CN207352473U - A kind of unmanned plane automatic tracking antenna system - Google Patents

Abstract

The utility model discloses an unmanned aerial vehicle automatic tracking antenna system. The unmanned aerial vehicle automatic tracking antenna system includes an airborne end device and a ground end device. The airborne end device includes an airborne controller, an airborne antenna and an airborne end device. The first driving device, the ground-side equipment includes a tripod, a ground-side controller, an angle sensor, a ground-side antenna and a second driving device, and the UAV automatic tracking antenna system of the utility model is controlled by an on-board controller to control the first driving device. The device rotates the airborne antenna to rotate, and then aligns with the ground-end equipment, and sends the current flight coordinates through wireless waves through the airborne antenna. At this time, after the controller of the ground-end equipment receives the coordinates, Control the second driving device to drive the ground antenna to rotate, and then align the airborne antenna, so that the airborne antenna and the ground antenna can be aligned with each other in real time under the control of the corresponding controller.

Description

A UAV Automatic Tracking Antenna System

technical field

The utility model relates to the technical field of unmanned aerial vehicles, in particular to an automatic tracking antenna system for unmanned aerial vehicles.

Background technique

UAVs have been favored by various countries in recent years. They can not only be used in military fields such as battlefield surveillance and early warning, but also have broad application prospects in civilian fields. It can carry a high-definition visible light or infrared camera system, and can easily enter areas that humans cannot reach for aerial reconnaissance and aerial photography, and can be used for terrain mapping, disaster monitoring, etc. In applications that require fast information acquisition and real-time image return, an excellent antenna system is an important factor to ensure image transmission quality, eliminate ghosting and anti-interference.

At present, people have invented some different forms of UAV automatic tracking antenna system. For the prior art, please refer to the Chinese patent whose notification number is CN102109850A, which discloses a kind of UAV portable antenna automatic tracking system, including mechanical platform and The antenna installed on it, the mechanical platform includes a tripod fixed on the ground and a water transfer platform installed on the tripod, and the ARM control device installed on the mechanical platform controls the corresponding motor to rotate the corresponding angle to ensure that the antenna points to the UAV .

However, only the ground end of the above-mentioned system uses a directional antenna and an automatic tracking gimbal, and the general UAV airborne end uses a fixed omnidirectional antenna. When the UAV flies in a certain attitude, the UAV airborne The antenna is not easy to keep aligned with the ground end antenna in real time, resulting in signal loss.

Utility model content

The purpose of this utility model is to provide a UAV automatic tracking antenna system to solve the problem that the airborne antenna and quasi-ground antenna are not easy to align in real time when the existing UAV is flying in a specific attitude.

In order to achieve the above purpose, the technical solution of the present utility model is to provide a UAV automatic tracking antenna system, the UAV automatic tracking antenna system includes airborne end equipment and ground end equipment, and the airborne end equipment includes machine An on-board controller, an on-board antenna and a first driving device, the on-board controller is connected with a cable, and the ends of the cables away from the on-board controller are respectively connected to the on-board antenna and the first driving device, so The first driving device includes a horizontal steering gear, a pitching steering gear and a connecting piece, the connecting piece is fixedly connected to the output shaft of the horizontal steering gear, and the pitching steering gear is fixed on the end of the connecting piece away from the horizontal steering gear. The airborne antenna is installed on the output shaft of the pitch steering gear; the ground-side equipment includes a tripod, a ground-side controller, an angle sensor, a ground-side antenna and a second driving device, and the ground-side controller is connected with a flexible wire, One end of the flexible wire away from the ground end controller is respectively connected to an angle sensor and a second driving device, the angle sensor is installed on the ground end antenna, and the second driving device includes a horizontal motor, a pitch motor and a support frame, The ground terminal controller is installed on a support frame, the tripod is fixedly connected with a base, the support frame is installed on the base, and a third through hole for the horizontal motor to pass is opened on the bottom surface of the support frame, The horizontal motor is fixed on the base, and a first transmission mechanism is provided between the horizontal motor and the support frame, the pitch motor is fixed on the side wall of the support frame, the ground terminal antenna is installed on the upper part of the support frame, and the ground A second transmission mechanism is provided between the end antenna and the pitch motor.

Preferably, the output shaft of the pitching steering gear is fixedly connected with a linkage shaft, and the end of the linkage shaft away from the pitching steering gear is rotatably connected to the connecting piece, and a limit block is fixed on the shaft wall of the linkage shaft, so that A threaded hole is provided on the limit block, and the back of the airborne antenna is screwed into the threaded hole through a turnbuckle.

