CN116299727A - Unmanned aerial vehicle frequency domain multi-frequency electromagnetic detection method and detection system - Google Patents
Unmanned aerial vehicle frequency domain multi-frequency electromagnetic detection method and detection system Download PDFInfo
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Abstract
The invention discloses an unmanned aerial vehicle frequency domain multi-frequency electromagnetic detection method and a detection system, wherein the detection method comprises the following steps: s1, determining a region to be detected; s2, planning two detection routes for the region to be detected; s3, controlling the unmanned aerial vehicle detection modules No. 1 and No. 2 to perform region detection operation according to the two detection paths respectively; s4, merging the detected data information to obtain a detection area data drawing; s5, detecting a detection area data drawing; when there is a conflict, step S6 is performed; s6, enabling the detection unmanned aerial vehicle detection module to carry out detection operation again; s7, generating a new detection area data drawing through the secondary detection result; s8, repeating the steps S5 to S7 until a detection area data drawing meeting the detection requirements is output. The detection system comprises a detection range module, a route planning module, an unmanned aerial vehicle control module, unmanned aerial vehicle detection modules No. 1 and No. 2, a detection data merging module, a data detection module and a data output module.
Description
Technical Field
The invention relates to the technical field of geological detection, in particular to an unmanned aerial vehicle frequency domain multi-frequency electromagnetic detection method and system.
Background
Engineering and environmental geology problems mostly relate to shallow (near-surface) detection and evaluation, and in recent years, new technology and new instruments for shallow geophysical exploration are continuously emerging. In the geophysical prospecting technology, electromagnetic prospecting is a common geophysical method, and is mainly used for UXO detection, groundwater investigation, underground solid waste and pollutant detection, archaeological treasure hunting, soil evaluation, urban pipeline detection and the like. The electromagnetic detection technology is one of the most effective technologies in engineering and environmental geophysical exploration, and at present, a time domain aviation electromagnetic measurement system is mainly developed and applied at home and abroad, and the system is huge in system, complex in structure, mostly based on man-machine development, high in cost of manpower and material resources and limited in flight operation airspace.
The frequency domain multi-frequency electromagnetic detection is a more efficient and accurate method, the frequency domain electromagnetic detection instrument utilizes the change of the transmitting frequency or the change of the receiving-transmitting distance to realize the detection of the target bodies with different depths, and can also utilize different structures of the transmitting coil and the receiving coil to improve the detection capability and the detection effect of the instrument. Therefore, the frequency domain aviation multi-frequency electromagnetic measurement system based on the unmanned aerial vehicle is developed, the equipment volume can be reduced, meanwhile, unmanned aerial vehicle is safer, and manpower and material resources can be effectively reduced.
However, when a single unmanned aerial vehicle detection device is used for detection operation, the working efficiency is low, the detection time is long, and the working efficiency of geological detection operation is reduced; meanwhile, in the detection operation process of the frequency domain electromagnetic detection instrument, the problems of inaccurate detection data or error detection data and the like exist, so that the accuracy of geological detection results is seriously influenced, and therefore, the electromagnetic detection instrument needs to be improved.
Disclosure of Invention
The invention aims to solve the problems and provides an unmanned aerial vehicle frequency domain multi-frequency electromagnetic detection method and system for improving detection rate and detection accuracy.
In order to achieve the above object, the technical scheme of the present invention is as follows:
the unmanned aerial vehicle frequency domain multi-frequency electromagnetic detection method comprises the following steps:
s1, determining a region to be detected through a detection range module;
s2, carrying out detection route planning on the determined region to be detected by using a route planning module, wherein the detection route is planned to be two detection paths which are distributed in the region to be detected in a crossing way;
s3, enabling the unmanned aerial vehicle control module to control the unmanned aerial vehicle detection module No. 1 and the unmanned aerial vehicle detection module No. 2 to respectively perform region detection operation according to the two detection paths;
s4, the unmanned aerial vehicle detection module No. 1 and the unmanned aerial vehicle detection module No. 2 transmit detected data information to a detection data merging module and acquire a detection area data drawing through data merging operation;
s5, detecting the detection area data drawing by using a data detection module to determine whether the detection data of the detection area detected by the No. 1 unmanned aerial vehicle detection module and the detection data of the detection area detected by the No. 2 unmanned aerial vehicle detection module in the detection area data drawing have conflict; when no conflict exists, outputting the detection area data drawing through the data output module; when the conflict exists, the conflict data information is transmitted to the checking and correcting module to carry out checking and correcting operation;
s6, the inspection and correction module enables the detection unmanned aerial vehicle detection module to start, performs detection operation on the conflict area again according to the conflict data information, and transmits detection results to the detection data merging module;
s7, the detection data merging module merges the detection result of the detection unmanned aerial vehicle detection module with the detection area data drawing obtained in the step S4 to generate a new detection area data drawing;
s8, repeating the steps S5-S7 until the data output module outputs a detection area data drawing meeting detection requirements, and finishing geological detection operation of the detection area.
