WO2018191973A1 - 一种用于与无人机通信的天线组件及无人机*** - Google Patents

一种用于与无人机通信的天线组件及无人机*** Download PDF

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Publication number
WO2018191973A1
WO2018191973A1 PCT/CN2017/081495 CN2017081495W WO2018191973A1 WO 2018191973 A1 WO2018191973 A1 WO 2018191973A1 CN 2017081495 W CN2017081495 W CN 2017081495W WO 2018191973 A1 WO2018191973 A1 WO 2018191973A1
Authority
WO
WIPO (PCT)
Prior art keywords
antenna
assembly
disposed
yaw axis
drone
Prior art date
Application number
PCT/CN2017/081495
Other languages
English (en)
French (fr)
Inventor
刘勇
郭善光
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2017/081495 priority Critical patent/WO2018191973A1/zh
Priority to CN201780083193.3A priority patent/CN110199235A/zh
Publication of WO2018191973A1 publication Critical patent/WO2018191973A1/zh
Priority to US16/654,907 priority patent/US11205841B2/en

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Classifications

    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
    • H01Q3/02—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole
    • H01Q3/08—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole for varying two co-ordinates of the orientation
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/27—Adaptation for use in or on movable bodies
    • H01Q1/28—Adaptation for use in or on aircraft, missiles, satellites, or balloons

Definitions

  • the present application relates to the field of drones, and more particularly to an antenna assembly and a drone system for communicating with a drone.
  • the antenna device is a key device for the signal transmission of the drone and the remote controller, and is used for transmitting the control signal of the remote controller to the drone or receiving the data signal returned by the drone.
  • the antenna device largely determines the communication distance and communication quality between the drone and the remote controller.
  • the inventor of the present application found in the long-term research and development that in the prior art, the general communication products for improving the communication quality between the UAV and the remote controller or increasing the communication distance are not suitable for the unmanned communication band.
  • the signal transmission between the machine and the remote control or the antenna azimuth cannot be effectively adjusted. Therefore, these products cannot effectively increase the communication distance between the UAV and the remote control and improve the communication quality between the UAV and the remote control at a long distance. Low problem.
  • the technical problem to be solved by the present application is to provide an antenna assembly and a drone system for communicating with a drone to increase the communication distance of the drone and improve the communication quality of the long-distance communication.
  • a technical solution adopted by the present application is to provide an antenna assembly for communicating with a drone.
  • the antenna assembly includes a main board, a base, a cloud platform, and an antenna, wherein the cloud platform is disposed on the base, the antenna is disposed on the cloud platform, and the motherboard is used to control a posture of the cloud platform.
  • the radiation direction of the antenna is directed toward the drone.
  • the antenna assembly is further configured to communicate with an external device, the external device is configured to send a control signal to the antenna component, the antenna component is configured to amplify the control signal, and send the control signal to the Said drone.
  • the external device includes a remote controller, a wristband, a watch, VR glasses, a mobile phone or a tablet At least one of them.
  • the pan/tilt includes a yaw axis assembly and a pitch axis assembly, the attitude comprising a yaw angle of the yaw axis assembly and a pitch angle of the pitch axis assembly, the yaw axis assembly including a yaw axis A motor, the pitch axis assembly including a pitch axis motor.
  • the antenna operates in a first frequency band or a second frequency band.
  • the first frequency band is 2.4 GHz
  • the second frequency band is 5.8 GHz
  • the first frequency band is 5.8 GHz
  • the second frequency band is 2.4 GHz.
  • the antenna assembly further comprises an inertial measurement unit for measuring the attitude.
  • the inertial measurement unit is disposed on the pitch axis assembly.
  • the antenna assembly further includes acquiring a position of the antenna assembly, and the barometer is configured to acquire a height of the antenna assembly.
  • the yaw angle ranges from -330° to +330°
  • the pitch angle ranges from -25° to +90°.
  • the first control generated by the main board according to the horizontal position information of the antenna component and the horizontal position information of the drone or the horizontal position information of the antenna component and the horizontal position information of the drone Commanding the rotation of the yaw axis assembly about the yaw axis to adjust the yaw angle and further depending on the horizontal distance and height difference of the antenna assembly from the drone or by the antenna assembly
  • a second control command generated by the horizontal distance and height difference of the drone controls the pitch axis assembly to rotate about the pitch axis to adjust the pitch angle.
  • the base includes a housing, a first transmission gear and a bearing fixedly disposed on the housing, and a bottom plate support supported by the bearing;
  • the yaw axis assembly includes a first bottom plate and is disposed at the The yaw axis motor on the first bottom plate and the second transmission gear driven by the yaw axis motor, the first bottom plate is supported on the bottom plate support, the second transmission gear is The first transmission gears mesh with each other such that the bottom plate support and the first bottom plate surround the yaw axis defined by the bearing relative to the housing under the driving of the yaw axis motor Rotating with the first transmission gear.
  • first transmission gear and the bearing are coaxially disposed.
  • the base further includes a limit slip ring disposed between the first transmission gear and the floor support, the limit slip ring is for limiting the floor support relative to the first transmission The angle of rotation of the gear.
  • the base further comprises a wear-resistant slip ring disposed between the limit slip ring and the bottom plate support.
  • the base further includes a feeder fixing platen fixedly disposed on the casing; and a feeder rotating platen rotatably disposed on the casing and linked with the yaw axis assembly, the feeder fixing platen and the The feeder rotating platens cooperate to form a feeder receiving area for receiving the feeder; the yaw axis assembly drives the feeder rotating platen and the feeder to rotate synchronously during rotation.
  • the base further comprises a locking post protrudingly disposed on the feeding rotating platen and directed to the yaw axis assembly, and the feeder rotating platen is interlocked with the yaw axis assembly through the locking column.
  • the feeder rotating platen is provided with a wire hole, and the feeder wire is electrically connected to the yaw axis assembly and the main control board via the wire hole.
  • the yaw axis assembly further comprises a power module and/or a pointing module.
  • the pitch axis assembly includes a first bracket, a second bracket, and an antenna support, the first bracket and the second bracket are fixedly spaced on the first bottom plate, and the pitch axis motor is disposed on the a first bracket, one end of the antenna support is rotatably supported on the second bracket, and the other end is connected to the pitch axis motor to be driven by the first bracket under the driving of the pitch axis motor Rotating with a pitch axis defined by the second bracket, the antenna being supported on the antenna support.
  • the pitch axis assembly further includes a weight assembly located between the first bracket and the second bracket and coupled to the antenna support.
  • the antenna further includes an antenna bottom plate disposed on the antenna support and an antenna array board disposed on the antenna bottom plate.
  • one technical solution adopted by the present application is to provide an unmanned aerial vehicle system.
  • the antenna assembly includes a main board, a base, a pan and an antenna, wherein the pan/tilt is disposed on the base, the antenna is disposed on the pan/tilt, and the main board is used to control the pan/tilt
  • the attitude is such that the radiation direction of the antenna is directed toward the drone.
  • the external device includes at least one of a remote controller, a wristband, a watch, VR glasses, a mobile phone, or a tablet.
  • the pan/tilt includes a yaw axis assembly and a pitch axis assembly, the attitude comprising a yaw angle of the yaw axis assembly and a pitch angle of the pitch axis assembly, the yaw axis assembly including a yaw axis Motor,
  • the pitch axis assembly includes a pitch axis motor.