Preferably, both the airborne antenna and the ground antenna are parabolic antennas.

Preferably, a fixing piece is provided above the connecting piece, the horizontal steering gear is fixed in the fixing piece, and the output shaft of the horizontal steering gear passes through the fixing piece and is fixed on the connecting piece, and the bottom of the fixing piece is fixed A first connecting rod is connected, and the first connecting rod passes through the connecting piece, and a baffle plate is fixedly connected to the wall of the first connecting rod placed under the connecting piece.

Preferably, the first transmission mechanism includes a main shaft rotatably connected to the base, a first gear fixed on the main shaft, a second gear fixed on the output shaft of the horizontal motor, and a second connecting rod. In the third through hole, the first gear and the second gear mesh with each other, one end of the second connecting rod is fixedly connected to the main shaft, and the other end is fixedly connected to the inner bottom surface of the support frame.

Preferably, the second connecting rods are equidistantly distributed along the peripheral edge of the main shaft.

Preferably, a plurality of hemispherical grooves are equally spaced on the base, and balls are hinged in the hemispherical grooves, and the balls are supported on the bottom of the supporting frame.

Preferably, the second transmission mechanism includes a rotating shaft rotatably connected to the upper part of the support frame, a third gear fixed on the rotating shaft, a fourth gear fixed on the output shaft of the pitch motor, and a transmission belt. Mesh teeth are integrally formed, and the transmission belt is sleeved on the third gear and the fourth gear, and the ground end antenna is fixed on the rotating shaft.

The utility model provides a tracking method for an unmanned aerial vehicle automatic tracking antenna system. The method includes: the airborne controller first detects the current coordinates and flight attitude of the unmanned aerial vehicle, and calculates the distance between the current coordinates and the coordinates of the take-off point in turn. Angle relationship and the rotation angle of the steering gear required for the airborne antenna to align with the take-off point; the airborne controller controls the rotation of the horizontal steering gear and the pitching steering gear according to the calculated angle, so that the airborne antenna is aligned with the ground end equipment, and the UAV The current coordinates are sent out through the airborne antenna; the ground controller receives the UAV coordinates through the ground antenna; the ground controller reads the coordinates of the ground device and the current angle of the ground antenna through the angle sensor, and calculates the UAV coordinates. The angle relationship between the drone coordinates and the ground-side equipment coordinates; the ground-side controller controls the rotation of the horizontal motor and pitch motor according to the calculation results, so that the ground-side antenna is aligned with the UAV.

Preferably, the airborne antenna and the ground antenna transmit signals through radio waves.

The utility model method has the following advantages:

A UAV automatic tracking antenna system and its tracking method of the utility model utilizes the characteristics of high directivity and high gain of the airborne antenna and the ground end antenna to greatly increase the communication distance, and is controlled by the controllers of the airborne end and the ground end respectively. The two parts of the driving device drive the corresponding antenna to rotate in the horizontal and vertical directions to ensure that the two parts of the antenna can be aligned with each other when the UAV flies in any attitude, thereby enhancing signal stability and making the signal not easy to lose.

Description of drawings

Fig. 1 is the state schematic diagram of the unmanned aerial vehicle automatic tracking system of the present utility model;

Fig. 2 is the installation drawing of airborne terminal equipment;

Fig. 3 is an explosion schematic diagram of the first driving device;

Fig. 4 is the structural representation of the second driving device;

Fig. 5 is the structural representation of the second transmission mechanism;

Fig. 6 is a structural schematic diagram of the base.

In the figure, 1. Airborne equipment; 11. Airborne controller; 111. Cable; 12. Airborne antenna; 121. Rotary buckle; 13. First driving device; 131. Horizontal steering gear; 132. Pitch Steering gear; 133, connector; 1331, placement slot; 1332, second through hole; 134, linkage shaft; 135, limit block; 136, threaded hole; 137, fixing piece; 1371, first through hole; 138, 139, blocking plate; 2, ground terminal equipment; 21, tripod; 22, ground terminal controller; 221, flexible wire; 23, angle sensor; 24, ground terminal antenna; 241, steering block; 25, 251, horizontal motor; 252, pitch motor; 253, support frame; 2531, third through hole; 26, base; 261, hemispherical groove; 262, ball; 3, first transmission mechanism; 31, the first gear; 32, the second gear; 33, the second connecting rod; 34, the main shaft; 4, the second transmission mechanism; 41, the third gear; 42, the fourth gear; 43, the transmission belt; 431, the meshing teeth ; 44, rotating shaft; 5, side plate; 51, bearing.

