CN110277643A - Unmanned plane antenna system, unmanned plane and UAV system - Google Patents
Unmanned plane antenna system, unmanned plane and UAV system Download PDFInfo
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- CN110277643A CN110277643A CN201910519068.3A CN201910519068A CN110277643A CN 110277643 A CN110277643 A CN 110277643A CN 201910519068 A CN201910519068 A CN 201910519068A CN 110277643 A CN110277643 A CN 110277643A
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- electric cylinder
- upper platform
- universal joint
- unmanned aerial
- aerial vehicle
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- 230000033001 locomotion Effects 0.000 claims abstract description 37
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 10
- 238000011217 control strategy Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 150000001875 compounds Chemical class 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- 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
- H01Q1/1235—Collapsible supports; Means for erecting a rigid antenna
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q19/00—Combinations of primary active antenna elements and units with secondary devices, e.g. with quasi-optical devices, for giving the antenna a desired directional characteristic
- H01Q19/10—Combinations of primary active antenna elements and units with secondary devices, e.g. with quasi-optical devices, for giving the antenna a desired directional characteristic using reflecting surfaces
- H01Q19/12—Combinations of primary active antenna elements and units with secondary devices, e.g. with quasi-optical devices, for giving the antenna a desired directional characteristic using reflecting surfaces wherein the surfaces are concave
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- 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
- H01Q3/005—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 remotely controlled antenna positioning or scanning
-
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/20—Remote controls
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Radio Relay Systems (AREA)
- Variable-Direction Aerials And Aerial Arrays (AREA)
Abstract
The present invention provides a kind of unmanned plane antenna system, unmanned plane and UAV system, comprising: satellite antenna and six-freedom parallel movement mechanism；Wherein, satellite antenna is used to communicate by satellite with the remote control apparatus of unmanned plane, and satellite antenna set is on six-freedom parallel movement mechanism；In unmanned plane during flying, by rotation six-freedom parallel movement mechanism to adjust the direction of satellite antenna, allows satellite antenna and satellite communication, change the communication mode of unmanned plane and ground command center, be applicable to long-distance flight.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle antenna system, an unmanned aerial vehicle and an unmanned aerial vehicle system.
Background
The unmanned aerial vehicle has the advantages of small volume, low manufacturing cost, convenient use and the like, and is widely applied to industries such as agriculture, industry, city management, film and television shooting. The flight distance of the unmanned aerial vehicle widely used in the existing market is usually dozens of kilometers, so that the unmanned aerial vehicle can communicate in a mode of directly communicating with a ground command center.
However, in the special fields of military affairs and emergency rescue, the flight distance of the unmanned aerial vehicle may need to reach hundreds of kilometers, and because the ground is a spherical surface, if the mode of communication between the unmanned aerial vehicle and the ground command center still adopts a direct communication mode, the control on the unmanned aerial vehicle may be lost as the distance between the unmanned aerial vehicle and the ground command center increases.
The problem that the existing unmanned aerial vehicle is not suitable for long-distance flight exists.
Disclosure of Invention
The embodiment of the invention provides an unmanned aerial vehicle antenna system, an unmanned aerial vehicle and an unmanned aerial vehicle system, changes the communication mode of the unmanned aerial vehicle and a ground command center, and is suitable for long-distance flight.
A first aspect of an embodiment of the present invention provides an antenna system for an unmanned aerial vehicle, including: a satellite antenna 100 and a six-degree-of-freedom parallel motion mechanism 200; wherein,
the satellite antenna 100 is used for communicating with a remote control device of an unmanned aerial vehicle through a satellite, and the satellite antenna 100 is arranged on the six-degree-of-freedom parallel motion mechanism 200;
when the unmanned aerial vehicle flies, the orientation of the satellite antenna 100 is adjusted by rotating the six-degree-of-freedom parallel kinematic mechanism 200, so that the satellite antenna 100 can communicate with a satellite.
