WO2021212633A1 - 无人机起落架及无人机 - Google Patents

无人机起落架及无人机 Download PDF

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Publication number
WO2021212633A1
WO2021212633A1 PCT/CN2020/096881 CN2020096881W WO2021212633A1 WO 2021212633 A1 WO2021212633 A1 WO 2021212633A1 CN 2020096881 W CN2020096881 W CN 2020096881W WO 2021212633 A1 WO2021212633 A1 WO 2021212633A1
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WO
WIPO (PCT)
Prior art keywords
antenna
vertical rod
landing gear
dipole
reader
Prior art date
Application number
PCT/CN2020/096881
Other languages
English (en)
French (fr)
Inventor
王文赫
赵军伟
金学明
杜鹃
刘俊杰
Original Assignee
北京智芯微电子科技有限公司
国网信息通信产业集团有限公司
国家电网有限公司
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.)
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Publication date
Application filed by 北京智芯微电子科技有限公司, 国网信息通信产业集团有限公司, 国家电网有限公司 filed Critical 北京智芯微电子科技有限公司
Publication of WO2021212633A1 publication Critical patent/WO2021212633A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C25/00—Alighting gear
    • B64C25/02—Undercarriages
    • B64C25/04—Arrangement or disposition on aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
    • B64C1/36—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like adapted to receive antennas or radomes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C25/00—Alighting gear
    • B64C25/02—Undercarriages
    • B64C25/08—Undercarriages non-fixed, e.g. jettisonable
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/12—Supports; Mounting means
    • H01Q1/22—Supports; Mounting means by structural association with other equipment or articles
    • H01Q1/2208—Supports; Mounting means by structural association with other equipment or articles associated with components used in interrogation type services, i.e. in systems for information exchange between an interrogator/reader and a tag/transponder, e.g. in Radio Frequency Identification [RFID] systems
    • H01Q1/2216—Supports; Mounting means by structural association with other equipment or articles associated with components used in interrogation type services, i.e. in systems for information exchange between an interrogator/reader and a tag/transponder, e.g. in Radio Frequency Identification [RFID] systems used in interrogator/reader equipment
    • 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
    • H01Q1/285—Aircraft wire antennas
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/50—Structural association of antennas with earthing switches, lead-in devices or lightning protectors
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q21/00—Antenna arrays or systems
    • H01Q21/0006—Particular feeding systems
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q9/00—Electrically-short antennas having dimensions not more than twice the operating wavelength and consisting of conductive active radiating elements
    • H01Q9/04—Resonant antennas
    • H01Q9/16—Resonant antennas with feed intermediate between the extremities of the antenna, e.g. centre-fed dipole

Definitions

  • This application relates to the technical field of drone inspections, in particular to an unmanned aerial vehicle landing gear and an unmanned aerial vehicle.
  • RFID Radio Frequency Identification
  • drone inspection technology is used-electronic tags are attached to each object to be inspected, the drone carries a reader, and the reader antenna uses a pan/tilt The hanging method is hoisted under the drone.
  • the drone is above the object to be inspected, the corresponding electronic tag information can be read, so as to efficiently perform high-efficiency on assets or items with a large number, a wide distribution, or a complex distribution environment. Inspection.
  • the reader/writer antenna due to the large size of the reader/writer antenna, it needs to be installed on site before the inspection, and the installation process is complicated, which undoubtedly consumes a certain amount of manpower and material resources.
  • the reader/writer antenna exposed to the outside is not only unsightly, but also easily damaged by collision with foreign objects.
  • the purpose of this application is to propose a drone landing gear and a drone to solve the time-consuming, laborious, unsightly, and easy-to-damage problems caused by the need to hoist the reader/writer antenna on site before the drone inspection.
  • An unmanned aerial vehicle landing gear includes: a landing gear body and a reader-writer antenna; the reader-writer antenna is arranged in the landing gear body; the landing gear body is provided with an opening through which a feeder can pass.
  • the landing gear body includes: a left frame, a right frame, and a crossbar; the left frame includes a left longitudinal rod; the right frame includes a right longitudinal rod; the crossbar connects the left longitudinal rod with The right vertical rod; the reader antenna includes: two pairs of dipole antennas; a pair of dipole antennas are arranged in the left vertical rod, and the other pair of dipole antennas are arranged in the right vertical rod; two pairs of dipole antennas The sub-antennas are connected by two conductors, and the conductors are arranged in the cross bar; the distance between the left vertical bar and the right vertical bar is not greater than 1/the wavelength of the antenna composed of the two pairs of dipole antennas 2.
  • the distance between the left vertical rod and the right vertical rod is equal to 1/2 of the antenna wavelength formed by the two pairs of dipole antennas.
  • the landing gear body includes: a left frame body and a right frame body; the left frame body includes a first left longitudinal rod and a second left longitudinal rod; the right frame body includes a first right longitudinal rod and a second left longitudinal rod.
  • Right vertical rod; the second left vertical rod and the second right vertical rod are connected by a first cross rod;
  • the reader antenna includes: a first dipole antenna and a second dipole antenna; The first dipole antenna is arranged in the second left vertical rod, the second dipole antenna is arranged in the second right vertical rod; the first dipole antenna and the second dipole antenna pass through two The first conductor is connected, and the first conductor is arranged in the first crossbar; the distance between the second left vertical rod and the second right vertical rod is not greater than the first dipole antenna and the Said second dipole antenna is composed of 1/2 of the antenna wavelength.