Further, in step S3, when the No. 1 unmanned aerial vehicle detection module and the No. 2 unmanned aerial vehicle detection module perform the region detection operation according to the two detection paths, the starting points of the No. 1 unmanned aerial vehicle detection module and the No. 2 unmanned aerial vehicle detection module are respectively located at two ends of the region to be detected.
The unmanned aerial vehicle frequency domain multi-frequency electromagnetic detection system comprises a detection range module for determining a detection area, a route planning module for planning a detection path, an unmanned aerial vehicle control module for controlling the unmanned aerial vehicle detection module, a No. 1 unmanned aerial vehicle detection module and a No. 2 unmanned aerial vehicle detection module for carrying out detection operation, a detection data merging module for merging detection data, a data detection module for detecting the merged data and a data output module for outputting detection results; the signal output part of the detection range module is connected with the signal input part of the route planning module, the signal output part of the route planning module is connected with the signal input part of the unmanned aerial vehicle control module, the signal output part of the unmanned aerial vehicle control module is respectively connected with the signal input parts of the No. 1 unmanned aerial vehicle detection module and the No. 2 unmanned aerial vehicle detection module, the signal output parts of the No. 1 unmanned aerial vehicle detection module and the No. 2 unmanned aerial vehicle detection module are connected with the signal input part of the detection data merging module, the signal output part of the detection data merging module is connected with the signal input part of the data detection module, and the signal output part of the data detection module is connected with the signal input part of the data output module.
Further, unmanned aerial vehicle frequency domain multifrequency electromagnetic detection system still includes and is used for detecting the detection correction module that detects the data after merging, be used for detecting the detection unmanned aerial vehicle detection module that detects again to conflict area, detect and correct the signal input part of module and be connected with the signal output part of data detection module, detect and correct the signal output part of module, unmanned aerial vehicle control module's signal output part all is connected with the signal input part that detects unmanned aerial vehicle detection module, detect unmanned aerial vehicle detection module's signal output part and detect data merge module's signal input part and be connected.
Furthermore, the unmanned aerial vehicle detection module No. 1, the unmanned aerial vehicle detection module No. 2 and the detection unmanned aerial vehicle detection module comprise unmanned aerial vehicle flight units for performing flight operations and electromagnetic detection units for performing multi-frequency electromagnetic detection operations; the signal input end of the unmanned aerial vehicle flight unit is connected with the signal output end of the unmanned aerial vehicle control module, and the signal output end of the electromagnetic detection unit is connected with the signal input end of the detection data merging module.
Further, the electromagnetic detection unit comprises a plurality of transmitting coils for generating a primary electromagnetic field, a plurality of receiving coils corresponding to the transmitting coils and receiving a secondary magnetic field feedback signal, a compensation coil for reducing the influence of the primary electromagnetic field, and a central acquisition unit for acquiring signals received by the receiving coils, wherein the plurality of receiving coils and the compensation coil are connected with a signal input end of the central acquisition unit, and a signal output end of the central acquisition unit is connected with a signal input end of the detection data merging module.
Further, the unmanned aerial vehicle flying unit comprises a power motor as power, a propeller for performing flying operation, gyroscopes for respectively azimuth angles, and a GPS (global positioning system) locator for performing positioning operation; the power motor is in transmission connection with the propeller, and a signal input end of the power motor is connected with a signal output end of the unmanned aerial vehicle control module; and the signal output ends of the gyroscope and the GPS locator are connected with the signal input end of the unmanned aerial vehicle control module.