In one possible implementation, the drone antenna system further includes: a controller 300; the six-degree-of-freedom parallel motion mechanism 200 includes:
the device comprises a lower platform 1, a lower platform base 2, six lower platform cross axle universal joints 3, six lower platform cross axle universal joint electric cylinder U-shaped pieces 4, six electric cylinders 6, six upper platform cross axle universal joint electric cylinder U-shaped pieces 10, six upper platform cross axle universal joints 11, an upper platform base 12 and an upper platform 13; wherein,
the lower platform base 2 is fixed on the lower platform 1, six lower platform cross-axle universal joints 3 are fixedly arranged on the lower platform base 2, each lower platform cross-axle universal joint 3 is respectively connected with one lower platform cross-axle universal joint electric cylinder U-shaped piece 4, one end of each electric cylinder 6 is respectively and fixedly connected with one lower platform cross-axle universal joint electric cylinder U-shaped piece 4, the other end of each electric cylinder 6 is respectively connected with one upper platform cross-axle universal joint electric cylinder U-shaped piece 10, each upper platform cross-axle universal joint electric cylinder U-shaped piece 10 is respectively connected with one upper platform cross-axle universal joint 11, each upper platform cross-axle universal joint 11 is fixedly arranged on the upper platform base 12, the upper platform base 12 is arranged on the bottom surface of the upper platform 13, and the satellite antenna 100 is arranged on the top surface of the upper platform 13;
the controller 300 is configured to control the telescopic motion of each of the electric cylinders 6 according to the flight data of the unmanned aerial vehicle, and adjust the attitude of the upper platform base 12, so that the satellite antenna 100 disposed on the upper platform 13 can communicate with a satellite.
In one possible implementation, the six-degree-of-freedom parallel kinematic mechanism 200 further includes: six electric motors 8; wherein,
the controller 300 is respectively connected with each motor 8, and each motor 8 is respectively connected with one electric cylinder 6;
the controller 300 sends a driving signal to each motor 8 to drive the motor 8 to rotate, so as to drive each electric cylinder 6 to perform telescopic motion.
In one possible implementation, the six-degree-of-freedom parallel kinematic mechanism 200 further includes: six encoders 9; wherein,
the controller 300 is respectively connected with the encoders 9, and each encoder 9 is respectively connected with one motor 8;
the encoder 9 is configured to determine an output length of the electric cylinder 6 according to the running speed of the motor 8 measured in real time, and send the output length to the controller 300.
In one possible implementation, the six-degree-of-freedom parallel kinematic mechanism 200 further includes: six electric cylinder lower end limit switches 5 and six electric cylinder upper end limit switches 7; wherein,
the lower end limit switch 5 of each electric cylinder and the upper end limit switch 7 of each electric cylinder are connected with the controller 300;
any one of the electric cylinder lower end limit switches 5 is used for sending a reminding message to the controller 300 when detecting that the connected electric cylinder 6 moves to the telescopic lower limit;
any one of the limit switches 7 at the upper end of the electric cylinder is used for sending reminding information to the controller 300 when detecting that the connected electric cylinder 6 moves to the upper telescopic limit;
the controller 300 is configured to stop driving all the motors 8 to move when receiving the reminding message.
In a possible realization, the upper platform 13 and the lower platform 1 are in the shape of equilateral triangles;
two sides of an angular bisector of three corners of the lower platform 1 are respectively provided with the lower platform cross shaft universal joint 3;
two sides of an angular bisector of three corners of the upper platform 13 are respectively provided with the upper platform cross universal joint 11.
In a possible implementation, the upper platform 13 is arranged upside down from the lower platform 1.
In a possible implementation, all corners of the upper platform 13 and the lower platform 1 are arc-shaped.
A second aspect of an embodiment of the present invention provides an unmanned aerial vehicle, including: a flight control computer, a rotor power plant and an unmanned aerial vehicle antenna system as in any one of the possible implementations of the first aspect;
the flight control computer through to rotor power device sends drive signal in order to drive the rotor is rotatory, in order to control unmanned aerial vehicle flies.