  • the antenna operates in a first frequency band or a second frequency band; wherein the first frequency band is 2.4 GHz, the second frequency band is 5.8 GHz, or the first frequency band is 5.8 GHz, and the second frequency band is It is 2.4 GHz.
  • the antenna assembly further includes an inertial measurement unit disposed on the pitch axis assembly, and the inertial measurement unit is configured to measure the posture.
  • the antenna assembly further includes acquiring a position of the antenna assembly, and the barometer is configured to acquire a height of the antenna assembly.
  • the yaw angle ranges from -330° to +330°
  • the pitch angle ranges from -25° to +90°.
  • the base includes a housing, a first transmission gear and a bearing fixedly disposed on the housing, and a bottom plate support supported by the bearing;
  • the yaw axis assembly includes a first bottom plate and is disposed at the The yaw axis motor on the first bottom plate and the second transmission gear driven by the yaw axis motor, the first bottom plate is supported on the bottom plate support, the second transmission gear is The first transmission gears mesh with each other such that the bottom plate support and the first bottom plate surround the yaw axis defined by the bearing relative to the housing under the driving of the yaw axis motor Rotating with the first transmission gear.
  • the base further includes a limit slip ring disposed between the first transmission gear and the floor support, the limit slip ring is for limiting the floor support relative to the first transmission The angle of rotation of the gear.
  • the base further comprises a wear-resistant slip ring disposed between the limit slip ring and the bottom plate support.
  • the base further includes a feeder fixing platen fixedly disposed on the casing; and a feeder rotating platen rotatably disposed on the casing and linked with the yaw axis assembly, the feeder fixing platen and the The feeder rotating platens cooperate to form a feeder receiving area for receiving the feeder; the yaw axis assembly drives the feeder rotating platen and the feeder to rotate synchronously during rotation.
  • the base further comprises a locking post protrudingly disposed on the feeding rotating platen and directed to the yaw axis assembly, and the feeder rotating platen is interlocked with the yaw axis assembly through the locking column.
  • the feeder rotating platen is provided with a wire hole, and the feeder wire is electrically connected to the yaw axis assembly and the main control board via the wire hole.
  • the yaw axis assembly further comprises a power module and/or a pointing module.
  • the pitch axis assembly includes a first bracket, a second bracket, and an antenna support, the a bracket and the second bracket are fixedly spaced on the first bottom plate, the pitch axis motor is disposed on the first bracket, and one end of the antenna support is rotatably supported on the second bracket, and The other end is coupled to the pitch axis motor for rotation about a pitch axis defined by the first bracket and the second bracket driven by the pitch axis motor, the antenna being supported by the antenna support On the piece.
  • the pitch axis assembly further includes a weight assembly located between the first bracket and the second bracket and coupled to the antenna support.
  • the antenna further includes an antenna bottom plate disposed on the antenna support and an antenna array board disposed on the antenna bottom plate.
  • the embodiment of the present application controls the posture of the pan/tilt disposed on the base through the main board, so that the radiation direction of the antenna disposed on the platform is directed toward the drone.
  • the signal strength of the communication between the antenna and the drone can be improved, thereby increasing the communication distance of the drone and improving the communication quality of the long-distance communication.
  • FIG. 1 is a schematic structural view of an embodiment of an antenna assembly for communicating with a drone according to the present application
  • FIG. 2A is a schematic structural view of a base of the embodiment of FIG. 1;
  • FIG. 2B is another schematic structural view of the base of the embodiment of FIG. 1;
  • FIG. 2C is another schematic structural view of the base of the embodiment of FIG. 1;
  • Figure 3 is a schematic structural view of the yaw axis assembly of the embodiment of Figure 1;
  • Figure 4 is a schematic structural view of the pitch axis assembly of the embodiment of Figure 1;
  • Figure 5 is a schematic structural view of an antenna of the embodiment of Figure 1;
  • FIG. 6 is a schematic structural view of an embodiment of a drone system of the present application.
  • FIG. 1 is a schematic structural diagram of an embodiment of an antenna assembly for communicating with a drone according to the present application.
  • the embodiment includes: a main board 101, a base 102, a cloud platform 103, and an antenna 104.
  • the cloud platform 103 is disposed on the base 102, and the antenna 104 is disposed on the platform 103.
  • the main board 101 is configured to control the posture of the platform 103.
  • the radiation direction of the antenna 104 is directed toward the drone.
  • the strength of the communication signal of the drone should be increased to ensure the communication quality of the drone.
  • the signal radiation direction of the antenna 104 is increased toward the drone.
  • the communication signal can be amplified by using a set set inside the antenna component to enhance the strength of the communication signal.
  • the communication of the drone includes not only data transmission of various images, video screens, but also control command transmission.
  • the embodiment adjusts the radiation direction of the antenna 104 through the cloud platform 103 so that the radiation direction faces the drone to enhance the communication signal strength of the drone, increase the communication distance of the drone, and improve The communication quality of drone long-distance communication.
  • the embodiment is further configured to communicate with an external device, the external device is configured to send a control signal to the antenna component, and the antenna component sends the control signal to the drone. Further, the antenna component amplifies the control signal from the external device before transmitting the control signal to the drone, and then transmits the control signal to the drone. Furthermore, the main board 101 of the antenna assembly can control the attitude of the platform 103 such that the radiation direction of the antenna 104 is directed toward the drone.
  • the external device of this embodiment is further configured to receive an image signal from the drone through the antenna component.
  • the drone can transmit an image signal to the antenna assembly, the antenna component amplifies the image signal, and then transmits the amplified image signal to the external device.
  • the drone may include at least one imaging device (such as a camera or the like).
  • the external device of this embodiment may be, but not limited to, a remote controller, a wristband, a watch, a VR glasses, a mobile phone, or a tablet computer, or the like, or any combination thereof.
  • connection between the antenna component of the embodiment and the external device may be wired or wireless.
  • the embodiment further includes an inertial measurement unit (not shown) for measuring the current posture of the pan/tilt head 103, and the main board 101 can control the pan-tilt head 103 to adjust the radiation direction of the antenna 104 to face no one according to the current posture.
  • the target posture of the machine is not limited to the current posture of the pan/tilt head 103.
  • the platform 103 of the present embodiment includes a yaw axis assembly 105 and a pitch axis assembly 106.
  • the yaw axis assembly 105 is disposed on the base 102
  • the pitch axis assembly 106 and the main board 101 are disposed on the yaw axis assembly 105; and the pitch axis assembly 106 is used to support the antenna 104.
  • the attitude of the pan/tilt head 103 described above includes the yaw angle of the yaw axis assembly 105 and the pitch angle of the pitch axis assembly 106.
  • the yaw axis assembly 105 is rotatable about a yaw axis to adjust the yaw angle; the pitch axis assembly 106 is capable of driving the antenna 104 about the pitch axis to adjust the pitch angle.
  • the direction of the antenna 104 disposed on the platform 103 can be adjusted in real time so that the antenna 104 is always directed toward the drone.
  • the attitude of the pan/tilt head 103 can also be measured by the inertial measurement unit, and the main board 101 controls the yaw axis assembly 105 and the pitch axis assembly 106. Rotate to search for the drone, ie search for communication signals until the antenna assembly re-establishes communication with the drone.
  • the platform 103 of the present embodiment may further include a cross roller assembly (not shown) disposed between the yaw axis assembly and the pitch axis assembly.
  • the roll axle assembly can include a cross roller motor.
  • the attitude of the pan/tilt head 103 described above may also include a roll axis of the roll axle assembly.