Further, the unmanned aerial vehicle flying unit further comprises a height sensor for monitoring the height of the unmanned aerial vehicle, a photosensitive sensor for monitoring the darkness of the environment and a searchlight for dark illumination; the signal output ends of the height sensor and the photosensitive sensor are connected with the signal input end of the unmanned aerial vehicle control module, and the photosensitive sensor is electrically connected with the searchlight.
Compared with the prior art, the invention has the advantages and positive effects that:
according to the invention, two detection paths which are distributed in a crossing way are arranged, then an unmanned aerial vehicle control module controls an unmanned aerial vehicle detection module No. 1 and an unmanned aerial vehicle detection module No. 2 to respectively detect the two detection paths, and finally detection data of the two unmanned aerial vehicle detection modules are combined through a detection data combining module, so that final geological detection data of a detection area can be obtained; the detection duration of the whole detection area can be shortened by half, and the working efficiency of geological detection operation is effectively improved; meanwhile, whether the conflict phenomenon exists at the junction of the areas detected by the two unmanned aerial vehicle detection modules or not can be detected by combining detection results of the two unmanned aerial vehicle detection modules, if the conflict phenomenon exists, the problem of detection data of one unmanned aerial vehicle detection module is indicated, at the moment, the geological area with the conflict is detected again by the detection correction module and the detection unmanned aerial vehicle detection module, the final detection result is determined, and the unmanned aerial vehicle detection module with the problem is found to carry out maintenance operation; the accuracy of geological detection operation is effectively improved, and a certain contribution is made to the geological detection field.
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In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the invention, and that other drawings can be obtained according to these drawings without inventive faculty for a person skilled in the art.
FIG. 1 is a schematic diagram of two probe paths according to the present invention;
FIG. 2 is a frame structure diagram of a frequency domain multi-frequency electromagnetic detection system of an unmanned aerial vehicle;
fig. 3 is a connection structure diagram of the unmanned aerial vehicle detection module;
fig. 4 is a frame structure diagram of the electromagnetic detecting unit;
fig. 5 is a frame construction diagram of a unmanned aerial vehicle flight unit.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other entities, based on the embodiments of the invention, obtained by one of ordinary skill in the art without undue burdenIn an embodiment of the present invention, any modifications made 、 Equivalent substitutions 、 Improvements and the like ， All should include Within the scope of the invention.
The embodiment discloses an unmanned aerial vehicle frequency domain multi-frequency electromagnetic detection method, which comprises the following steps:
s1, determining a region to be detected through a detection range module;
s2, carrying out detection route planning on the determined region to be detected by using a route planning module, wherein the detection route is planned to be two detection paths which are distributed in the region to be detected in a crossing way;
s3, enabling the unmanned aerial vehicle control module to control the unmanned aerial vehicle detection module No. 1 and the unmanned aerial vehicle detection module No. 2 to respectively perform region detection operation according to the two detection paths; when the unmanned aerial vehicle detection module No. 1 and the unmanned aerial vehicle detection module No. 2 perform region detection operation according to two detection paths, starting places of the unmanned aerial vehicle detection module No. 1 and the unmanned aerial vehicle detection module No. 2 are respectively positioned at two ends of a region to be detected; as shown in fig. 1;
s4, the unmanned aerial vehicle detection module No. 1 and the unmanned aerial vehicle detection module No. 2 transmit detected data information to a detection data merging module and acquire a detection area data drawing through data merging operation;
s5, detecting the detection area data drawing by using a data detection module to determine whether the detection data of the detection area detected by the No. 1 unmanned aerial vehicle detection module and the detection data of the detection area detected by the No. 2 unmanned aerial vehicle detection module in the detection area data drawing have conflict; when no conflict exists, outputting the detection area data drawing through the data output module; when the conflict exists, the conflict data information is transmitted to the checking and correcting module to carry out checking and correcting operation;
s6, the inspection and correction module enables the detection unmanned aerial vehicle detection module to start, performs detection operation on the conflict area again according to the conflict data information, and transmits detection results to the detection data merging module;
s7, the detection data merging module merges the detection result of the detection unmanned aerial vehicle detection module with the detection area data drawing obtained in the step S4 to generate a new detection area data drawing;
s8, repeating the steps S5-S7 until the data output module outputs a detection area data drawing meeting detection requirements, and finishing geological detection operation of the detection area.