A third aspect of an embodiment of the present invention provides an unmanned aerial vehicle system, including: a remote control device and a drone as in any one of the possible implementations of the second aspect above;
the remote control device communicates with the satellite antenna 100 of the drone through a satellite.
The unmanned aerial vehicle antenna system, the unmanned aerial vehicle and the unmanned aerial vehicle system provided by the embodiment of the invention comprise: the satellite antenna and the six-degree-of-freedom parallel motion mechanism; the satellite antenna is used for communicating with a remote control device of the unmanned aerial vehicle through a satellite, and is arranged on the six-degree-of-freedom parallel motion mechanism; when unmanned aerial vehicle flies, through rotating six degrees of freedom parallel motion mechanism with the orientation of adjustment satellite antenna for satellite antenna can with satellite communication, has changed unmanned aerial vehicle and ground command center's communication mode, applicable in long distance flight.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an antenna system of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a six-degree-of-freedom parallel motion mechanism according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an upper platform cross universal joint according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a lower platform cross universal joint according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of an upper platform according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a lower platform according to an embodiment of the present invention;
description of reference numerals:
100-a satellite antenna; 200-six-degree-of-freedom parallel motion mechanism;
300-a controller; 1-lower platform;
2-lower platform base; 3-lower platform cross axle universal joint;
4, a lower platform cross axle universal joint electric cylinder U-shaped piece;
5, a limit switch at the lower end of the electric cylinder; 6, an electric cylinder;
7, an upper end limit switch of the electric cylinder; 8, a motor;
9-an encoder;
10, an upper platform cross axle universal joint electric cylinder U-shaped piece;
11-upper platform cross axle universal joint; 12-an upper platform base;
13-an upper platform; 14-handle.
Detailed Description
Fig. 1 is a schematic structural diagram of an antenna system of an unmanned aerial vehicle according to an embodiment of the present invention, and fig. 2 is a schematic structural diagram of a six-degree-of-freedom parallel motion mechanism according to an embodiment of the present invention. As shown in figures 1 and 2 of the drawings,
unmanned aerial vehicle antenna system includes: a satellite antenna 100 and a six-degree-of-freedom parallel motion mechanism 200; wherein,
the satellite antenna 100 is used for communicating with a remote control device of the unmanned aerial vehicle through a satellite, and the satellite antenna 100 is arranged on the six-degree-of-freedom parallel motion mechanism 200;
when the drone is flying, the satellite antenna 100 can communicate with the satellite by rotating the six-degree-of-freedom parallel kinematic mechanism 200 to adjust the orientation of the satellite antenna 100.
For example, fig. 1 schematically illustrates a remote control device of an unmanned aerial vehicle as a computer. The remote control device of the unmanned aerial vehicle can also be a mobile phone, an operator comprising a handle and the like.
For example, the satellite antenna 100 of the unmanned aerial vehicle and the satellite adopt ku waveband communication, so that the communication requirements of big data, high speed and long distance can be met simultaneously, and the applicability of the unmanned aerial vehicle is enhanced.
Illustratively, the drone antenna system further includes: a controller 300.
The six-degree-of-freedom parallel motion mechanism 200 includes:
the device comprises a lower platform 1, a lower platform base 2, six lower platform cross axle universal joints 3, six lower platform cross axle universal joint electric cylinder U-shaped pieces 4, six electric cylinder lower end limit switches 5, six electric cylinders 6, six electric cylinder upper end limit switches 7, six motors 8, six encoders 9, six upper platform cross axle universal joint electric cylinder U-shaped pieces 10, six upper platform cross axle universal joints 11, an upper platform base 12, an upper platform 13 and a handle 14.