  • the roll axle assembly is rotatable about the roll axis to adjust the roll angle.
  • FIG. 2A-2C are schematic structural diagrams of the base 101 of the embodiment of FIG. 1.
  • the embodiment includes a housing 201, a first transmission gear 202 and a bearing 203 fixedly disposed on the housing 201, and a floor support 204 rotatably supported by the bearing 203.
  • the floor support 204 can be, but is not limited to, a flange, a spring support, or the like.
  • the bottom plate support 204 is for supporting the platform 103 provided on the base 101 (please refer to FIG. 1).
  • the first transmission gear 202 and the bearing 203 of the embodiment are coaxially disposed.
  • the present embodiment also locks the bearing 203 to the first transmission gear 202 via a bearing lock screw 205 to rotate the bearing 203 as the first transmission gear 202 rotates, and prevents the yaw axis assembly. 206 (see FIG. 2B, where the yaw axis assembly is not fully drawn) is separated from the base 101 (see FIG. 1) as it rotates along the bearing 203.
  • the embodiment further includes a limit slip ring 207 disposed between the first transmission gear 202 and the bottom plate support 204 for limiting the rotation angle of the bottom plate support 204 relative to the first transmission gear 202 (ie, The range of rotation of the yaw angle).
  • the first transmission gear 202 is provided with a boss 208.
  • the limit slip ring 207 is rotated to the maximum yaw angle, it will hit the boss 208.
  • the bottom plate support 204 is also provided with a The boss 209, when the bottom plate support 204 is rotated to the maximum yaw angle, will hit the limit slip ring 207, thereby defining the two rotation angles within the range of rotation of the positive and negative maximum yaw angles.
  • the embodiment further includes an anti-friction slip ring 210 disposed between the limit slip ring 207 and the bottom plate support 204 to increase wear resistance therebetween.
  • the embodiment further includes a feeder fixing platen 211 fixedly disposed on the casing 201, and a feeder rotating platen 212 disposed on the casing 201 and linked with the yaw axis assembly 206, the feeder fixing platen 211 and the feeder rotation
  • the pressure plates 212 cooperate to form a feeder receiving area for receiving the feed line 213 (see FIG. 2B); the yaw axis assembly 206 drives the feed line rotating platen 212 and the feed line 213 for synchronous rotation during rotation.
  • the rotation of the feeder rotating platen 212 to drive the feeding line 213 to rotate can improve the problem that the feeding line 213 is scattered and interferes with the movement of other mechanisms.
  • the embodiment further includes a locking post 214 protrudingly disposed on the feeder rotating platen 212 and directed to the yaw axis assembly 206, the feeder rotating platen 212 passing through the locking post 214 and the yaw axis assembly 206 Linkage.
  • the feed line rotating platen 212 of the embodiment is provided with a wire hole 215 (refer to FIG. 2B), and the feed line 214 is electrically connected to the yaw axis assembly 206 and the main board 101 via the wire hole 215 (refer to FIG. 1). .
  • the feeder 213 can be connected to an external device through the wire hole 215 to ensure stable and reliable signal transmission.
  • the embodiment may further include a bottom case handle 216 for the user to hold the antenna assembly, an indicator light 217 indicating the working state of the antenna assembly, and an opening key 218.
  • FIG. 3 is a schematic structural diagram of a yaw axis assembly and a main board of the cloud platform in the embodiment of FIG. 1.
  • the yaw axis assembly is used to adjust the yaw angle of the pan/tilt under the control of the main board 301.
  • the yaw axis assembly includes a first bottom plate 302, a yaw axis motor 303 disposed on the first bottom plate 302, and a second transfer gear 304 driven by the yaw axis motor 303.
  • the first bottom plate 302 is supported on the bottom plate support 204. (See FIG. 2A), the second transfer gear 304 is in mesh with the first transfer gear 202 (see FIG.
  • the bottom plate support 204 and the first bottom plate 302 are driven by the yaw axis motor 303.
  • the yaw axis defined by the bearing 203 of the base is rotated relative to the housing 201 of the base and the first transmission gear 202 (see FIG. 2A) to adjust the yaw angle of the platform.
  • the yaw angle ranges from -330° to +330°.
  • the yaw angle range may be different from the range.
  • the yaw axis assembly of the embodiment further includes a power module 305, a positioning module 306, a pointing module 307, and a barometer (not shown).
  • the power module 305 is used to provide power to the structures
  • the positioning module 306 is used to measure the position information of the antenna assembly
  • the pointing module 307 is used to indicate the azimuth of the antenna assembly
  • the barometer is used to obtain the height information of the antenna assembly.
  • the power module 305 further includes a power source 308 and a power supply holder 309 for mounting the power source 308 on the first bottom plate 302.
  • the pointing module 307 further includes a mounting base 310 and a carbon tube fixed to the lower portion of the mounting base 310.
  • the positioning module 306 can be, but not limited to, a GPS module or a Beidou module or the like. Of course, in other embodiments, the barometer and positioning module 306 can be external to the yaw axis assembly.
  • the yaw axis assembly of the present embodiment may further include a motor mount 313 for fixing the yaw axis motor 303 on the first bottom plate 302, and a heat sink 314 disposed on the main board 301 for heat dissipation. .
  • the motherboard 301 is mounted to the yaw assembly via a motherboard mounting bracket 315 and a bushing 316.
  • FIG. 4 is a schematic structural diagram of a pitch axis assembly of the pan/tilt in the embodiment of FIG. 1.
  • the pitch axis assembly is used to adjust the pitch angle of the pan/tilt.
  • the embodiment includes a pitch axis motor 401, a first bracket 402, a second bracket 403, and an antenna support member 404.
  • the pitch axis motor 401 is disposed on the first bracket 402, and the first bracket 402 and the second bracket 403 are fixed at a yaw interval.
  • On the first bottom plate 304 of the shaft assembly (refer to FIG.
  • one end of the antenna support member 404 is rotatably supported on the second bracket 403, and the other end is connected to the pitch axis motor 401 to be driven by the pitch axis motor 402.
  • the pitch axis defined by the first bracket 402 and the second bracket 403 is rotated to adjust the pitch angle of the platform.
  • the pitch angle of this embodiment ranges from -25° to +90°.
  • the yaw angle range may be different from the range.
  • one side of the antenna support 404 of the present embodiment is reinforced with the antenna 104 to support the antenna (see FIG. 1), and the other side is fitted with a trim 406 through the counterweight mounting shaft 405 to match the antenna support.
  • the inertial measurement unit 407 for measuring the attitude of the pan/tilt of the antenna assembly of the above embodiment is disposed on the pitch axis component, and is connected to the motherboard through the flexible circuit board 408, and is configured to transmit data of the measured pan/tilt attitude to the Motherboard.
  • the mainboard controls the yaw axis component to yaw according to the horizontal position information of the antenna component and the horizontal position information of the drone or the first control command generated by the horizontal position information of the antenna component and the horizontal position information of the drone
  • the shaft rotates to adjust the yaw angle
  • the pitch axis assembly according to the horizontal distance and height difference between the antenna assembly and the drone or the second control command generated by the horizontal distance and height difference between the antenna assembly and the drone
  • the pitch axis is rotated to adjust the pitch angle.
  • the yaw axis assembly 105 and the pitch axis assembly 106 of the present embodiment do not interfere with each other in the mechanism motion, and cooperate with each other in motion control to provide technical support for enriching the attitude of the pan/tilt.
