecting when tensions at both ends thereof reach a threshold.

11. The distributed airborne electromagnetic detection system according to claim 2, wherein the airborne transient electromagnetic transmitter sends a real-time status thereof to the trunk module wirelessly, and receives instructions wirelessly through the trunk module.

12. The distributed airborne electromagnetic detection system according to claim 1, wherein the receiving system comprises at least one receiver, a sensor, and a sensor carrying structure, and a UAV is used as a carrying platform to carry the receiving system.

13. The distributed airborne electromagnetic detection system according to claim 12, wherein the receiver sends a real-time status thereof to the trunk module wirelessly, and receives instructions through the trunk module wirelessly.

14. The distributed airborne electromagnetic detection system according to claim 12, wherein the sensor is configured to observe electric or magnetic field response generated by the earth under the excitation of the transmitting system, and transmits an observation result to the receiver through a data cable.

15. The distributed airborne electromagnetic detection system according to claim 14, wherein the sensor is a total field sensor or a vector sensor.

16. The distributed airborne electromagnetic detection system according to claim 1, wherein the trunk module is configured to receive the real-time status information sent by the transmitting system and the receiving system, and transmits the real-time status information to the earth station together with information collected by the trunk module itself, and instructions sent by the earth station are sent to the transmitting system and the receiving system through the trunk module.

17. The distributed airborne electromagnetic detection system according to claim 1, wherein the trunk module is carried by a UAV having a substantially higher flight altitude than other UAVs.

18. The distributed airborne electromagnetic detection system according to claim 1, wherein the plurality of UAVs perform detection in a formation flight mode.

19. The distributed airborne electromagnetic detection system according to claim 18, further comprising a UVA carrying other non-electromagnetic earth observation sensors.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Some specific embodiments of the present disclosure will be described in detail below in an exemplary and non-limiting manner with reference to the accompanying drawings.

[0037] Like reference numerals in the drawings indicate like or similar components or parts.

[0038] Those skilled in the art will appreciate that these drawings are not necessarily drawn to scale.

[0039] In the drawings:

[0040] FIG. 1 illustrates a fixed-wing aircraft-borne ATEM system in the background art, with 6 representing a transmitting loop, 7 representing a flying platform, and 8 representing a pod cable;

[0041] FIG. 2 illustrates a helicopter platform-borne ATEM system in the background art, with 9 representing an inhaul cable system;

[0042] FIG. 3 is a schematic diagram of an overall structure of a distributed airborne electromagnetic detection system according to an embodiment of the present disclosure, with 10 representing a survey line;

[0043] FIG. 4 is a schematic diagram of a connection structure between a transmitting system and a UAV according to an embodiment of the present disclosure;

[0044] FIG. 5 is a schematic structural diagram of a cable disconnecting device according to an embodiment of the present disclosure, with 17 representing an inlet end of a transmitting loop and 18 representing an output end of the transmitting loop; and

[0045] FIG. 6 is a schematic diagram of a connection structure between a receiving system and a UAV according to an embodiment of the present disclosure.

DETAILED DESCRIPTION OF THE INVENTION

[0046] In order to illustrate the objectives, technical solutions and advantages of the present disclosure more clearly, the embodiments of the present disclosure will be described below with reference to the accompanying drawings. It should be noted that, in the case of no conflict, the embodiments in the present disclosure and features in the embodiments can be arbitrarily combined with each other.

[0047] An embodiment of the present disclosure provides a distributed airborne electromagnetic detection system. FIG. 3 is a schematic structural diagram illustrating a distributed airborne electromagnetic detection system according to an embodiment of the present disclosure.

[0048] As shown in FIG. 3, the distributed airborne electromagnetic detection system comprises a transmitting system 1, a receiving system 2, a trunk module 3, an earth station 4, and several UAVs 5. The earth station 4 is arranged on the ground, and the transmitting system 1, the receiving system 2 and the trunk module 3 are all carried by the UAVs 5.