Fig. 3 is a schematic structural view of an upper platform cross-pin universal joint according to an embodiment of the present invention, and fig. 4 is a schematic structural view of a lower platform cross-pin universal joint according to an embodiment of the present invention.
Referring to fig. 3 and 4, the lower platform 1 is connected with the lower platform base 2 through screws, and the lower platform base 2 is fixedly connected with the lower platform cross axle universal joint 3 through pins.
Illustratively, the number of the lower platform bases 2 may be three, and each lower platform base 2 is provided with two lower platform universal joints 3. And similarly, the lower platform cross axle universal joint 3 is fixedly connected with the lower platform cross axle universal joint electric cylinder U-shaped piece 4 by adopting a pin.
The lower platform cross axle universal joint electric cylinder U-shaped piece 4 is connected with the electric cylinder 6 through a screw; the lower end limit switch 5 of the electric cylinder is connected with the electric cylinder 6 through an electric cylinder shell by a screw, and the electric cylinder 6 is connected with the upper end limit switch 7 of the electric cylinder through an electric cylinder shell by a screw; the electric cylinder 6 is connected with the motor 8 through an electric cylinder base by a screw, and the motor 8 is connected with the encoder 9 through threads; the electric cylinder 6 is connected with the upper platform cross axle universal joint electric cylinder U-shaped piece 10 through threads.
The upper platform cross axle universal joint electric cylinder U-shaped piece 10 and the upper platform cross axle universal joint 11 are fixedly connected through pins, the upper platform cross axle universal joint 11 and the upper platform base 12 are fixedly connected through pins, the upper platform base 12 is connected with the upper platform 13 through screws, and the handle 14 is connected with the lower platform 1 through screws.
The mechanism of the contact part of the upper platform cross axle universal joint electric cylinder U-shaped piece 10 and the lower platform cross axle universal joint electric cylinder U-shaped piece 4 with the electric cylinder 6 can be specifically adjusted according to the structure of the electric cylinder 6.
Illustratively, the connection form that the six sets of electric cylinders 6 are connected with the upper platform 13 and the lower platform 1 through the universal joint is used for eliminating force dispute generated by the telescopic motion of the six sets of electric cylinders 6 at different motion speeds at the same time.
Under normal operating condition, lower platform 1 and relative unmanned aerial vehicle are fixed to be kept motionless, and unmanned aerial vehicle controller 300 starts the back, according to unmanned aerial vehicle flight state, fuses the measuring result of 18 sensors altogether with electronic jar lower extreme limit switch 5, electronic jar upper end limit switch 7, encoder 9, confirms the control strategy, and then each electronic jar 6 in the six degrees of freedom parallel kinematic mechanism 200 of control, realizes single degree of freedom motion and ball to the compound motion. For example, the controller 300 may output control signals with different rotation speeds at the same time, and simultaneously output driving signals with different rotation speeds at the same time to six motors 8 through drivers, the six motors 8 operate at different rotation speeds at the same time, the six sets of electric cylinders 6 respectively perform telescopic motions at different speeds, the six lower platform universal joints 3 and the six upper platform universal joints 11 respectively implement different angular deflections according to output lengths and force magnitudes when the six sets of electric cylinders 6 perform telescopic motions at different speeds, the six upper platform universal joints 11 deflect to drive the upper platform 13, and the upper platform 13 achieves a function of searching and tracking a space motion target (satellite) in a large-angle and high-speed motion mode (lifting, longitudinal moving, transverse moving, rolling, pitching, yawing and spherical combined motion). Six encoders 9 mounted at the end parts of the six motors 8 measure the running rotating speeds of the six motors 8 in real time, so that the output lengths of the six sets of electric cylinders 6 are indirectly measured in real time when the six sets of electric cylinders do telescopic motion at different speeds and are fed back to the controller. When the single electric cylinder moves to the limit position in a telescopic mode, the lower end limit switches 5 of the six sets of electric cylinders 6 or the upper end limit switches 7 of the six sets of electric cylinders send sensing electric signals (reminding information) to the controller, the controller 300 sends a stop operation control instruction to the driver, the driver drives the six motors 8 to stop, and the six sets of electric cylinders 6 stop moving in a telescopic mode to limit the limit position.