Detailed ways

The following examples are used to illustrate the utility model, but not to limit the scope of the utility model.

Example 1

As shown in FIG. 1 and FIG. 2 , an unmanned aerial vehicle automatic tracking antenna system disclosed by the utility model includes an airborne terminal device 1 and a ground terminal device 2 . The airborne terminal device 1 includes an airborne controller 11, an airborne antenna 12, and a first driving device 13. The airborne controller 11 and the first driving device 13 are installed on the bottom of the drone, and the airborne antenna 12 is fixed on the On the first driving device 13 , the onboard controller 11 is connected with a flat cable 111 , and the ends of the flat cable 111 away from the onboard controller 11 are respectively connected to the onboard antenna 12 and the first driving device 13 . The ground-side equipment 2 includes a tripod 21, a ground-side controller 22, an angle sensor 23, a ground-side antenna 24, and a second driving device 25. The ground-side controller 22 is connected with a flexible wire 221, and the flexible wire 221 is far away from the ground-side controller. One end of 22 is respectively connected on the angle sensor 23 and the second driving device 25, and the angle sensor 23 is installed on the ground end antenna 24.

The tripod 21 is fixed with a base 26, the second driving device 25 is installed on the base 26, the ground end controller 22 is fixed on the second driving device 25, the ground end antenna 24 is installed on the second driving device 25, and the angle sensor 23 Fixed on the ground end antenna 24, the controllers of the airborne end equipment 1 and the ground end equipment 2 respectively control the operation of the corresponding driving devices, so that the airborne antenna 12 and the ground end antenna 24 can be aligned with each other in real time. In order to facilitate the rotation of the antenna, both the airborne antenna 12 and the ground-end antenna 24 are lightweight parabolic antennas, which use their high directivity and high gain to ensure the stability of the signal between the airborne-end device 1 and the ground-end device 2 .

As shown in FIG. 3 , the first driving device 13 includes a horizontal steering gear 131 , a pitching steering gear 132 , a connecting piece 133 and a fixing piece 137 . The fixing piece 137 is a U-shaped piece with an upward opening, and the fixing piece 137 is affixed to the bottom of the drone, and the horizontal steering gear 131 is fixed in the fixing piece 137 . The connecting piece 133 is placed under the fixing piece 137, and the bottom of the fixing piece 137 is provided with a first through hole 1371, and the output shaft of the horizontal steering gear 131 is fixed on the connecting piece 133 through the first through hole 1371 downward. When the horizontal motor 131 is running, it can drive the connecting member 133 to rotate horizontally. One end of the connector 133 is fixedly connected with the side plate 5, and the other end extends horizontally, and a placement slot 1331 is provided at a position away from the horizontal steering gear 131, and one end of the pitch motor 132 is fixed in the placement slot 1331, and the other end A linkage shaft 134 is fixedly connected to the output shaft of the linkage shaft 134. The linkage shaft 134 is a square shaft, and the end of the linkage shaft 134 away from the pitch motor 132 is rotatably connected to the side plate 5. In order to facilitate the rotation of the linkage shaft 134, between the linkage shaft 134 and the side A bearing 51 is fixed at the rotational connection of the plate 5, and when the pitch motor 132 is running, it can drive the linkage shaft 134 to rotate.

In order to ensure the load-bearing performance of the connecting piece 133, equidistant second through holes 1332 are provided on the upper surface of the connecting piece 133, and the positions corresponding to the second through holes 1332 at the bottom of the fixing piece 137 are fixedly connected with the second The first connecting rod 138 in the through hole 1332 , and the blocking piece 139 is fixedly attached to the wall of the first connecting rod 138 placed under the connecting piece 33 , and is supported on the bottom of the connecting piece 133 by the blocking piece 139 . Simultaneously, in order to facilitate the dismounting of the airborne antenna 12, a limit block 135 is affixed on the linkage shaft 134, and a threaded hole 136 is provided on the limit block 135, and a threaded hole 136 is fixedly connected on the back side of the airborne antenna 12 to cooperate with the threaded hole 136. The spinner 121 is screwed into the threaded hole 136 through the spinner 121 to fix the airborne antenna 12 on the linkage shaft 134 .