  • the distance between the second left vertical rod and the second right vertical rod is equal to 1/2 of the antenna wavelength formed by the first dipole antenna and the second dipole antenna.
  • the reader/writer antenna is provided in the landing gear body by injection molding.
  • the opening is provided at a position on the landing gear body opposite to the feed port of the reader/writer antenna.
  • the feed port of the reader/writer antenna is welded with an open wire or a feeder connector, and the feeder is connected to the feed port of the reader/writer antenna through the open wire or the feeder connector.
  • the landing gear of the UAV provided in this application has the reader antenna directly arranged in the landing gear body, and the landing gear body is provided with an opening for the feeder to pass through. Therefore, before the UAV performs RFID inspection, Only need to connect the reader antenna to the reader port through the feeder, without the need to carry out complicated antenna installation operations, which can greatly simplify the work process and improve the work efficiency. At the same time, the reader/writer antenna is hidden in the landing gear body, so that the reader/writer antenna and the landing gear body are integrated, which can effectively solve the technical problem of unsightly and easy damage caused by the existing antenna being exposed to the outside.
  • Another purpose of this application is to propose an unmanned aerial vehicle, which can solve the technical problems of time-consuming, laborious, unsightly, and easy to damage caused by the need to hoist the reader/writer antenna on site before the drone inspection.
  • An unmanned aerial vehicle includes: an unmanned aerial vehicle body and any one of the above-mentioned unmanned aerial vehicle landing gear; the unmanned aerial vehicle body and the unmanned aerial vehicle landing gear are detachably connected.
  • the drone further includes: a metal plate or a metal mesh; the metal plate or the metal mesh is arranged between the drone body and the reader/writer antenna.
  • FIG. 1 is a schematic structural diagram of Embodiment 1 of the landing gear of an unmanned aerial vehicle described in this application;
  • FIG. 2 is a schematic structural diagram of Embodiment 2 of the landing gear of an unmanned aerial vehicle described in this application;
  • FIG. 3 is a schematic structural diagram of Embodiment 1 of the unmanned aerial vehicle described in this application;
  • 5 is a plane radiation pattern diagram when the distance between two pairs of dipole antennas is half a wavelength in an embodiment of the application;
  • Fig. 6 is a plane radiation pattern after adding a metal plate or metal mesh between the drone body and the reader/writer antenna on the basis of Fig. 5.
  • the drone landing gear and the drone provided by the embodiments of the application are shown in Figures 1 to 4, and include: a landing gear body and a reader-writer antenna, wherein the reader-writer antenna is arranged in the landing gear body, and the landing gear
  • the landing gear body is provided with an opening for the feeder to pass through.
  • the feeder is used to connect the reader antenna to the reader. Specifically, one end of the feeder is connected to the feed port of the reader antenna, and the other end of the feeder is connected to the input/output port of the reader to receive the antenna.
  • the signal is transmitted to the reader or the output data of the reader is transmitted to the antenna for transmission.
  • FIG. 1 is a schematic structural diagram of Embodiment 1 of the drone landing gear described in this application
  • FIG. 3 is a schematic structural diagram of Embodiment 1 of the drone described in this application.
  • the landing gear body includes: a left frame body 11, a right frame body 12, and a cross bar 13.
  • the left frame body 11 includes a left vertical rod 110 and a left inclined rod
  • the right frame body 12 includes a right vertical rod 120 and a right inclined rod. Both the left inclined rod and the right inclined rod are inclined outward from top to bottom, and the left frame body 11 and the right frame 12 are symmetrical about the central axis of the drone.
  • the horizontal rod 13 connects the left vertical rod 110 and the right vertical rod 120.
  • the left vertical rod 110 and the right vertical rod 120 are parallel to each other, and the horizontal rod 13 is perpendicular to the left vertical rod 110 and the right vertical rod 120.
  • the cross bar 13 divides the left vertical bar 110 into a front left vertical bar and a rear left vertical bar, and divides the right vertical bar 120 into a front right vertical bar and a rear right vertical bar.
  • the reader-writer antenna includes two pairs of dipole antennas integrated with the landing gear body.
  • One pair of dipole antennas 21 and 22 are arranged in the left vertical rod 110 of the left frame 11, and the other pair of dipole antennas 23 and 24 are arranged in the right vertical rod 120 of the right frame 12.
  • the two pairs of dipole antennas are connected by two conductors 25, 26, and the two conductors 25, 26 are arranged in the cross bar 13.
  • the antenna 21 is installed in the front left vertical pole
  • the antenna 22 is installed in the rear left vertical pole
  • the antenna 23 is installed in the front right vertical pole
  • the antenna 24 is installed in the rear right vertical pole.
  • the antennas 21, 22, 23, and 24 have the same length, and the antennas 21, 22 form a pair of dipole antennas, and the antennas 23, 24 form another pair of dipole antennas.
  • One end of the antenna 21 and one end of the antenna 23 are connected by a wire 25, and one end of the antenna 22 and one end of the antenna 24 are connected by a wire 26, and the wires 25 and 26 are parallel to each other in the cross bar 13.
  • the distance between the left vertical rod 110 and the right vertical rod 120 is not greater than 1/2 of the antenna wavelength composed of the two pairs of dipole antennas 21, 22 and 23, 24, that is, the two pairs are
  • the distance between the pole antennas 21, 22 and 23, 24 is not more than 1/2 of the wavelength of the antenna composed of the two pairs of dipole antennas 21, 22 and 23, 24.
  • the distance between the two pairs of dipole antennas 21, 22 and 23, 24 is the length of the wire 25 or the wire 26.