Fig. 5 is a schematic structural diagram of an upper platform according to an embodiment of the present invention, and fig. 6 is a schematic structural diagram of a lower platform according to an embodiment of the present invention. As shown in figures 5 and 6 of the drawings,
the upper platform 13 and the lower platform 1 may be in the form of equilateral triangular pieces. Optionally, all corners of the upper platform 13 and the lower platform 1 are arc-shaped.
Illustratively, two sides of an angular bisector of three corners of the lower platform 1 are respectively provided with a lower platform cross universal joint 3, and two sides of an angular bisector of three corners of the upper platform 13 are respectively provided with an upper platform cross universal joint 11.
Illustratively, the upper platform 13 is offset, e.g., inverted, from the lower platform 1. For example, after rotating the upper stage 13 by 180 degrees, the lower stage 1 is obtained.
Illustratively, six sets of electric cylinders 6 are connected with the upper platform 13 and the lower platform 1 through universal joints and are arranged on two sides of a 120-degree angle bisector of the upper platform 13 and the lower platform 1.
The invention also provides an unmanned aerial vehicle comprising the antenna system of the unmanned aerial vehicle, and the unmanned aerial vehicle further comprises: flight control computers, rotors, rotor power plants;
the flight control computer is rotatory with the drive rotor through sending drive signal to rotor power device to control unmanned aerial vehicle flight.
The invention also provides an unmanned aerial vehicle system comprising the unmanned aerial vehicle, and the unmanned aerial vehicle system further comprises a remote control device.
The invention relates to an unmanned aerial vehicle antenna system, an unmanned aerial vehicle and an unmanned aerial vehicle system, which are based on a basic structure with six sets of electric cylinders as power sources, the basic structure is effectively combined with a controller through a control strategy (single-degree-of-freedom motion and spherical combined motion), a moving mechanism searches and tracks a space moving target (relay satellite) in a large-angle and high-speed motion mode (lifting, longitudinal moving, transverse moving, rolling, pitching, yawing and spherical combined motion), an air-space-ground communication data chain is constructed, the unmanned aerial vehicle has the communication capacity of a Ku waveband, meanwhile, the communication requirements of large data, high speed and long distance are met, and the problems of small communication data volume, low speed, short distance and the like caused by the traditional mode that the existing unmanned aerial vehicle and a ground station or a command control center adopt direct communication are solved.
Claims (10)
1. An unmanned aerial vehicle antenna system, comprising: a satellite antenna (100) and a six-degree-of-freedom parallel motion mechanism (200); wherein,
the satellite antenna (100) is used for communicating with a remote control device of an unmanned aerial vehicle through a satellite, and the satellite antenna (100) is arranged on the six-degree-of-freedom parallel motion mechanism (200);
when the unmanned aerial vehicle flies, the orientation of the satellite antenna (100) is adjusted by rotating the six-degree-of-freedom parallel motion mechanism (200), so that the satellite antenna (100) can communicate with a satellite.