As shown in fig. 2 to 5, the embodiment also discloses an unmanned aerial vehicle frequency domain multi-frequency electromagnetic detection system, which comprises a detection range module for determining a region to be detected, a route planning module for planning a detection path, an unmanned aerial vehicle control module for controlling the unmanned aerial vehicle detection module, a No. 1 unmanned aerial vehicle detection module and a No. 2 unmanned aerial vehicle detection module for carrying out detection operation, a detection data merging module for merging detection data, a data detection module for detecting the merged data, and a data output module for outputting detection results;
the signal output part of the detection range module is connected with the signal input part of the route planning module, the signal output part of the route planning module is connected with the signal input part of the unmanned aerial vehicle control module, the signal output part of the unmanned aerial vehicle control module is respectively connected with the signal input parts of the No. 1 unmanned aerial vehicle detection module and the No. 2 unmanned aerial vehicle detection module, the signal output parts of the No. 1 unmanned aerial vehicle detection module and the No. 2 unmanned aerial vehicle detection module are connected with the signal input part of the detection data merging module, the signal output part of the detection data merging module is connected with the signal input part of the data detection module, and the signal output part of the data detection module is connected with the signal input part of the data output module.
The unmanned aerial vehicle frequency domain multifrequency electromagnetic detection system still includes and is used for detecting the detection correction module that detects the data after merging, be used for detecting the unmanned aerial vehicle detection module that detects again to conflict area, detect and correct the signal input part of module and be connected with the signal output part of data detection module, detect and correct the signal output part of module, unmanned aerial vehicle control module's signal output part all is connected with the signal input part that detects unmanned aerial vehicle detection module, detect unmanned aerial vehicle detection module's signal output part and detect data merge module's signal input part and be connected.
The unmanned aerial vehicle detection module 1, the unmanned aerial vehicle detection module 2 and the detection unmanned aerial vehicle detection module comprise unmanned aerial vehicle flight units for performing flight operation and electromagnetic detection units for performing multi-frequency electromagnetic detection operation; the signal input end of the unmanned aerial vehicle flight unit is connected with the signal output end of the unmanned aerial vehicle control module, and the signal output end of the electromagnetic detection unit is connected with the signal input end of the detection data merging module.
The unmanned plane flying unit mainly provides the operation of flying according to a path, the electromagnetic detection unit mainly realizes the electromagnetic exploration operation of a frequency domain, the electromagnetic exploration of the frequency domain is a frequency domain magnetic even source detection method based on an electromagnetic induction principle, the mathematical physical basis is based on the problem of vortex field caused by the excitation of a conductive medium under the excitation of a variable excitation magnetic field, and the Maxwell equation set is satisfied. The receiving coil has two coil modes of horizontal coplanarity (vertical magnetic coupling source) and vertical coplanarity (horizontal magnetic coupling source), and other magnetic coupling source frequency domain electromagnetic instruments also adopt the two device types. According to different coil modes, the data acquisition mode of the detection system is divided into a horizontal coplanar coil (a vertical magnetic coupling source) and a vertical coplanar coil (a horizontal magnetic coupling source), and the horizontal coplanar coil mode is a method which is relatively more applied at present, and the detection depth of the horizontal coplanar coil mode is larger than that of the vertical coplanar coil. The electromagnetic detection unit in the scheme adopts a horizontal coplanar coil to collect data.
The unmanned aerial vehicle flying unit comprises a power motor serving as power, a propeller used for carrying out flying operation, gyroscopes used for respectively azimuth angles, a GPS (global positioning system) positioner used for carrying out positioning operation, a height sensor used for monitoring the height of the unmanned aerial vehicle, a photosensitive sensor used for monitoring the darkness of the environment and a searchlight used for dark illumination; the power motor is in transmission connection with the propeller, and a signal input end of the power motor is connected with a signal output end of the unmanned aerial vehicle control module; the signal output end of the gyroscope, the GPS locator, the height sensor and the photosensitive sensor is connected with the signal input end of the unmanned aerial vehicle control module, and the photosensitive sensor is electrically connected with the searchlight.
The electromagnetic detection unit comprises a plurality of transmitting coils for generating a primary electromagnetic field, a plurality of receiving coils corresponding to the transmitting coils and receiving a secondary magnetic field feedback signal, a compensation coil for reducing the influence of the primary electromagnetic field, and a central acquisition unit for acquiring signals received by the receiving coils, wherein the plurality of receiving coils and the compensation coil are connected with a signal input end of the central acquisition unit, and a signal output end of the central acquisition unit is connected with a signal input end of the detection data merging module.