  • the side-fire characteristic is formed, as shown in FIG. 5, and the two pairs of dipole antennas 21, 22 and 23, 24
  • the distance between the two pairs of dipole antennas 21, 22 and 23, 24 is equal to 1/2 of the antenna wavelength, the gain of the antenna reaches the maximum and the antenna radiates to the ground.
  • the reader/writer antenna located in the landing gear body can easily read The electronic tag information under the drone and pasted on the object to be inspected.
  • the drone body and the drone landing gear are detachably connected.
  • FIG. 2 is a schematic structural diagram of the second embodiment of the drone landing gear described in this application
  • FIG. 4 is a schematic structural diagram of the second embodiment of the drone landing gear described in this application.
  • the landing gear body includes a left frame body 11 and a right frame body 12, and the left frame body 11 and the right frame body 12 are symmetrical about the central axis of the drone.
  • the left frame 11 includes a first left vertical rod 111 and a second left vertical rod 112.
  • the first left vertical rod 111 is connected to the drone body through a first left inclined rod
  • the second left vertical rod 112 passes through a second left vertical rod.
  • the oblique rod is connected with the first left oblique rod.
  • the right frame 12 includes a first right vertical rod 121 and a second right vertical rod 122.
  • the first right vertical rod 121 is connected to the drone body through a first right inclined rod
  • the second right vertical rod 122 is connected through a second right inclined rod. It is connected with the first right diagonal rod
  • the second left vertical rod 112 and the second right vertical rod 122 are connected by the first crossbar 14.
  • the first left oblique rod and the first right oblique rod both incline from top to bottom outwards
  • the second left oblique rod and the second right oblique rod both incline from top to bottom inward. That is, on the basis of the landing gear body described in the first embodiment, two longitudinal rods are added in the inner direction of the landing gear body.
  • the reason for this setting is that when the drone is large, the first left vertical rod 111 and the first right vertical rod 121 need to be set far apart so that the drone can land smoothly, the first left vertical rod The distance between 111 and the first right vertical rod 121 cannot meet the spacing requirements of the two pairs of dipole antennas. At this time, two additional vertical rods need to be added to make the distance between the two newly added vertical rods meet the requirements of the two pairs of dipole antennas.
  • the antenna spacing requirement is 1/2 of the antenna wavelength composed of two pairs of dipole antennas.
  • the first left vertical rod 111, the second left vertical rod 112, the first right vertical rod 121 and the second right vertical rod 122 are parallel to each other, and the first horizontal rod 14 is perpendicular to the second left vertical rod 112 and The second right vertical rod 122.
  • the first crossbar 14 equally divides the second left vertical rod 112 into a front second left vertical rod and a rear second left vertical rod, and divides the second right vertical rod 122 into a front second right vertical rod. Longitudinal rod and rear second right vertical rod.
  • the reader antenna includes: a first dipole antenna 31, 32 and a second dipole antenna 33, 34.
  • the first dipole antennas 31 and 32 are arranged in the second left vertical rod 112
  • the second dipole antennas 33 and 34 are arranged in the second right vertical rod 122.
  • the first dipole antenna 31, 32 and the second dipole antenna 33, 34 are connected by two first conductors 35, 36, and the first conductors 35, 36 are arranged in the first cross bar 14.
  • the antenna 31 is installed in the front second left vertical pole
  • the antenna 32 is installed in the rear second left vertical pole
  • the antenna 33 is installed in the front second right vertical pole
  • the antenna 34 is installed in the rear second vertical pole. In the right vertical bar.
  • the antennas 31, 32, 33, and 34 have the same length, and the antennas 31, 32 form a first dipole antenna, and the antennas 33, 34 form a second dipole antenna.
  • One end of the antenna 31 and one end of the antenna 33 are connected by a wire 35, and one end of the antenna 32 and one end of the antenna 34 are connected by a wire 36, and the wires 35 and 36 are parallel to each other in the cross bar 14.
  • the distance between the second left vertical rod 112 and the second right vertical rod 122 shall not be greater than the antenna wavelength composed of the first dipole antenna 31, 32 and the second dipole antenna 33, 34 That is, the distance between the first dipole antenna 31, 32 and the second dipole antenna 33, 34 is not greater than the first dipole antenna 31, 32 and the second dipole antenna 33,
  • the antenna composed of 34 is 1/2 of the wavelength.
  • the distance between the first and second dipole antennas is the length of the wire 35 or the wire 36.
  • the distance between the second left vertical rod 112 and the second right vertical rod 122 is equal to the first dipole antenna 31, 32 and the second dipole antenna.
  • the sub-antennas 33 and 34 are composed of 1/2 of the wavelength of the antenna.
  • first left vertical rod 111 and the first right vertical rod 121 are located at the same height to stably support the drone body; the second left vertical rod 112 and the second right vertical rod 122 are located at the same height to The antenna installed therein has better performance.
  • the second left vertical rod 112 and the second right vertical rod 122 may not be at the same height as the first left vertical rod 111 and the first right vertical rod 121, and the second left vertical rod 112 and the second right vertical rod 122 may be higher than The first left vertical rod 111 and the first right vertical rod 121.
  • the first left vertical rod 111, the second left vertical rod 112, the first right vertical rod 121, and the second right vertical rod 122 are located at the same height, that is, on the same plane.
  • the reader/writer antenna in this embodiment further includes a third dipole antenna arranged in the first left vertical rod 111.
  • the first left vertical rod 111 and the second left vertical rod 112 are also connected by a second horizontal rod 15.