As shown in FIGS. 4 and 5 , the second driving device 25 includes a horizontal motor 251 , a pitch motor 252 and a support frame 253 . The ground end controller 22 is installed on the support frame 253, and is provided with a plurality of hemispherical grooves 261 (referring to Fig. 6) on the base 26, is respectively hinged with spherical ball 262 in the hemispherical groove 261, and the support frame 253 is placed on the base 26, supported by the ball 262 at the bottom of the support frame 253. The bottom of the support frame 253 is provided with a third through hole 2531 for the horizontal motor 251 to pass through. The horizontal motor 261 is fixed on the base 26. A first transmission mechanism 3 is provided between the horizontal motor 261 and the support frame 251. The ground end The antenna 24 is installed on the top of the support frame 253 , the pitch motor 252 is fixed on the side wall of the support frame 253 , and the second transmission mechanism 4 is arranged between the pitch motor 252 and the ground end antenna 24 .

The first transmission mechanism 3 includes a main shaft 34 rotatably connected to the base 26, a first gear 31 fixed on the main shaft 34, a second gear 32 fixed on the output shaft of the horizontal motor 251, and a second connecting rod 33, the main shaft 34 is arranged in the third through hole 2531, one end of the second connecting rod 33 is fixed on the main shaft 34, and the other end is fixed on the inner bottom surface of the support frame 253, and the second connecting rod 33 is along the peripheral edge of the main shaft 34. Equidistantly distributed, the first gear 31 and the second gear 32 mesh with each other, so that when the horizontal motor 251 is running, the main shaft 34 is driven to rotate through the gear transmission, and the support frame 253 is driven to rotate on the base 26 through the transmission of the connecting rod.

The second transmission mechanism 4 includes a rotating shaft 44 that is rotationally connected to the top of the support frame 253, a third gear 41 that is fixed on the rotating shaft 44, a fourth gear 42 that is fixed on the output shaft of the pitch motor 252, and a transmission belt 43. The third gear 41 and the fourth gear 42 are fixedly connected to the rotating shaft 44 and the end of the pitch motor 252 passing through the side wall of the support frame 253 respectively, and the inner wall of the transmission belt 43 is integrally formed with meshing teeth 431, and the transmission belt 43 is sleeved on the third gear 41 and the second gear 41. On the four gears 42 , the transmission belt 43 is respectively engaged with the third gear 41 and the fourth gear 42 , and when the pitch motor 252 is running, the rotating shaft 44 is rotated through the meshing transmission. In order to facilitate the rotation of the ground antenna 24 , a steering block 241 is fixed on the back of the ground antenna 24 , and the steering block 241 is fixed on the rotating shaft 44 .

A tracking method for an unmanned aerial vehicle automatic tracking antenna system disclosed by the utility model comprises the following steps:

The airborne antenna 12 and the ground terminal antenna 24 transmit signals through radio waves.

Airborne controller 11 first detects the current coordinates and flight attitude of the UAV, and calculates the angular relationship between the current coordinates and the coordinates of the take-off point and the steering gear rotation angle required for the airborne antenna 12 antennas to align with the take-off point; The controller 11 then controls the rotation of the horizontal steering gear 131 and the pitch steering gear 132 according to the calculated angle, so that the airborne antenna 12 is aligned with the ground terminal device 2, and the current coordinates of the UAV are sent through the airborne antenna 12;

After the ground-side controller 22 receives the coordinates of the drone through the ground-side antenna 24, the ground-side controller 22 first reads the coordinates of the ground-side device 2 and the current angle of the ground-side antenna 24 through the angle sensor 23, and then calculates the UAV coordinates. The angular relationship between the coordinates and the coordinates of the ground-side device 2; the ground-side controller 22 controls the rotation of the horizontal motor 251 and the pitch motor 252 according to the calculation results, so that the ground-side antenna 24 is aligned with the UAV.

A UAV automatic tracking antenna system of the present utility model, through the structural design of the UAV airborne terminal equipment 1 and the ground terminal equipment 2, the airborne antenna 12 and the ground terminal antenna 24 are respectively controlled by the corresponding controller Next, the corresponding antennas are driven to rotate by the driving devices on the respective devices, and then the antennas of the two devices are aligned with each other in real time to ensure that when the UAV is flying in a certain attitude, the airborne antenna 12 is not easy to be in a signal dead angle. Reduce signal loss.

Although the utility model has been described in detail with general description and specific examples above, some modifications or improvements can be made on the basis of the utility model, which will be obvious to those skilled in the art. Therefore, the modifications or improvements made on the basis of not departing from the spirit of the utility model all belong to the protection scope of the utility model.