[0049] The main body of the earth station 4 is constituted by a ground monitoring module of a ground-to-air communication device, and configured to receive status information of the transmitting system 1 and the receiving system 2 that is collected and forwarded by the trunk module 3, as well as image information captured by the trunk module 3 itself, and to display such information in real time. In addition, the earth station 3 is also configured to send instruction information to the trunk module 3, and the instruction information is further forwarded by the trunk module 3 to the transmitting system 1 and the receiving system 2. The trunk module 3 is carried by UAV 5. As shown in FIG. 3, the UAV 5 carrying the trunk module 3 goes forward together with the transmitting system 1 always at a particular height directly above the center of a transmitting loop, thereby overcoming the problem of signal transmission blocking caused by topographic relief.

[0050] The transmitting system 1 comprises one airborne transient electromagnetic transmitter, one power module, one transmitting loop, and a transmitting loop carrying structure 11; the components of the transmitting system 1 and an electric generator for supplying power to the airborne transient electromagnetic transmitter are all carried by UAVs 5. Each UAV 5 is powered by a power module which can be an independent electric generator or large-capacity battery pack, or a power output module with a high power output function for UAV. The electric generator is employed in this embodiment.

[0051] As shown in FIG. 4, the electric generator is located in an electric generator pod 12 which is connected to the airborne transient electromagnetic transmitter through a power supply cable 13.

[0052] The airborne transient electromagnetic transmitter generates a transmission signal according to settings, and observes and records the actual transmission waveform. The airborne transient electromagnetic transmitter can transmit its real-time status wirelessly and receive instructions wirelessly. The airborne transient electromagnetic transmitter can be independent or integrated with an UAV as a function module of the UAV.

[0053] The transmitting loop, serving as an output component for exciting the electromagnetic field, is made of a conductor material carried on a dedicated transmitting loop carrying structure 11. The conductor material can be selected from a conductive cable, a conductive strip, or other soft conductive materials, and can also be selected from a rigid conductive column. When the hard conductive material is used, the conductive material itself can also constitute the transmitting loop carrying structure 11, that is, the transmitting loop is integrated with the transmitting loop carrying structure 11.

[0054] Taking FIG. 3 and FIG. 4 as examples, there are two types of transmitting loop carrying structures 11: straight and curved. Transmitting loop carrying structures 11 having different areas and different shapes can be formed by using different numbers of straight members 111 and different numbers of curved members 112 with different-degree corners. The transmitting loop carrying structure 11 in FIG. 4 is formed by splicing pipes, and is specifically in the shape of a regular hexagon consisting of 16 straight pipes (i.e., straight members 111) and 16 curved pipes (i.e., curved members 112). For different detection requirements, straight pipes having different lengths and curved pipes having different corners can be selected so as to flexibly form polygonal transmitting loop carrying structures 11 different in size and number of edges by splicing. After the fabrication of the transmitting loop carrying structures 11 is completed, the transmitting loop is threaded through the pipes to realize the carrying of the transmitting loop. After the carrying of the transmitting loop on the transmitting loop carrying structures 11 is completed, the model and the number of UAVs for mounting the carrying structures with the transmitting loop can be determined according to the total weight of the transmitting loop and the carrying structures thereof and the altitude of a working area and by further taking into account of particular redundancy.

[0055] The UAVs used to carry the transmitting loop are called type II UAVs 52. The UAVs of this type are only used to provide lift and do not assume the functions of the detection system. Each type II UAV 52 is used to mount the transmitting loop carrying structure at a specified position through an elastic cable. Particular components of the transmitting loop carrying structure 11 can be integrated with the type II UAV 52.

[0056] Unlike the type II UAV 52, a type I UAV 51 needs to assume part of the functions of the detection system in addition to providing lift. In FIG. 4, UAV 5 which is used to carry the airborne transient electromagnetic transmitter is type I UAV 51 inside which the airborne transient electromagnetic transmitter is located and with which the airborne transient electromagnetic transmitter is integrated. In the embodiment shown in FIG. 4, an electric generator pod 12 is mounted below the type I UAV 51, and an independent electric generator is installed in the pod to provide power for the airborne transient electromagnetic transmitters inside the type I UAV 51 through the power supply cable 13. The electric generator pod 12 and the type I UAV 51 are connected by a high-strength elastic cable, which helps to eliminate the impact of the electric generator vibration on the type I UAV 51.