The transmitting coil, the compensating coil and the receiving coil are fixed coplanar coils, and the distance between the transmitting coil and the corresponding receiving coil is 1.5m; the working frequency range is 30 Hz-95 kHz, and data acquisition of a plurality of frequencies can be simultaneously carried out. The detection is based on the electrical and magnetic properties of the underground medium, a primary low-frequency electromagnetic field containing different frequencies is generated by the transmitting coil, and the primary magnetic field induces weak eddy current fields in good conductors under the ground, so that the eddy current generates a secondary magnetic field and is superposed with the primary magnetic field propagated through the air to be detected and recorded by the receiving coil. The signal received by the receiving coil can reflect only the secondary field signal of the conductivity information of the underground medium, so that the primary field must be removed before the acquired data is processed, and the influence of the primary field is minimized by the compensation effect of the compensation coil.
According to the invention, two detection paths which are distributed in a crossing way are arranged, then an unmanned aerial vehicle control module controls an unmanned aerial vehicle detection module No. 1 and an unmanned aerial vehicle detection module No. 2 to respectively detect the two detection paths, and finally detection data of the two unmanned aerial vehicle detection modules are combined through a detection data combining module, so that final geological detection data of a detection area can be obtained; the detection duration of the whole detection area can be shortened by half, and the working efficiency of geological detection operation is effectively improved; meanwhile, whether collision phenomenon exists at the junction of the areas detected by the two unmanned aerial vehicle detection modules or not (for example, the two unmanned aerial vehicle detection modules detect that the junction positions are two completely different geological conditions) can be detected by combining detection results of the two unmanned aerial vehicle detection modules, if the collision phenomenon exists, the problem of detection data of one unmanned aerial vehicle detection module is described, and at the moment, the detection and correction module and the detection unmanned aerial vehicle detection module are used for detecting the geological areas with the collision again, so that the final detection result is determined, and the unmanned aerial vehicle detection module with the problem is found for maintenance operation; the accuracy of geological detection operation is effectively improved, and a certain contribution is made to the geological detection field.
Claims (8)
1. The unmanned aerial vehicle frequency domain multi-frequency electromagnetic detection method is characterized by comprising the following steps of: the method comprises the following steps:
s1, determining a region to be detected through a detection range module;
s2, carrying out detection route planning on the determined region to be detected by using a route planning module, wherein the detection route is planned to be two detection paths which are distributed in the region to be detected in a crossing way;
s3, enabling the unmanned aerial vehicle control module to control the unmanned aerial vehicle detection module No. 1 and the unmanned aerial vehicle detection module No. 2 to respectively perform region detection operation according to the two detection paths;
s4, the unmanned aerial vehicle detection module No. 1 and the unmanned aerial vehicle detection module No. 2 transmit detected data information to a detection data merging module and acquire a detection area data drawing through data merging operation;
s5, detecting the detection area data drawing by using a data detection module to determine whether the detection data of the detection area detected by the No. 1 unmanned aerial vehicle detection module and the detection data of the detection area detected by the No. 2 unmanned aerial vehicle detection module in the detection area data drawing have conflict; when no conflict exists, outputting the detection area data drawing through the data output module; when the conflict exists, the conflict data information is transmitted to the checking and correcting module to carry out checking and correcting operation;
s6, the inspection and correction module enables the detection unmanned aerial vehicle detection module to start, performs detection operation on the conflict area again according to the conflict data information, and transmits detection results to the detection data merging module;
s7, the detection data merging module merges the detection result of the detection unmanned aerial vehicle detection module with the detection area data drawing obtained in the step S4 to generate a new detection area data drawing;
s8, repeating the steps S5-S7 until the data output module outputs a detection area data drawing meeting detection requirements, and finishing geological detection operation of the detection area.
2. The unmanned aerial vehicle frequency domain multi-frequency electromagnetic detection method of claim 1, wherein: in step S3, when the No. 1 unmanned aerial vehicle detection module and the No. 2 unmanned aerial vehicle detection module perform the region detection operation according to the two detection paths, the starting sites of the No. 1 unmanned aerial vehicle detection module and the No. 2 unmanned aerial vehicle detection module are respectively located at two ends of the region to be detected.