  • the second horizontal rod 15 divides the first left vertical rod 111 into equal parts, and the second horizontal rod 15 is perpendicular to the first left vertical rod.
  • the vertical rod 111 and the two antennas of the third dipole antenna are respectively arranged in the first left vertical rod after being equally divided.
  • the second crossbar 15 and the first crossbar 14 are located on the same straight line.
  • the third dipole antenna and the first dipole antennas 31, 32 are connected by two second conductors, and the second conductors are arranged in parallel in the second crossbar 15 (not shown in the above characteristic drawings).
  • the distance between the first left vertical rod 111 and the second left vertical rod 112 is not greater than 1/the wavelength of the antenna composed of the third dipole antenna and the first dipole antenna 31, 32 2.
  • the distance between the first left vertical rod 111 and the second left vertical rod 112 is equal to 1/2 of the antenna wavelength formed by the third dipole antenna and the first dipole antennas 31, 32. That is, the distance between the third dipole antenna and the first dipole antenna 31, 32 is equal to 1/2 of the wavelength of the antenna formed by the third dipole antenna and the first dipole antenna 31, 32.
  • the reader/writer antenna further includes a fourth dipole antenna arranged in the first right vertical rod 121.
  • the first right vertical bar 121 and the second right vertical bar 122 are also connected by a third cross bar 16.
  • the third cross bar 16 equally divides the first right vertical bar 121, and the third cross bar 16 is perpendicular to the first right vertical bar.
  • the vertical rod 121 and the two antennas of the fourth dipole antenna are respectively arranged in the first right vertical rod 121 after being equally divided.
  • the third crossbar 16 is located on the same straight line as the first crossbar 14 and the second crossbar 15.
  • the fourth dipole antenna and the second dipole antennas 33 and 34 are connected by two third conductors, and the third conductors are arranged in the third crossbar 16 in parallel.
  • the distance between the first right vertical rod 121 and the second right vertical rod 122 shall not be greater than 1/the wavelength of the antenna composed of the fourth dipole antenna and the second dipole antenna 33, 34. 2.
  • the distance between the first right vertical rod 121 and the second right vertical rod 122 is equal to 1/2 of the antenna wavelength formed by the fourth dipole antenna and the second dipole antenna 33, 34. That is, the distance between the fourth dipole antenna and the second dipole antenna 33, 34 is equal to 1/2 of the wavelength of the antenna composed of the fourth dipole antenna and the second dipole antenna 33, 34.
  • a pair of dipole antennas in the first left vertical rod 111 and a pair of dipole antennas in the second right vertical rod 122 can also be combined to form a set of reader-writer antennas according to actual needs, or
  • the pair of dipole antennas in the two left vertical rods 112 and the pair of dipole antennas in the first right vertical rod 121 form a set of reader-writer antennas.
  • the specific composition method is the same as the above method, and will not be repeated here.
  • the reader/writer antenna located in the landing gear body It can easily read the information of the electronic tag located under the drone and pasted on the object to be inspected, and can realize the simultaneous operation of multiple groups of antennas.
  • the reader port can poll the information of each group of antennas.
  • the drone body and the drone landing gear are detachably connected.
  • the reader/writer antennas can be set in the landing gear body by injection molding.
  • the landing gear body can also be composed of hollow pipes.
  • the reader/writer antenna can also be directly fixed and placed in the hollow pipe. The above method enables the reader-writer antenna to be integrated with the landing gear body, and the landing gear with the reader-writer antenna can be obtained at the factory.
  • the material of the landing gear body can be made of ductile plastic.
  • the opening provided on the landing gear body for the feeder line to pass through is arranged on the landing gear body at a position opposite to the feed port of the reader antenna.
  • an open wire or feeder connector is welded at the feed port of the reader antenna, and the feeder is connected to the feed port of the reader antenna through the open wire or feeder connector.
  • the feed ports of the reader antenna are located in the middle of the wires 25 and 26, and both feed ports are connected to one end of the feeder, and the other end of the feeder is connected to the reader port.
  • the determination of the position of the feed port of each group of antennas in the multiple groups of antennas and the connection manner to the reader/writer port are similar to those of the first embodiment, and will not be repeated here.
  • this application also provides an unmanned aerial vehicle. Removable connection between the landing gear.
  • the drone body and the drone landing gear that is, between the drone body and the reader antenna
  • the metal plate or metal mesh is preferably parallel to the plane where the reader/writer antenna is located.
  • the plane radiation pattern of the antenna after the reflection device is added is shown in Figure 6.
  • the landing gear of the drone and the drone provided in this application because the reader antenna is directly arranged in the landing gear body, and the landing gear body is provided with an opening for the feeder to pass through, so RFID is performed on the drone Before the inspection, it is only necessary to connect the reader antenna to the reader port through the feeder, and no more complicated antenna installation operations are required, which can greatly simplify the work process and improve the work efficiency.
  • the reader/writer antenna is hidden in the landing gear body, so that the reader/writer antenna and the landing gear body are integrated, which can effectively solve the technical problem of unsightly and easy damage caused by the existing antenna being exposed to the outside.