[0057] A transmitting cable 15 is led in from an airborne transient electromagnetic interface disposed on type I UAV in the form of a composite cable, and connected to a cable disconnecting device 14 rather than directly connected to the cable inside the transmitting loop carrying structure 11, as shown in FIG. 5. The interior of the cable disconnecting device 14 is mainly constituted by a tensile connector. When the tensions at both ends of the connector reach a particular level, the connector will be pulled apart. The purpose of this setting is to avoid the damage of the type I UAVs when the transmitting loop is obstructed by ground obstacles and cannot move forward during flight. The connector is designed with a housing, and is connected to the transmitting loop carrying structure 11 by using a non-tensile cable 16 (having a tensile capacity lower than the breaking tension of the connector) to restrict the swing of the cable disconnecting device 14 to some extent during flight.

[0058] FIG. 6 is a schematic diagram of a connection structure between the receiving system 2 and the UAV 5 in FIG. 3. The receiving system 2 comprises a receiver 21, a sensor pod 22, a data cable 23, and a sensor carrying structure 24, and is carried on a high-power type II UAV. The receiver 21 is configured to record an observation signal output by the sensor. The receiver 21 can transmit its real-time status wirelessly, and receive instructions wirelessly. The receiver 21 may be independent or integrated with the UAV 5, as a function module of the UAV 5. The sensor is configured to observe the electric or magnetic field response of the earth, and can be of simple component or multi-component. The sensor is carried on a dedicated sensor carrying structure 24 which is further carried on the UAV 5.

[0059] The communication device system comprises: one airborne trunk communication module and one ground monitoring module. A high-power UAV 2 is used as a carrying platform for the trunk module 3, and the trunk module 3 is configured to receive real-time system status information transmitted by the transmitter and the receiver 21, and transmit such information to the ground monitoring module together with image information captured by the trunk module itself. In addition, the ground monitoring module sends instructions according to the situation, and the instructions are sent to the corresponding transmitter and receiver 21 through the trunk module 3. After the carrying of the transmitting system 1, the receiving system 2 and the airborne trunk module 3 on the UAVs is completed, the formal detection flight phase is started after necessary tests. During the formal detection flight, all UAVs go forward at specified flight altitude and speed according to a specified travel route, ensuring that the geometric relationships among all UAVs in the entire detection system remains highly stable. UAVs carrying other non-electromagnetic earth observation sensors can also join in the above-mentioned UAV formation in an appropriate manner to perform formation flight detection together.

[0060] Based on the airborne electromagnetic detection system provided by this embodiment, for plateau detection tasks, the lift of the entire UAV carrying system can be increased by increasing the number of type II UAVs while a large transmitting magnetic moment is maintained, thereby meeting the needs of deep exploration in high altitude areas. The transmitting system is carried by type I UAVs, which will greatly reduce the pressure on the lift supply of type II UAVs carrying the transmitting loop structure. Under precise synchronous flight conditions, the distance between each type I UAV and the transmitting loop structure can be greatly reduced, thereby significantly reducing the length of unwanted transmitting cable. Since the transmitting loop carrying structure is carried by a plurality of type II UAVs, the plane attitude of the transmitting loop can be actively and accurately controlled. In addition, due to the better low-altitude low-speed performance of UAVs, the traveling speed of the entire system can be further reduced, thus obtaining higher quality data.

[0061] Although the embodiments disclosed in the present disclosure are as described above, the contents described are only embodiments adopted for facilitating understanding of the present disclosure, and not intended to limit the present disclosure. Any person skilled in the art to which the present disclosure pertains may make any modifications and changes in the form and details of implementation without departing from the spirit and scope disclosed by the present disclosure; however, the scope of patent protection of the present disclosure shall still be subject to the scope defined by the appended claims.