  • the yaw angle range of this embodiment can reach -330° to +330°, and the pitch angle range can reach -25° to +90°, which can make no dead angle above the plane of the bottom frame of the antenna assembly.
  • the drone can be at the bottom of the antenna. High quality signals can still be transmitted when working remotely below the shell plane.
  • FIG. 5 is a schematic structural diagram of an antenna of the embodiment of FIG. 1.
  • This embodiment includes an antenna bottom plate 502 disposed on the antenna support 501 and an antenna array plate 503 disposed on the antenna bottom plate 502.
  • the antenna of this embodiment operates in a first frequency band or a second frequency band.
  • the first frequency band is 2.4 GHz
  • the second frequency band is 5.8 GHz
  • the first frequency band is 5.8 GHz
  • the second frequency band is 2.4 GHz.
  • the antenna of this embodiment is a directional antenna or an omnidirectional antenna.
  • the present embodiment can be successfully placed in the inner set of the antenna array board 503 to increase the signal transmission power.
  • the present embodiment can realize dual-band communication of 2.4 GHz and 5.8 GHz, and the power gains thereof are greater than 12 dBi and 18 dBi, respectively, which can effectively extend the communication distance of the drone or improve the communication quality of the long-distance communication to improve the image or video.
  • the antenna array plate 503 can be fixed to the antenna support 501 through the sleeve 504.
  • FIG. 6 is a schematic structural diagram of an embodiment of the UAV system of the present application.
  • This embodiment includes a drone 601, an external device 602, and an antenna assembly 603.
  • the external device 602 sends a control signal to the antenna assembly 603; the antenna component 603 processes the control signal, and transmits the processed control signal to the drone 601; the drone performs a flight operation based on the processed control signal.
  • the drone 601 can transmit an image signal to the antenna assembly 603, and the antenna component 603 processes the image signal primarily to amplify the image signal.
  • the antenna assembly can also transmit the image signal after amplification to the external device 602.
  • the external device 602 can be, but is not limited to, a remote control, a wristband, a watch, VR glasses, a mobile phone, or a tablet.
  • the processing of the control signal by the antenna component 603 is mainly to amplify the control signal; the antenna component 603 can be stationary with respect to the external device 602, and can also be moved relative to the external device 602, which is not limited. In another application scenario, antenna component 603 can be integrated into external storage device 602.
  • the external device 602 sends a control command for controlling the operation of the drone 601 to the antenna assembly 603, and the antenna component 603 amplifies the control command and sends it to the drone.
  • the amplification principle is already described above. This is described in detail in the examples.
  • the external device 602 of the present embodiment can also transmit a signal such as a control command for controlling the operation of the antenna assembly 603 to the antenna assembly 603.
  • the external device 602 of the embodiment may also directly send a signal to the drone, which is not limited.