2. The drone antenna system of claim 1, further comprising: a controller (300); the six-degree-of-freedom parallel motion mechanism (200) comprises:
the device comprises a lower platform (1), a lower platform base (2), six lower platform cross axle universal joints (3), six lower platform cross axle universal joint electric cylinder U-shaped parts (4), six electric cylinders (6), six upper platform cross axle universal joint electric cylinder U-shaped parts (10), six upper platform cross axle universal joints (11), an upper platform base (12) and an upper platform (13); wherein,
the lower platform base (2) is fixed on the lower platform (1), six lower platform cross-axle universal joints (3) are fixedly arranged on the lower platform base (2), each lower platform cross-axle universal joint (3) is respectively connected with one lower platform cross-axle universal joint electric cylinder U-shaped piece (4), one end of each electric cylinder (6) is respectively fixedly connected with one lower platform cross-axle universal joint electric cylinder U-shaped piece (4), the other end of each electric cylinder (6) is respectively connected with one upper platform cross-axle universal joint electric cylinder U-shaped piece (10), each upper platform cross-axle universal joint electric cylinder U-shaped piece (10) is respectively connected with one upper platform cross-axle universal joint (11), each upper platform cross-axle universal joint (11) is fixedly arranged on the upper platform base (12), the upper platform base (12) is arranged on the bottom surface of the upper platform (13), the satellite antenna (100) is arranged on the top surface of the upper platform (13);
the controller (300) is used for controlling the telescopic motion of each electric cylinder (6) according to the flight data of the unmanned aerial vehicle, and adjusting the posture of the upper platform base (12), so that the satellite antenna (100) arranged on the upper platform (13) can be communicated with a satellite.
3. The drone antenna system of claim 2, wherein the six degree of freedom parallel kinematics (200) further comprises: six motors (8); wherein,
the controller (300) is respectively connected with each motor (8), and each motor (8) is respectively connected with one electric cylinder (6);
the controller (300) sends driving signals to the motors (8) to drive the motors (8) to rotate, and then drives the electric cylinders (6) to do telescopic motion.
4. The drone antenna system of claim 3, wherein the six degree of freedom parallel kinematics (200) further comprises: six encoders (9); wherein,
the controller (300) is respectively connected with the encoders (9), and each encoder (9) is respectively connected with one motor (8);
the encoder (9) is used for determining the output length of the electric cylinder (6) according to the running rotating speed of the motor (8) measured in real time and sending the output length to the controller (300).
5. The drone antenna system of claim 1, wherein the six degree of freedom parallel kinematics (200) further comprises: six electric cylinder lower end limit switches (5) and six electric cylinder upper end limit switches (7); wherein,
the lower end limit switch (5) of each electric cylinder and the upper end limit switch (7) of each electric cylinder are connected with the controller (300);
any one lower end limit switch (5) of the electric cylinders is used for sending reminding information to the controller (300) when the connected electric cylinder (6) is detected to move to the lower telescopic limit;
any one upper end limit switch (7) of the electric cylinders is used for sending reminding information to the controller (300) when the connected electric cylinder (6) is detected to move to the upper telescopic limit;
the controller (300) is used for stopping driving all the motors (8) to move when the reminding information is received.
6. A drone antenna system according to claim 1, characterised in that the upper platform (13) and the lower platform (1) are in the shape of equilateral triangular sheets;
two sides of an angular bisector of three angles of the lower platform (1) are respectively provided with one lower platform cross shaft universal joint (3);
and two sides of the angular bisector of the three angles of the upper platform (13) are respectively provided with the upper platform cross universal joint (11).
7. A drone antenna system according to claim 1, characterised in that the upper platform (13) is arranged upside down to the lower platform (1).
8. A drone antenna system according to claim 1, characterised in that all the corners of the upper platform (13) and the lower platform (1) are arc-shaped.
9. An unmanned aerial vehicle, comprising: a flight control computer, a rotor power plant, and a drone antenna system according to any one of claims 1-8;
the flight control computer through to rotor power device sends drive signal in order to drive the rotor is rotatory, in order to control unmanned aerial vehicle flies.
10. An unmanned aerial vehicle system, comprising: a remote control device and a drone as claimed in claim 9;
the remote control device communicates with a satellite antenna (100) of the drone through a satellite.
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| CN111509388A (en) * | 2020-04-30 | 2020-08-07 | 庆安集团有限公司 | Ground radar antenna system |
| CN114285459A (en) * | 2021-12-27 | 2022-04-05 | 北京微纳星空科技有限公司 | Satellite signal receiving and transmitting system and data processing method thereof |
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