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Abstract

一种无人机起落架及无人机，其中，无人机起落架包括：起落架本体、读写器天线；所述读写器天线设置于所述起落架本体中；所述起落架本体上设有供馈线穿过的开孔。该无人机起落架解决无人机在巡检前需要现场吊装读写器天线而导致的费时费力、不美观、易损坏的技术问题。

Description

无人机起落架及无人机
相关申请的交叉引用
本申请基于申请号为202010324497.8、申请日为2020年4月23日的中国专利申请提出，并要求中国专利申请的优先权，该中国专利申请的全部内容在此引入本申请作为参考。
技术领域
本申请涉及无人机巡检技术领域，特别涉及一种无人机起落架及一种无人机。
背景技术
随着RFID(Radio Frequency Identification，射频识别)技术的发展及各行业对高效化、便捷化工作要求的提高，RFID得到了越来越多的应用，如今，各行业普遍利用RFID技术对物品进行盘点以提高工作效率。但在电力、大型仓储等行业中，由于资产分布较广泛、分布环境较复杂，若仍依靠常规的人工RFID操作方式去盘点，不仅费时费力，而且存在安全隐患。
为解决上述问题，目前在电力行业中，采用了无人机巡检技术——在各个待巡检物上贴上电子标签，无人机携带读写器，且读写器的天线采用云台悬挂的方式吊装在无人机下方，当无人机位于待巡检物上方时即可读取到对应的电子标签信息，从而对数量较多、分布广泛或分布环境复杂的资产或物品进行高效巡检。
然而，由于读写器天线尺寸较大，在巡检前需要现场安装，且安装工艺复杂，这无疑又要耗费一定的人力物力。此外，暴露在外部的读写器天线不仅不美观，而且容易与外物发生碰撞而损坏。
发明内容
有鉴于此，本申请旨在提出一种无人机起落架及一种无人机，以解决无人机在巡检前需要现场吊装读写器天线而导致的费时费力、不美观、易损坏的技术问题。
为达到上述目的，本申请的技术方案是这样实现的：
一种无人机起落架，包括：起落架本体、读写器天线；所述读写器天线设置于所述起落架本体中；所述起落架本体上设有供馈线穿过的开孔。
进一步的，所述起落架本体包括：左架体，右架体，横杆；所述左架体包括左纵杆；所述右架体包括右纵杆；所述横杆连接左纵杆与右纵杆；所述读写器天线包括：两对偶极子天线；一对偶极子天线设置于所述左纵杆中，另一对偶极子天线设置于所述右纵杆中；两对偶极子天线通过两根导体连接，且导体设置于所述横杆中；所述左纵杆与所述右纵杆之间的间距不大于所述两对偶极子天线所组成的天线波长的1/2。
优选的，所述左纵杆与所述右纵杆之间的间距等于所述两对偶极子天线所组成的天线波长的1/2。
进一步的，所述起落架本体包括：左架体，右架体；所述左架体包括第一左纵杆和第二左纵杆；所述右架体包括第一右纵杆和第二右纵杆；所述第二左纵杆与所述第二右纵杆之间通过第一横杆连接；所述读写器天线包括：第一偶极子天线和第二偶极子天线；第一偶极子天线设置于所述第二左纵杆中，第二偶极子天线设置于所述第二右纵杆中；第一偶极子天线与第二偶极子天线通过两根第一导体连接，且第一导体设置于所述第一横杆中；所述第二左纵杆与所述第二右纵杆之间的间距不大于所述第一偶极子天线与所述第二偶极子天线所组成的天线波长的1/2。
优选的，所述第二左纵杆与所述第二右纵杆之间的间距等于所述第一偶极子天线与所述第二偶极子天线所组成的天线波长的1/2。
优选的，所述读写器天线以注塑的方式设置于所述起落架本体中。
优选的，所述开孔设置于所述起落架本体上与所述读写器天线的馈电端口相对的位置。
进一步的，所述读写器天线的馈电端口焊接有开口线或馈线连接器，所述馈线通过所述开口线或所述馈线连接器与所述读写器天线的馈电端口连接。
本申请提供的无人机起落架，由于将读写器天线直接设置于起落架本体中，且起落架本体上设有供馈线穿过的开孔，因此在无人机进行RFID巡检前，只需要将读写器天线通过馈线连接至读写器端口，而不需要再进行复杂的天线安装操作，从而能够大大简化工作流程、提高工作效率。同时，将读写器天线隐藏于起落架本体中，使读写器天线与起落架本体形成一体，可有效解决现有的天线暴露于外部而导致的不美观、易损坏的技术问题。
本申请的另一目的在于提出一种无人机，能够解决无人机在巡检前需要现场吊装读写器天线而导致的费时费力、不美观、易损坏的技术问题。
为达到上述目的，本申请的技术方案是这样实现的：
一种无人机，包括：无人机本体，以及上述任意一项无人机起落架；所述无人机本体与所述无人机起落架之间可拆卸连接。
进一步的，所述无人机还包括：金属板或金属网；所述金属板或所述金属网设置于所述无人机本体与所述读写器天线之间。
所述无人机与上述无人机起落架相对于现有技术所具有的优势相同，在此不再赘述。
本申请的其它特征和优点将在随后的具体实施方式部分予以详细说明。
附图说明
构成本申请的一部分的附图用来提供对本申请的进一步理解，本申请的示意性实施方式及其说明用于解释本申请，并不构成对本申请的不当限定。在附图中：
图1为本申请所述的无人机起落架实施例一的结构示意图；
图2为本申请所述的无人机起落架实施例二的结构示意图；
图3为本申请所述的无人机实施例一的结构示意图；
图4为本申请所述的无人机实施例二的结构示意图；