  • the present embodiment adjusts the position of the antenna assembly 603 relative to the drone 601 so that the antenna of the antenna assembly 603 faces the drone, thereby amplifying the control command sent to the drone, thereby increasing the The communication distance of the drone and the communication quality of the long-distance drone.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Automation & Control Theory (AREA)
  • Astronomy & Astrophysics (AREA)
  • Variable-Direction Aerials And Aerial Arrays (AREA)
  • Details Of Aerials (AREA)

Abstract

本申请公开了一种用于与无人机通信的天线组件及无人机***。该天线组件包括：主板、底座、云台及天线，其中，云台设置于底座上，天线设置于云台上，主板用于控制云台的姿态，以使天线的辐射方向朝向无人机。通过这种方式，能够增强无人机的通信信号强度，增大无人机的通信距离，提高无人机远距离通信的通信质量。

Description

一种用于与无人机通信的天线组件及无人机*** 【技术领域】
本申请涉及无人机领域，特别是涉及一种用于与无人机通信的天线组件及无人机***。
【背景技术】
随着无人机行业的迅速发展，无人机在航拍、电力巡检、大坝检查、火灾救援、地震搜救等领域得到了广泛的应用。随着科技的快速发展，越来越多的未知领域亟待开发，更多危险的行业和环境需要无人机代替人类来工作，所以对无人机与遥控器之间的通信距离及通信质量的要求也越来越高。
天线装置是无人机与遥控器完成信号传输的关键器件，用于向无人机发送遥控器的控制信号，或接收无人机回传的数据信号。天线装置很大程度上决定了无人机与遥控器间的通信距离及通信质量。
但本申请的发明人在长期的研发中发现，在目前现有技术中，一般的为提高无人机和遥控器间的通信质量或增大通信距离的相关产品都存在通信频段不适合无人机和遥控器间的信号传输或天线方位角不能有效调整等问题，因此，这些产品不能有效增加无人机与遥控器间的通信距离及改善远距离下无人机与遥控器间的通信质量低的问题。
【发明内容】
本申请主要解决的技术问题是提供一种用于与无人机通信的天线组件及无人机***，以增加无人机的通信距离及提高远距离通信的通信质量。
为解决上述技术问题，本申请采用的一个技术方案是：提供一种用于与无人机通信的天线组件。所述天线组件包括主板、底座、云台及天线，其中所述云台设置于所述底座上，所述天线设置于所述云台上，所述主板用于控制所述云台的姿态，以使所述天线的辐射方向朝向所述无人机。
其中，所述天线组件还用于与外部设备通信，所述外部设备用于向所述天线组件发送控制信号，所述天线组件用于放大所述控制信号，并将所述控制信号发送至所述无人机。
其中，所述外部设备包括遥控器、手环、手表、VR眼镜、手机或平板电脑 中的至少一种。
其中，所述云台包括偏航轴组件和俯仰轴组件，所述姿态包括所述偏航轴组件的偏航角和所述俯仰轴组件的俯仰角，所述偏航轴组件包括偏航轴电机，所述俯仰轴组件包括俯仰轴电机。
其中，所述天线工作在第一频段或第二频段。
其中，所述第一频段为2.4GHz，所述第二频段为5.8GHz，或所述第一频段为5.8GHz，所述第二频段为2.4GHz。
其中，所述天线组件还包括惯性测量单元，所述惯性测量单元用于测量所述姿态。
其中，所述惯性测量单元设置于所述俯仰轴组件上。
其中，所述天线组件还包括获取所述天线组件的位置，所述气压计用于获取所述天线组件的高度。
其中，所述偏航角的范围为从-330°到+330°，所述俯仰角范围为从-25°到+90°。
其中，所述主板根据所述天线组件的水平位置信息和所述无人机的水平位置信息或者由所述天线组件的水平位置信息和所述无人机的水平位置信息所产生的第一控制指令控制所述偏航轴组件绕所述偏航轴旋转，以调整所述偏航角，并进一步根据所述天线组件与所述无人机的水平距离和高度差或者由所述天线组件与所述无人机的水平距离和高度差所产生的第二控制指令控制所述俯仰轴组件绕所述俯仰轴旋转，以调整所述俯仰角。
其中，所述底座包括壳体、固定设置于所述壳体上的第一传动齿轮和轴承以及由所述轴承转动支撑的底板支撑件；所述偏航轴组件包括第一底板、设置于所述第一底板上的所述偏航轴电机以及由所述偏航轴电机驱动的第二传动齿轮，所述第一底板支撑于所述底板支撑件上，所述第二传动齿轮与所述第一传动齿轮相互啮合，以使得在所述偏航轴电机的驱动下，所述底板支撑件和所述第一底板绕由所述轴承所定义的所述偏航轴相对于所述壳体和所述第一传动齿轮进行转动。
其中，所述第一传动齿轮和所述轴承同轴设置。
其中，所述底座进一步包括设置于所述第一传动齿轮与所述底板支撑件之间的限位滑环，所述限位滑环用于限制所述底板支撑件相对于所述第一传动齿轮的转动角度。
其中，所述底座进一步包括设置于所述限位滑环与所述底板支撑件之间的防磨滑环。
其中，所述底座进一步包括固定设置于所述壳体上的馈线固定压板以及转动设置于所述壳体上且与所述偏航轴组件联动的馈线旋转压板，所述馈线固定压板和所述馈线旋转压板相互配合形成用于容纳馈线的馈线容纳区；所述偏航轴组件在转动过程中传动所述馈线旋转压板和所述馈线进行同步转动。
其中，所述底座进一步包括突出设置于所述馈线旋转压板上且指向所述偏航轴组件的锁紧柱，所述馈线旋转压板通过所述锁紧柱与所述偏航轴组件联动。
其中，所述馈线旋转压板设置有走线孔，所述馈线经所述走线孔电连接至所述偏航轴组件及所述主控板。
其中，所述偏航轴组件进一步包括电源模块和/或指向模块。
其中，所述俯仰轴组件包括第一支架、第二支架以及天线支撑件，所述第一支架和所述第二支架间隔固定于所述第一底板上，所述俯仰轴电机设置于所述第一支架上，所述天线支撑件的一端转动支撑于所述第二支架上，且另一端与所述俯仰轴电机连接，以在所述俯仰轴电机的驱动下绕由所述第一支架和所述第二支架所定义的俯仰轴进行转动，所述天线支撑于所述天线支撑件上。
其中，所述俯仰轴组件进一步包括位于所述第一支架和所述第二支架之间且连接所述天线支撑件上的配重组件。
其中，所述天线进一步包括设置于所述天线支撑件上的天线底板以及设置于所述天线底板上的天线阵列板。
为解决上述技术问题，本申请采用的一个技术方案是：提供一种无人机***。所述无人机***无人机、外部设备及天线组件；所述外部设备给所述天线组件发送控制信号；所述天线组件处理所述控制信号，并将处理后的控制信号发送给所述无人机；所述无人机根据所述处理后的控制信号执行飞行作业。
其中，所述天线组件包括主板、底座、云台及天线，其中所述云台设置于所述底座上，所述天线设置于所述云台上，所述主板用于控制所述云台的姿态，以使所述天线的辐射方向朝向所述无人机。
其中，所述外部设备包括遥控器、手环、手表、VR眼镜、手机或平板电脑中的至少一种。
其中，所述云台包括偏航轴组件和俯仰轴组件，所述姿态包括所述偏航轴组件的偏航角和所述俯仰轴组件的俯仰角，所述偏航轴组件包括偏航轴电机， 所述俯仰轴组件包括俯仰轴电机。
其中，所述天线工作在第一频段或第二频段；其中，所述第一频段为2.4GHz，所述第二频段为5.8GHz，或所述第一频段为5.8GHz，所述第二频段为2.4GHz。
其中，所述天线组件还包括设置于所述俯仰轴组件上的惯性测量单元，所述惯性测量单元用于测量所述姿态。
其中，所述天线组件还包括获取所述天线组件的位置，所述气压计用于获取所述天线组件的高度。
其中，所述偏航角的范围为从-330°到+330°，所述俯仰角范围为从-25°到+90°。