3. A unmanned aerial vehicle frequency domain multi-frequency electromagnetic surveying system for implementing the unmanned aerial vehicle frequency domain multi-frequency electromagnetic surveying method according to claim 1, wherein: the unmanned aerial vehicle frequency domain multi-frequency electromagnetic detection system comprises a detection range module for determining a detection area, a route planning module for planning a detection path, an unmanned aerial vehicle control module for controlling the unmanned aerial vehicle detection module, a No. 1 unmanned aerial vehicle detection module and a No. 2 unmanned aerial vehicle detection module for carrying out detection operation, a detection data merging module for merging detection data, a data detection module for detecting the merged data and a data output module for outputting detection results; the signal output part of the detection range module is connected with the signal input part of the route planning module, the signal output part of the route planning module is connected with the signal input part of the unmanned aerial vehicle control module, the signal output part of the unmanned aerial vehicle control module is respectively connected with the signal input parts of the No. 1 unmanned aerial vehicle detection module and the No. 2 unmanned aerial vehicle detection module, the signal output parts of the No. 1 unmanned aerial vehicle detection module and the No. 2 unmanned aerial vehicle detection module are connected with the signal input part of the detection data merging module, the signal output part of the detection data merging module is connected with the signal input part of the data detection module, and the signal output part of the data detection module is connected with the signal input part of the data output module.
4. The unmanned aerial vehicle frequency domain multi-frequency electromagnetic surveying system of claim 3, wherein: the unmanned aerial vehicle frequency domain multifrequency electromagnetic detection system still includes and is used for detecting the detection correction module that detects the data after merging, be used for detecting the unmanned aerial vehicle detection module that detects again to conflict area, detect and correct the signal input part of module and be connected with the signal output part of data detection module, detect and correct the signal output part of module, unmanned aerial vehicle control module's signal output part all is connected with the signal input part that detects unmanned aerial vehicle detection module, detect unmanned aerial vehicle detection module's signal output part and detect data merge module's signal input part and be connected.
5. The unmanned aerial vehicle frequency domain multi-frequency electromagnetic surveying system of claim 4, wherein: the unmanned aerial vehicle detection module 1, the unmanned aerial vehicle detection module 2 and the detection unmanned aerial vehicle detection module comprise unmanned aerial vehicle flight units for performing flight operation and electromagnetic detection units for performing multi-frequency electromagnetic detection operation; the signal input end of the unmanned aerial vehicle flight unit is connected with the signal output end of the unmanned aerial vehicle control module, and the signal output end of the electromagnetic detection unit is connected with the signal input end of the detection data merging module.
6. The unmanned aerial vehicle frequency domain multi-frequency electromagnetic surveying system of claim 5, wherein: the electromagnetic detection unit comprises a plurality of transmitting coils for generating a primary electromagnetic field, a plurality of receiving coils corresponding to the transmitting coils and receiving a secondary magnetic field feedback signal, a compensation coil for reducing the influence of the primary electromagnetic field, and a central acquisition unit for acquiring signals received by the receiving coils, wherein the plurality of receiving coils and the compensation coil are connected with a signal input end of the central acquisition unit, and a signal output end of the central acquisition unit is connected with a signal input end of the detection data merging module.
7. The unmanned aerial vehicle frequency domain multi-frequency electromagnetic surveying system of claim 6, wherein: the unmanned aerial vehicle flight unit comprises a power motor serving as power, a propeller used for performing flight operation, gyroscopes used for respectively azimuth angles and GPS positioners used for performing positioning operation; the power motor is in transmission connection with the propeller, and a signal input end of the power motor is connected with a signal output end of the unmanned aerial vehicle control module; and the signal output ends of the gyroscope and the GPS locator are connected with the signal input end of the unmanned aerial vehicle control module.
8. The unmanned aerial vehicle frequency domain multi-frequency electromagnetic surveying system of claim 7, wherein: the unmanned aerial vehicle flying unit further comprises a height sensor for monitoring the height of the unmanned aerial vehicle, a photosensitive sensor for monitoring the darkness of the environment and a searchlight for darkness illumination; the signal output ends of the height sensor and the photosensitive sensor are connected with the signal input end of the unmanned aerial vehicle control module, and the photosensitive sensor is electrically connected with the searchlight.
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Citations (9)
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