图5为本申请实施例中当两对偶极子天线的间距为半波长时的平面辐射方向图；
图6为在图5的基础上在无人机本体与读写器天线之间增加金属板或金属网后的平面辐射方向图。
附图标记说明
11-左架体 12-右架体 13-横杆 14-第一横杆
15-第二横杆 16-第三横杆 110-左纵杆 120-右纵杆
21，22-设置于左纵杆 110中的一对偶极子天线
23，24-设置于右纵杆 120中的一对偶极子天线
25，26-设置于横杆 13中的两根导体
111-第一左纵杆 112-第二左纵杆
121-第一右纵杆 122-第二右纵杆
31，32-第一偶极子天线 33，34-第二偶极子天线
35，36-第一导体
具体实施方式
以下结合附图对本申请实施例的具体实施方式进行详细说明。应当理解的是，此处所描述的具体实施方式仅用于说明和解释本申请实施例，并不用于限制本申请实施例。
本申请实施例提供的无人机起落架和无人机如图1至图4所示，包括：起落架本体和读写器天线，其中，读写器天线设置于起落架本体中，且起落架本体上设有供馈线穿过的开孔。该馈线用于连接读写器天线与读写器，具体地，馈线的一端与读写器天线的馈电端口连接，馈线的另一端与读写器的输入/输出端口连接，以将天线接收的信号传送给读写器或将读写器的输出数据传送给天 线发射出去。
图1为本申请所述的无人机起落架实施例一的结构示意图，图3为本申请所述的无人机实施例一的结构示意图。本实施例中，起落架本体包括：左架体11，右架体12，横杆13。其中，左架体11包括左纵杆110和左斜杆，右架体12包括右纵杆120和右斜杆，左斜杆和右斜杆均从上往下向外倾斜，且左架体11和右架体12关于无人机的中心轴对称。横杆13连接左纵杆110与右纵杆120，优选地，左纵杆110与右纵杆120相互平行，且横杆13垂直于左纵杆110和右纵杆120。横杆13将左纵杆110等分为前左纵杆和后左纵杆、将右纵杆120等分为前右纵杆和后右纵杆。
在起落架本体为上述结构的前提下，读写器天线包括与起落架本体一体设置的两对偶极子天线。其中一对偶极子天线21，22设置于左架体11的左纵杆110中，另一对偶极子天线23，24设置于右架体12的右纵杆120中。两对偶极子天线通过两根导体25，26连接，且两根导体25，26设置于横杆13中。具体地，天线21设置于上述前左纵杆中，天线22设置于上述后左纵杆中，天线23设置于上述前右纵杆中，天线24设置于上述后右纵杆中。天线21，22，23，24的长度相同，且天线21，22组成一对偶极子天线，天线23，24组成另一对偶极子天线。天线21的一端与天线23的一端通过导线25连接，天线22的一端与天线24的一端通过导线26连接，导线25与26在横杆13中相互平行。为了满足天线的工作性能，左纵杆110与右纵杆120之间的间距不大于上述两对偶极子天线21，22和23，24所组成的天线波长的1/2，即，上述两对偶极子天线21，22和23，24之间的间距不大于上述两对偶极子天线21，22和23，24所组成的天线波长的1/2。两对偶极子天线21，22和23，24之间的间距也就是导线25或导线26的长度。
本实施例中，在两对偶极子天线21，22和23，24的电流方向一致时，形成边射的特性，如图5所示，且在两对偶极子天线21，22和23，24之间的间距等于两对偶极子天线21，22和23，24所组成的天线波长的1/2时，天线的增益达到最大，且天线向地面辐射。
基于上述实施例一的无人机起落架的结构，当将其应用到无人机上，连接于无人机本体进行巡检时，位于起落架本体中的读写器天线能够轻松读取到位于无人机下方、粘贴于待巡检物上的电子标签信息。本实施例中，无人机本体与无人机起落架之间可拆卸连接。
图2为本申请所述的无人机起落架实施例二的结构示意图，图4为本申请所述的无人机实施例二的结构示意图。本实施例中，起落架本体包括：左架体11和右架体12，且左架体11和右架体12关于无人机的中心轴对称。其中，左架体11包括第一左纵杆111和第二左纵杆112，第一左纵杆111通过第一左斜杆与无人机本体连接，第二左纵杆112通过第二左斜杆与第一左斜杆连接。右架体12包括第一右纵杆121和第二右纵杆122，第一右纵杆121通过第一右斜杆与无人机本体连接，第二右纵杆122通过第二右斜杆与第一右斜杆连接，第二左纵杆112与第二右纵杆122之间通过第一横杆14连接。第一左斜杆与第一右斜杆均从上往下向外倾斜，第二左斜杆与第二右斜杆均从上往下向内倾斜。即，在实施例一所述的起落架本体的基础上，在起落架本体的内侧方向增设两个纵杆。这样设置的原因是，当无人机较大，相应地需要将第一左纵杆111和第一右纵杆121设置得间隔较远以使无人机能够平稳降落时，第一左纵杆111和第一右纵杆121的间距无法满足两对偶极子天线的间距要求，此时，需要另外新增两个纵杆，使新增的两个纵杆之间的间距满足两对偶极子天线的间距要求，即为两对偶极子天线所组成的天线波长的1/2。优选地，第一左纵杆111、第二左纵杆112、第一右纵杆121和第二右纵杆122之间相互平行，且第一横杆14垂直于第二左纵杆112和第二右纵杆122。与实施例一相同地，第一横杆14将第二左纵杆112等分为前第二左纵杆和后第二左纵杆、将第二右纵杆122等分为前第二右纵杆和后第二右纵杆。