其中，所述底座包括壳体、固定设置于所述壳体上的第一传动齿轮和轴承以及由所述轴承转动支撑的底板支撑件；所述偏航轴组件包括第一底板、设置于所述第一底板上的所述偏航轴电机以及由所述偏航轴电机驱动的第二传动齿轮，所述第一底板支撑于所述底板支撑件上，所述第二传动齿轮与所述第一传动齿轮相互啮合，以使得在所述偏航轴电机的驱动下，所述底板支撑件和所述第一底板绕由所述轴承所定义的所述偏航轴相对于所述壳体和所述第一传动齿轮进行转动。
其中，所述底座进一步包括设置于所述第一传动齿轮与所述底板支撑件之间的限位滑环，所述限位滑环用于限制所述底板支撑件相对于所述第一传动齿轮的转动角度。
其中，所述底座进一步包括设置于所述限位滑环与所述底板支撑件之间的防磨滑环。
其中，所述底座进一步包括固定设置于所述壳体上的馈线固定压板以及转动设置于所述壳体上且与所述偏航轴组件联动的馈线旋转压板，所述馈线固定压板和所述馈线旋转压板相互配合形成用于容纳馈线的馈线容纳区；所述偏航轴组件在转动过程中传动所述馈线旋转压板和所述馈线进行同步转动。
其中，所述底座进一步包括突出设置于所述馈线旋转压板上且指向所述偏航轴组件的锁紧柱，所述馈线旋转压板通过所述锁紧柱与所述偏航轴组件联动。
其中，所述馈线旋转压板设置有走线孔，所述馈线经所述走线孔电连接至所述偏航轴组件及所述主控板。
其中，所述偏航轴组件进一步包括电源模块和/或指向模块。
其中，所述俯仰轴组件包括第一支架、第二支架以及天线支撑件，所述第 一支架和所述第二支架间隔固定于所述第一底板上，所述俯仰轴电机设置于所述第一支架上，所述天线支撑件的一端转动支撑于所述第二支架上，且另一端与所述俯仰轴电机连接，以在所述俯仰轴电机的驱动下绕由所述第一支架和所述第二支架所定义的俯仰轴进行转动，所述天线支撑于所述天线支撑件上。
其中，所述俯仰轴组件进一步包括位于所述第一支架和所述第二支架之间且连接所述天线支撑件上的配重组件。
其中，所述天线进一步包括设置于所述天线支撑件上的天线底板以及设置于所述天线底板上的天线阵列板。
本申请实施例的有益效果是：区别于现有技术，本申请实施例通过主板控制设置于底座上的云台的姿态，以使设置与该云台上的天线的辐射方向朝向无人机，从而能够提高该天线与无人机通信的信号强度，进而能够增加无人机的通信距离及提高远距离通信的通信质量。
【附图说明】
图1是本申请用于与无人机通信的天线组件一实施例的结构示意图；
图2A是图1实施例的底座一结构示意图；
图2B是图1实施例的底座另一结构示意图；
图2C是图1实施例的底座又一结构示意图；
图3是图1实施例的偏航轴组件的结构示意图；
图4是图1实施例的俯仰轴组件的结构示意图；
图5是图1实施例的天线的结构示意图；
图6是本申请无人机***一实施例的结构示意图。
【具体实施方式】
下面结合附图和实施例对本申请进行详细说明。
请参阅图1，图1为本申请用于与无人机通信的天线组件一实施例的结构示意图。本实施例包括：主板101、底座102、云台103及天线104，其中，云台103设置于底座102上，天线104设置于云台103上，主板101用于控制云台103的姿态，以使天线104的辐射方向朝向无人机。
为增大无人机的通信距离，应增大无人机的通信信号的强度，以保证无人机的通信质量，本实施例通过使天线104的信号辐射方向朝向无人机来增大该 信号的强度。在一个应用场景中，可以利用设置于天线组件内部的集成功放对通信信号进行放大，以增强通信信号的强度。无人机的通信不仅包括各种图像、视屏等数据传输，还包括控制指令传输等。
区别于现有技术，本实施例通过云台103调整天线104的辐射方向，以使该辐射方向朝向无人机，以增强无人机的通信信号强度，增大无人机的通信距离，提高无人机远距离通信的通信质量。
可选地，本实施例还用于与外部设备通信，该外部设备用于向天线组件发送控制信号，该天线组件将控制信号发送至无人机。进一步，该天线组件将控制信号发送至无人机之前对来自外部设备的控制信号进行放大，然后才将控制信号发送至无人机。更进一步，该天线组件的主板101可以控制云台103的姿态，以使天线104的辐射方向朝向无人机。
可选地，本实施例的外部设备还用于通过天线组件从无人机接收图像信号。无人机可以将图像信号发送至天线组件，该天线组件将该图像信号进行放大，然后将放大之后的该图像信号发送给该外部设备。进一步，该无人机可以包括至少一个成像装置(如相机等)。
可选地，本实施例的外部设备可以是但不局限于遥控器、手环、手表、VR眼镜、手机、或平板电脑等，或以上的任何组合。
可选地，本实施例的天线组件与外部设备之间的连接方式可以为有线或无线。
可选地，本实施例还包括惯性测量单元(未标出)，用于测量云台103的当前姿态，主板101可以根据该当前姿态控制云台103将天线104的辐射方向调整为朝向无人机的目标姿态。
可选地，本实施例的云台103包括偏航轴组件105和俯仰轴组件106。其中，偏航轴组件105设置于底座102上，俯仰轴组件106及主板101均设置于偏航轴组件105上；俯仰轴组件106用于支撑天线104。上述云台103的姿态包括偏航轴组件105的偏航角和俯仰轴组件106的俯仰角。偏航轴组件105能够绕偏航轴转动，以调节该偏航角；俯仰轴组件106能够绕俯仰轴传动天线104，以调节该俯仰角。通过偏航轴组件105和俯仰轴组件106实时调整偏航角和俯仰角，能够实时的调整设置于云台103上的天线104的方向，以使天线104始终朝向无人机。且在无人机的与天线组件通信信号中断时，同样可以通过惯性测量单元测量云台103的姿态，此时主板101会控制偏航轴组件105和俯仰轴组件106 转动以搜索无人机，即搜索通信信号，直至天线组件与无人机重新建立通信。
可选地，本实施例的云台103还可以包括横滚轴组件(未标出)，该横滚轴组件设置在偏航轴组件和俯仰轴组件之间。该横滚轴组件可以包括一横滚轴电机。上述云台103的姿态还可以包括横滚轴组件的横滚轴。横滚轴组件能够绕横滚轴转动以调节该横滚角。
可选地，请参阅图2A-2C，图2A-2C均为图1实施例的底座101的结构示意图。本实施例包括壳体201、固定设置于壳体201上的第一传动齿轮202和轴承203、以及由轴承203转动支撑的底板支撑件204。
底板支撑件204可以是但不局限于法兰、弹簧支撑件等。底板支撑件204用于支撑设置于底座101上的云台103(请参阅图1)。
可选地，本实施例的第一传动齿轮202和轴承203同轴设置。在一个应用场景中，本实施例还通过轴承锁紧螺钉205将轴承203锁紧在第一传动齿轮202上，以使轴承203随着第一传动齿轮202转动而转动，且防止偏航轴组件206(请参阅图2B，其中偏航轴组件未全画图)在沿着轴承203转动时与底座101(请参阅图1)分离。
可选地，本实施例还进一步包括设置于第一传动齿轮202与底板支撑件204之间的限位滑环207，用于限制底板支撑件204相对于第一传动齿轮202的转动角度(即偏航角的转动范围)。在一个应用场景中，第一传动齿轮202上设有一凸台208，当限位滑环207旋转到最大偏航角时，会撞到凸台208，同样的，底板支撑件204上也设有一凸台209，当底板支撑件204旋转到最大偏航角时，会撞到限位滑环207，从而限定二者旋转角度在正负最大偏航角的转动范围内。
可选地，本实施例进一步包括设置于限位滑环207与底板支撑件204之间的防磨滑环210，以增加二者间的耐磨性。
可选地，本实施例进一步包括固定设置于壳体201上的馈线固定压板211以及转动设置于壳体201上且与偏航轴组件206联动的馈线旋转压板212，馈线固定压板211和馈线旋转压板212相互配合形成用于容纳馈线213的馈线容纳区(请参阅图2B)；偏航轴组件206在转动过程中传动馈线旋转压板212和馈线213进行同步转动。且馈线旋转压板212的转动带动馈线213旋转能改善馈线213散乱干涉其他机构运动的问题。
可选地，本实施例进一步包括突出设置于馈线旋转压板212上且指向偏航轴组件206的锁紧柱214，馈线旋转压板212通过锁紧柱214与偏航轴组件206 联动。
可选地，本实施例的馈线旋转压板212上设置有走线孔215(请参阅图2B)，馈线214经走线孔215电连接至偏航轴组件206及主板101(请参阅图1)。当然，在其它实施例中，可将馈线213通过走线孔215与外部设备连接，以保证信号传输稳定可靠。