Claims (8)

1. A kind of 1. unmanned plane automatic tracking antenna system, it is characterised in that：The automatic tracking antenna system is set including airborne end Standby (1) and ground end equipment (2),

   The airborne end equipment (1) includes on-board controller (11), airborne antenna (12) and first driving means (13), described Winding displacement (111) is connected with on-board controller (11), the one end of the winding displacement (111) away from on-board controller (11) connects respectively On airborne antenna (12) and first driving means (13),

   The first driving means (13) include horizontal steering engine (131), pitch-control motor (132) and connector (133), the company Fitting (133) is fixed on the output shaft of horizontal steering engine (131), and it is remote that the pitch-control motor (132) is fixed on connector (133) One end of horizontal steering engine (131), the airborne antenna (12) are installed on the output shaft of pitch-control motor (132)；

   The ground end equipment (2) includes tripod (21), ground side controller (22), angular transducer (23), ground surface end day Line (24) and the second driving device (25), are connected with flexible circuit conductor (221), the flexible circuit conductor on the ground side controller (22) (221) one end away from ground side controller (22) is connected on angular transducer (23) and the second driving device (25), The angular transducer (23) is installed on ground surface end antenna (24),

   Second driving device (25) includes horizontal motor (251), pitching motor (252) and supporting rack (253), describedly Face side controller (22) is installed on supporting rack (253), and base (26), support frame as described above are connected with the tripod (21) (253) it is installed on base (26), and the 3rd passed through for horizontal motor (251) is offered on the bottom surface of supporting rack (253) Through hole (2531), the horizontal motor (251) are fixed on base (26), and between horizontal motor (251) and supporting rack (253) Equipped with the first transmission mechanism (3), the pitching motor (252) is fixed on the side wall of supporting rack (253), the ground surface end antenna (24) supporting rack (253) top is installed on, and the second transmission mechanism is equipped between ground surface end antenna (24) and pitching motor (252) (4)。
2. A kind of 2. unmanned plane automatic tracking antenna system according to claim 1, it is characterised in that：The pitch-control motor (132) universal driving shaft (134) is connected with output shaft, the one end of the universal driving shaft (134) away from pitch-control motor (132), which rotates, to be connected It is connected on connector (133), and limited block (135) is connected with the axial wall of universal driving shaft (134), on the limited block (135) Threaded hole (136) is offered, the back side of the airborne antenna (12) is screwed in threaded hole (136) by spinner part (121).
3. A kind of 3. unmanned plane automatic tracking antenna system according to claim 1, it is characterised in that：The airborne antenna (12) and ground surface end antenna (24) is parabola antenna.
4. A kind of 4. unmanned plane automatic tracking antenna system according to claim 1, it is characterised in that：The connector (133) top is equipped with fixing piece (137), and the horizontal steering engine (131) is fixed in fixing piece (137), and horizontal steering engine (131) output shaft is fixed on connector (133) through fixing piece (137), and the bottom of the fixing piece (137) is connected with One connecting rod (138), the head rod (138) passes through connector (133), and head rod (138) is placed in connector (133) catch (139) is connected with the bar wall below.
5. A kind of 5. unmanned plane automatic tracking antenna system according to claim 1, it is characterised in that：First driver Structure (3) include be rotatably connected on base (26) main shaft (34), be fixed on main shaft (34) first gear (31), be fixed in Second gear (32) and the second connecting rod (33) on horizontal motor (251) output shaft, the main shaft (34) are arranged on the 3rd In through hole (2531), the first gear (31) is intermeshed with second gear (32), one end of second connecting rod (33) It is fixed on main shaft (34), the other end is fixed on the inner bottom surface of supporting rack (253).
6. A kind of 6. unmanned plane automatic tracking antenna system according to claim 5, it is characterised in that：Second connecting rod (33) it is in be equally spaced along the circumferential edges of main shaft (34).
7. A kind of 7. unmanned plane automatic tracking antenna system according to claim 1, it is characterised in that：On the base (26) Multiple hemispherical grooves (262) are equidistantly offered, ball (263), the ball are hinged with the hemispherical groove (262) (263) it is supported on the bottom of supporting rack (253).
8. A kind of 8. unmanned plane automatic tracking antenna system according to claim 1, it is characterised in that：Second driver Structure (4) include being rotatably connected on the shaft (44) on supporting rack (253) top, the 3rd gear (41) being fixed in shaft (44), The 4th gear (42) and transmission belt (43) being fixed on pitching motor (252) output shaft, the inner wall of the transmission belt (43) On integrally formed with engaging tooth (431), and transmission belt (43) is sleeved on the 3rd gear (41) and the 4th gear (42), the ground End antenna (24) is fixed in shaft (44).