在起落架本体为上述结构的前提下，读写器天线包括：第一偶极子天线31，32和第二偶极子天线33，34。其中，第一偶极子天线31，32设置于第二左纵杆112中，第二偶极子天线33，34设置于第二右纵杆122中。第一偶极子天线31，32与第二偶极子天线33，34通过两根第一导体35，36连接，且第一导体 35，36设置于第一横杆14中。具体地，天线31设置于上述前第二左纵杆中，天线32设置于上述后第二左纵杆中，天线33设置于上述前第二右纵杆中，天线34设置于上述后第二右纵杆中。天线31，32，33，34的长度相同，且天线31，32组成第一偶极子天线，天线33，34组成第二偶极子天线。天线31的一端与天线33的一端通过导线35连接，天线32的一端与天线34的一端通过导线36连接，导线35与36在横杆14中相互平行。为了满足天线的工作性能，第二左纵杆112与第二右纵杆122之间的间距不大于第一偶极子天线31，32和第二偶极子天线33，34所组成的天线波长的1/2，即，第一偶极子天线31，32和第二偶极子天线33，34之间的间距不大于第一偶极子天线31，32和第二偶极子天线33，34所组成的天线波长的1/2。第一、第二偶极子天线之间的间距也就是导线35或导线36的长度。
为了使天线的增益最大，以获得最佳的天线性能，优选地，第二左纵杆112与第二右纵杆122之间的间距等于第一偶极子天线31，32与第二偶极子天线33，34所组成的天线波长的1/2。
需要说明的是，上述第一左纵杆111与第一右纵杆121位于同一高度，以平稳地支撑无人机本体；第二左纵杆112与第二右纵杆122位于同一高度，以使设置于其中的天线具有较好的性能。但第二左纵杆112和第二右纵杆122可以不与第一左纵杆111和第一右纵杆121位于同一高度，第二左纵杆112和第二右纵杆122可高于第一左纵杆111和第一右纵杆121。优选地，第一左纵杆111、第二左纵杆112、第一右纵杆121和第二右纵杆122位于同一高度，即位于同一平面上。
进一步地，在上述起落架本体中可设置多组天线，多组天线分别通过对应的馈线连接至不同的读写器端口，读写器端口在控制电路的控制下采用轮询的工作方式来获取多个天线传送的数据。具体地，本实施例中的读写器天线还包括设置于第一左纵杆111中的第三偶极子天线。第一左纵杆111与第二左纵杆112之间还通过第二横杆15连接，第二横杆15将第一左纵杆111等分，且第二横杆15垂直于第一左纵杆111，第三偶极子天线中的两根天线分别设置于等 分后的第一左纵杆中。优选地，第二横杆15与第一横杆14位于同一直线。第三偶极子天线与第一偶极子天线31，32通过两根第二导体连接，且第二导体平行地设置于第二横杆15中(以上特征图中未示出)。为了满足天线的工作性能，第一左纵杆111与第二左纵杆112之间的间距不大于第三偶极子天线与第一偶极子天线31，32所组成的天线波长的1/2，优选地，第一左纵杆111与第二左纵杆112之间的间距等于第三偶极子天线与第一偶极子天线31，32所组成的天线波长的1/2。即，第三偶极子天线与第一偶极子天线31，32之间的间距等于第三偶极子天线与第一偶极子天线31，32所组成的天线波长的1/2。
在上述两组天线的基础上，本实施例还可进一步设置第三组天线。具体地，读写器天线还包括设置于第一右纵杆121中的第四偶极子天线。第一右纵杆121与第二右纵杆122之间还通过第三横杆16连接，第三横杆16将第一右纵杆121等分，且第三横杆16垂直于第一右纵杆121，第四偶极子天线中的两根天线分别设置于等分后的第一右纵杆121中。优选地，第三横杆16与第一横杆14、第二横杆15位于同一直线。第四偶极子天线与第二偶极子天线33，34通过两根第三导体连接，且第三导体平行地设置于第三横杆16中。为了满足天线的工作性能，第一右纵杆121与第二右纵杆122之间的间距不大于第四偶极子天线与第二偶极子天线33，34所组成的天线波长的1/2，优选地，第一右纵杆121与第二右纵杆122之间的间距等于第四偶极子天线与第二偶极子天线33，34所组成的天线波长的1/2。即，第四偶极子天线与第二偶极子天线33，34之间的间距等于第四偶极子天线与第二偶极子天线33，34所组成的天线波长的1/2。
本实施例中，还可根据实际需要将第一左纵杆111中的一对偶极子天线与第二右纵杆122中的一对偶极子天线组成一组读写器天线，或者，将第二左纵杆112中的一对偶极子天线与第一右纵杆121中的一对偶极子天线组成一组读写器天线，具体组成方式与上述方式相同，此处不再赘述。
基于上述实施例二的无人机起落架的结构，当将其应用到较大型的无人机上，连接于较大型的无人机本体进行巡检时，位于起落架本体中的读写器天线能够轻松读取到位于无人机下方、粘贴于待巡检物上的电子标签信息，且能够 实现多组天线同时工作，读写器端口可轮询地获取每组天线的信息。本实施例中，无人机本体与无人机起落架之间可拆卸连接。
对于上述实施例一和实施例二，读写器天线均可以注塑的方式设置于所述起落架本体中。此外，起落架本体也可由中空的管道组成，如此，也可将读写器天线直接固定放置于上述中空管道中。上述方式使得读写器天线与起落架本体一体设置，在出厂时就可获得带读写器天线的起落架。起落架本体的材质可以采用韧性塑料材质。