可选地，本实施例还可以包括便于用户持拿天线组件的底壳把手216、指示天线组件工作状态的指示灯217及开关键218等结构。
可选地，请参阅图3，图3是图1实施例中云台的的偏航轴组件及主板的结构示意图。该偏航轴组件用于在主板301的控制下调整该云台的偏航角。该偏航轴组件包括第一底板302、设置于第一底板302上的偏航轴电机303以及由偏航轴电机303驱动的第二传动齿轮304，第一底板302支撑于底板支撑件204上(请参阅图2A)，第二传动齿轮304与第一传动齿轮202(请参阅图2A)相互啮合，以使得在偏航轴电机303的驱动下，底板支撑件204和第一底板302绕由底座的轴承203所定义的偏航轴相对于底座的壳体201和第一传动齿轮202(请参阅图2A)进行转动，以调整该云台的偏航角。在一个应用场景中，该偏航角的范围为从-330°到+330°。当然在其它应用场景中，该偏航角范围可以不同于该范围。
可选地，本实施例的偏航轴组件进一步包括电源模块305、定位模块306、指向模块307和气压计(未标出)。电源模块305用于给各结构提供电源，定位模块306用于测量天线组件的位置信息，指向模块307用于指示天线组件的方位角，气压计用于获取天线组件的高度信息。在一个应用场景中，电源模块305进一步包括电源308及用于将电源308安装在第一底板302上的电源固定架309；指向模块307进一步包括安装座310、与安装座310下部固定的碳管311及指南针312；且定位模块306和指南针312均固定在安装座310上，指向模块307安装在底板302上。定位模块306可以是但不局限于GPS模块或北斗模块等。当然，在其它实施例中，可以将气压计及定位模块306独立于该偏航轴组件外。
当然，本实施例的偏航轴组件还可以包括用于将偏航轴电机303固定在第一底板302上的电机固定架313及设置在主板301上，且用于散热的散热片314等结构。
在一个应用场景中，主板301通过主板安装支架315及轴套316安装于该偏航组件上。
可选地，请参阅图4，图4是图1实施例中云台的俯仰轴组件的结构示意图。该俯仰轴组件用于调整该云台的俯仰角。本实施例包括俯仰轴电机401、第一支架402、第二支架403以及天线支撑件404；俯仰轴电机401设置于第一支架402上，第一支架402和第二支架403间隔固定于偏航轴组件的第一底板304上(请参阅图3)，天线支撑件404的一端转动支撑于第二支架403上，且另一端与俯仰轴电机401连接，以在俯仰轴电机402的驱动下绕由第一支架402和第二支架403所定义的俯仰轴进行转动，以调整该云台的俯仰角。在一个应用场景中，本实施例的俯仰角的范围为从-25°到+90°。当然在其它应用场景中，该偏航角范围可以不同于该范围。
可选地，本实施例的天线支撑件404的一侧与天线104固结，以支撑天线(请参阅图1)，而另一侧通过配重安装轴405安装有配平406，以配平天线支撑件404，以减小俯仰轴组件的转动惯量。
可选地，上述实施例天线组件的用于测量云台姿态的惯性测量单元407设置于俯仰轴组件上，且通过柔性电路板408与主板连接，用于将测量的云台姿态的数据传输给主板。
具体地，主板根据天线组件的水平位置信息和无人机的水平位置信息或者由天线组件的水平位置信息和无人机的水平位置信息所产生的第一控制指令控制偏航轴组件绕偏航轴旋转，以调整偏航角，并进一步根据天线组件与无人机的水平距离和高度差或者由天线组件与无人机的水平距离和高度差所产生的第二控制指令控制俯仰轴组件绕俯仰轴旋转，以调整俯仰角。
区别于现有技术，本实施例的偏航轴组件105和俯仰轴组件106在机构运动上互不干扰，在运动控制上相互配合，为丰富云台的姿态提供技术支持。
区别于现有技术，本实施例的偏航角范围可达-330°到+330°，俯仰角范围可达-25°到+90°，能够使在天线组件底壳平面以上无任何死角的情况下，在底壳平面以下还有一定的范围可以发送或接收无人机的信号，有效拓展了无人机的工作范围，尤其是将天线架在高处时，无人机可在天线底壳平面下方远距离工作时仍能传输高质量的信号。
可选地，参阅图5，图5是图1实施例的天线结构示意图。本实施例包括设置于天线支撑件501上的天线底板502以及设置于天线底板502上的天线阵列板503。
可选地，本实施例的天线工作在第一频段或第二频段。
可选地，该第一频段为2.4GHz，该第二频段为5.8GHz，或该第一频段为5.8GHz，该第二频段为2.4GHz。
可选地，本实施例的天线为定向天线或全向天线。
在一个应用场景中，本实施例可以在天线阵列板503的内部集成功放，以增大信号发射功率。
区别于现有技术，本实施例能够实现2.4GHz及5.8GHz双频段通信，其功率增益分别大于12dBi及18dBi，能有效延长无人机的通信距离或提高远距离通信质量，以提高图像或视频信息传输的流畅性及稳定性，减少通信时延等。
在一个应用场景中，本实施例可以通过轴套504将天线阵列板503固定于天线支撑件501上。
参阅图6，图6是本申请无人机***一实施例的结构示意图。本实施例包括无人机601、外部设备602及天线组件603。外部设备602给天线组件603发送控制信号；天线组件603处理该控制信号，并将处理后的控制信号发送给无人机601；无人机根据该处理后的控制信号执行飞行作业。
在一个应用场景中，无人机601可以发送图像信号给天线组件603，天线组件603对该图像信号的处理主要为放大该图像信号。天线组件还可以将放大之后的图像信号发送给外部设备602。
外部设备602可以是但不局限于遥控器、手环、手表、VR眼镜、手机、或平板电脑等。
在一个应用场景中，天线组件603对该控制信号的处理主要为放大该控制信号；天线组件603可以相对外部设备602静止，也可以相对外部设备602运动，具体不做限定。在另一应用场景中，天线组件603可以集成于外部存储设备602中。
本实施例的天线组件603的具体结构、工作原理及功能已在上述实施例中进行了详细的叙述，这里不重复。
在无人机作业过程中，外部设备602向天线组件603发送用于控制无人机601作业的控制指令，天线组件603对该控制指令进行放大后发送给无人机，该放大原理已经在上述实施例中进行了详细叙述。本实施例的外部设备602还可以向天线组件603发送用于控制天线组件603工作的控制指令等信号。
当然，本实施例的外部设备602也可以直接向无人机发送信号，具体不做限定。
区别于现有技术，本实施例通过调整天线组件603相对于无人机601的位置，以使天线组件603的天线朝向无人机，从而放大发送给无人机的控制指令，因此能够增大无人机的通信距离及提高无人机的远距离的通信质量。
以上所述仅为本发明的实施方式，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。

Claims (40)

  1. 一种用于与无人机通信的天线组件，其特征在于，所述天线组件包括主板、底座、云台及天线，其中所述云台设置于所述底座上，所述天线设置于所述云台上，所述主板用于控制所述云台的姿态，以使所述天线的辐射方向朝向所述无人机。
  2. 如权利要求1所述的天线组件，其特征在于，所述天线组件还用于与外部设备通信，所述外部设备用于向所述天线组件发送控制信号，所述天线组件用于放大所述控制信号，并将所述控制信号发送至所述无人机。
  3. 如权利要求2所述的天线组件，其特征在于，所述外部设备包括遥控器、手环、手表、VR眼镜、手机或平板电脑中的至少一种。
  4. 如权利要求1所述的天线组件，其特征在于，所述云台包括偏航轴组件和俯仰轴组件，所述姿态包括所述偏航轴组件的偏航角和所述俯仰轴组件的俯仰角，所述偏航轴组件包括偏航轴电机，所述俯仰轴组件包括俯仰轴电机。
  5. 如权利要求1所述的天线组件，其特征在于，所述天线工作在第一频段或第二频段。
  6. 如权利要求5所述的天线组件，其特征在于，所述第一频段为2.4GHz，所述第二频段为5.8GHz，或所述第一频段为5.8GHz，所述第二频段为2.4GHz。
  7. 如权利要求4所述的天线组件，其特征在于，所述天线组件还包括惯性测量单元，所述惯性测量单元用于测量所述姿态。