为了接线方便，起落架本体上设置的供馈线穿过的开孔设置于起落架本体上与读写器天线的馈电端口相对的位置。进一步地，在读写器天线的馈电端口处焊接开口线或馈线连接器，馈线通过上述开口线或馈线连接器与读写器天线的馈电端口连接。对于上述实施例一，读写器天线的馈电端口分别位于导线25和26的中部，两个馈电端口均与馈线的一端连接，馈线的另一端连接至读写器端口。对于上述实施例二，多组天线中每组天线的馈电端口位置的确定、与读写器端口的连接方式均与实施例一类似，此处不再赘述。
如图3和图4所示，本申请还提供一种无人机，该无人机包括：无人机本体，以及上述任一无人机起落架，且无人机本体与无人机起落架之间可拆卸连接。
在无人机进行巡检时的某些应用场景下需要提高天线的性能，此时，可以在无人机本体与无人机起落架之间(即无人机本体与读写器天线之间)增加金属板或金属网作为信号的反射装置，以提高天线的增益。金属板或金属网优选地与读写器天线所在的平面平行。增加反射装置后的天线平面辐射方向图如图6所示。
本申请提供的无人机起落架及无人机，由于将读写器天线直接设置于起落架本体中，且起落架本体上设有供馈线穿过的开孔，因此在无人机进行RFID巡检前，只需要将读写器天线通过馈线连接至读写器端口，而不需要再进行复杂的天线安装操作，从而能够大大简化工作流程、提高工作效率。同时，将读写器天线隐藏于起落架本体中，使读写器天线与起落架本体形成一体，可有效 解决现有的天线暴露于外部而导致的不美观、易损坏的技术问题。
以上结合附图详细描述了本申请实施例的可选实施方式，但是，本申请实施例并不限于上述实施方式中的具体细节，在本申请实施例的技术构思范围内，可以对本申请实施例的技术方案进行多种简单变型，这些简单变型均属于本申请实施例的保护范围。
另外需要说明的是，在上述具体实施方式中所描述的各个具体技术特征，在不矛盾的情况下，可以通过任何合适的方式进行组合。为了避免不必要的重复，本申请实施例对各种可能的组合方式不再另行说明。上述各种可能的组合方式，只要其不违背本申请实施例的思想，其同样应当视为本申请实施例所公开的内容。

Claims (8)

  1. 一种无人机起落架，包括：起落架本体、读写器天线；所述读写器天线设置于所述起落架本体中；所述起落架本体上设有供馈线穿过的开孔；所述开孔设置于所述起落架本体上与所述读写器天线的馈电端口相对的位置；所述读写器天线的馈电端口焊接有开口线或馈线连接器，所述馈线通过所述开口线或所述馈线连接器与所述读写器天线的馈电端口连接。
  2. 根据权利要求1所述的无人机起落架，其中，所述起落架本体包括：左架体(11)，右架体(12)，横杆(13)；所述左架体(11)包括左纵杆(110)；所述右架体(12)包括右纵杆(120)；所述横杆(13)连接左纵杆(110)与右纵杆(120)；所述读写器天线包括：两对偶极子天线(21，22；23，24)；一对偶极子天线(21，22)设置于所述左纵杆(110)中，另一对偶极子天线(23，24)设置于所述右纵杆(120)中；两对偶极子天线(21，22；23，24)通过两根导体(25，26)连接，且所述两根导体(25，26)设置于所述横杆(13)中；所述左纵杆(110)与所述右纵杆(120)之间的间距不大于所述两对偶极子天线(21，22；23，24)所组成的天线波长的1/2。
  3. 根据权利要求2所述的无人机起落架，其中，所述左纵杆(110)与所述右纵杆(120)之间的间距等于所述两对偶极子天线(21，22；23，24)所组成的天线波长的1/2。
  4. 根据权利要求1所述的无人机起落架，其中，所述起落架本体包括：左架体(11)，右架体(12)；所述左架体(11)包括第一左纵杆(111)和第二左纵杆(112)；所述右架体(12)包括第一右纵杆(121)和第二右纵杆(122)；所述第二左纵杆(112)与所述第二右纵杆(122)之间通过第一横杆(14)连接；所述读写器天线包括：第一偶极子天线(31，32)和第二偶极子天线(33，34)；所述第一偶极子天线(31，32)设置于所述第二左纵杆(112)中，所述第二偶极子天线(33，34)设置于所述第二右纵杆(122)中；所述第一偶极子天线(31，32)与所述第二偶极子天线(33，34)通过两根第一导体(35，36) 连接，且所述两根第一导体(35，36)设置于所述第一横杆(14)中；所述第二左纵杆(112)与所述第二右纵杆(122)之间的间距不大于所述第一偶极子天线(31，32)与所述第二偶极子天线(33，34)所组成的天线波长的1/2。
  5. 根据权利要求4所述的无人机起落架，其中，所述第二左纵杆(112)与所述第二右纵杆(122)之间的间距等于所述第一偶极子天线(31，32)与所述第二偶极子天线(33，34)所组成的天线波长的1/2。
  6. 根据权利要求1所述的无人机起落架，其中，所述读写器天线以注塑的方式设置于所述起落架本体中。
  7. 一种无人机，所述无人机包括：无人机本体，以及权利要求1-6中任意一项所述的无人机起落架；所述无人机本体与所述无人机起落架之间可拆卸连接。
  8. 根据权利要求7所述的无人机，其中，所述无人机还包括：金属板或金属网；所述金属板或所述金属网设置于所述无人机本体与所述读写器天线之间。
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