  8. 如权利要求7所述的天线组件，其特征在于，所述惯性测量单元设置于所述俯仰轴组件上。
  9. 如权利要求7所述的天线组件，其特征在于，所述天线组件还包括获取所述天线组件的位置，所述气压计用于获取所述天线组件的高度。
  10. 如权利要求4所述的天线组件，其特征在于，所述偏航角的范围为从-330°到+330°，所述俯仰角范围为从-25°到+90°。
  11. 如权利要求4所述的天线组件，其特征在于，所述主板根据所述天线组件的水平位置信息和所述无人机的水平位置信息或者由所述天线组件的水平位置信息和所述无人机的水平位置信息所产生的第一控制指令控制所述偏航轴组件绕所述偏航轴旋转，以调整所述偏航角，并进一步根据所述天线组件与所述无人机的水平距离和高度差或者由所述天线组件与所述无人机的水平距离和 高度差所产生的第二控制指令控制所述俯仰轴组件绕所述俯仰轴旋转，以调整所述俯仰角。
  12. 如权利要求1所述的天线组件，其特征在于，所述底座包括壳体、固定设置于所述壳体上的第一传动齿轮和轴承以及由所述轴承转动支撑的底板支撑件；所述偏航轴组件包括第一底板、设置于所述第一底板上的所述偏航轴电机以及由所述偏航轴电机驱动的第二传动齿轮，所述第一底板支撑于所述底板支撑件上，所述第二传动齿轮与所述第一传动齿轮相互啮合，以使得在所述偏航轴电机的驱动下，所述底板支撑件和所述第一底板绕由所述轴承所定义的所述偏航轴相对于所述壳体和所述第一传动齿轮进行转动。
  13. 如权利要求12所述的天线组件，其特征在于，所述第一传动齿轮和所述轴承同轴设置。
  14. 如权利要求12所述的天线组件，其特征在于，所述底座进一步包括设置于所述第一传动齿轮与所述底板支撑件之间的限位滑环，所述限位滑环用于限制所述底板支撑件相对于所述第一传动齿轮的转动角度。
  15. 如权利要求14所述的天线组件，其特征在于，所述底座进一步包括设置于所述限位滑环与所述底板支撑件之间的防磨滑环。
  16. 如权利要求12所述的天线组件，其特征在于，所述底座进一步包括固定设置于所述壳体上的馈线固定压板以及转动设置于所述壳体上且与所述偏航轴组件联动的馈线旋转压板，所述馈线固定压板和所述馈线旋转压板相互配合形成用于容纳馈线的馈线容纳区；所述偏航轴组件在转动过程中传动所述馈线旋转压板和所述馈线进行同步转动。
  17. 如权利要求16所述的天线组件，其特征在于，所述底座进一步包括突出设置于所述馈线旋转压板上且指向所述偏航轴组件的锁紧柱，所述馈线旋转压板通过所述锁紧柱与所述偏航轴组件联动。
  18. 如权利要求16所述的天线组件，其特征在于，所述馈线旋转压板设置有走线孔，所述馈线经所述走线孔电连接至所述偏航轴组件及所述主控板。
  19. 如权利要求12所述的天线组件，其特征在于，所述偏航轴组件进一步包括电源模块和/或指向模块。
  20. 如权利要求12所述的天线组件，其特征在于，所述俯仰轴组件包括第一支架、第二支架以及天线支撑件，所述第一支架和所述第二支架间隔固定于所述第一底板上，所述俯仰轴电机设置于所述第一支架上，所述天线支撑件的 一端转动支撑于所述第二支架上，且另一端与所述俯仰轴电机连接，以在所述俯仰轴电机的驱动下绕由所述第一支架和所述第二支架所定义的俯仰轴进行转动，所述天线支撑于所述天线支撑件上。
  21. 如权利要求20所述的天线组件，其特征在于，所述俯仰轴组件进一步包括位于所述第一支架和所述第二支架之间且连接所述天线支撑件上的配重组件。
  22. 如权利要求21所述的天线组件，其特征在于，所述天线进一步包括设置于所述天线支撑件上的天线底板以及设置于所述天线底板上的天线阵列板。
  23. 一种无人机***，其特征在于，包括：
    无人机、外部设备及天线组件；
    所述外部设备给所述天线组件发送控制信号；所述天线组件处理所述控制信号，并将处理后的控制信号发送给所述无人机；所述无人机根据所述处理后的控制信号执行飞行作业。
  24. 如权利要求23所述的无人机***，其特征在于，所述天线组件包括主板、底座、云台及天线，其中所述云台设置于所述底座上，所述天线设置于所述云台上，所述主板用于控制所述云台的姿态，以使所述天线的辐射方向朝向所述无人机。
  25. 如权利要求23所述的无人机***，其特征在于，所述外部设备包括遥控器、手环、手表、VR眼镜、手机或平板电脑中的至少一种。
  26. 如权利要求23所述的无人机***，其特征在于，所述云台包括偏航轴组件和俯仰轴组件，所述姿态包括所述偏航轴组件的偏航角和所述俯仰轴组件的俯仰角，所述偏航轴组件包括偏航轴电机，所述俯仰轴组件包括俯仰轴电机。
  27. 如权利要求23所述的无人机***，其特征在于，所述天线工作在第一频段或第二频段；其中，所述第一频段为2.4GHz，所述第二频段为5.8GHz，或所述第一频段为5.8GHz，所述第二频段为2.4GHz。
  28. 如权利要求26所述的无人机***，其特征在于，所述天线组件还包括设置于所述俯仰轴组件上的惯性测量单元，所述惯性测量单元用于测量所述姿态。
  29. 如权利要求28所述的无人机***，其特征在于，所述天线组件还包括获取所述天线组件的位置，所述气压计用于获取所述天线组件的高度。
  30. 如权利要求26所述的无人机***，其特征在于，所述偏航角的范围为 从-330°到+330°，所述俯仰角范围为从-25°到+90°。
  31. 如权利要求23所述的无人机***，其特征在于，所述底座包括壳体、固定设置于所述壳体上的第一传动齿轮和轴承以及由所述轴承转动支撑的底板支撑件；所述偏航轴组件包括第一底板、设置于所述第一底板上的所述偏航轴电机以及由所述偏航轴电机驱动的第二传动齿轮，所述第一底板支撑于所述底板支撑件上，所述第二传动齿轮与所述第一传动齿轮相互啮合，以使得在所述偏航轴电机的驱动下，所述底板支撑件和所述第一底板绕由所述轴承所定义的所述偏航轴相对于所述壳体和所述第一传动齿轮进行转动。
  32. 如权利要求31所述的无人机***，其特征在于，所述底座进一步包括设置于所述第一传动齿轮与所述底板支撑件之间的限位滑环，所述限位滑环用于限制所述底板支撑件相对于所述第一传动齿轮的转动角度。
  33. 如权利要求32所述的无人机***，其特征在于，所述底座进一步包括设置于所述限位滑环与所述底板支撑件之间的防磨滑环。
  34. 如权利要求31所述的无人机***，其特征在于，所述底座进一步包括固定设置于所述壳体上的馈线固定压板以及转动设置于所述壳体上且与所述偏航轴组件联动的馈线旋转压板，所述馈线固定压板和所述馈线旋转压板相互配合形成用于容纳馈线的馈线容纳区；所述偏航轴组件在转动过程中传动所述馈线旋转压板和所述馈线进行同步转动。
  35. 如权利要求34所述的无人机***，其特征在于，所述底座进一步包括突出设置于所述馈线旋转压板上且指向所述偏航轴组件的锁紧柱，所述馈线旋转压板通过所述锁紧柱与所述偏航轴组件联动。
  36. 如权利要求34所述的无人机***，其特征在于，所述馈线旋转压板设置有走线孔，所述馈线经所述走线孔电连接至所述偏航轴组件及所述主控板。
  37. 如权利要求31所述的无人机***，其特征在于，所述偏航轴组件进一步包括电源模块和/或指向模块。
  38. 如权利要求31所述的无人机***，其特征在于，所述俯仰轴组件包括第一支架、第二支架以及天线支撑件，所述第一支架和所述第二支架间隔固定于所述第一底板上，所述俯仰轴电机设置于所述第一支架上，所述天线支撑件的一端转动支撑于所述第二支架上，且另一端与所述俯仰轴电机连接，以在所述俯仰轴电机的驱动下绕由所述第一支架和所述第二支架所定义的俯仰轴进行转动，所述天线支撑于所述天线支撑件上。
  39. 如权利要求38所述的无人机***，其特征在于，所述俯仰轴组件进一步包括位于所述第一支架和所述第二支架之间且连接所述天线支撑件上的配重组件。
  40. 如权利要求38所述的无人机***，其特征在于，所述天线进一步包括设置于所述天线支撑件上的天线底板以及设置于所述天线底板上的天线阵列板。
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