WO2018094625A1 - 无人飞行器的机架、无人飞行器及天线切换方法 - Google Patents

无人飞行器的机架、无人飞行器及天线切换方法 Download PDF

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Publication number
WO2018094625A1
WO2018094625A1 PCT/CN2016/106994 CN2016106994W WO2018094625A1 WO 2018094625 A1 WO2018094625 A1 WO 2018094625A1 CN 2016106994 W CN2016106994 W CN 2016106994W WO 2018094625 A1 WO2018094625 A1 WO 2018094625A1
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WO
WIPO (PCT)
Prior art keywords
directional antennas
housing
center body
unmanned aerial
aerial vehicle
Prior art date
Application number
PCT/CN2016/106994
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English (en)
French (fr)
Inventor
唐照成
贺翔
王春明
周乐
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201811142337.0A priority Critical patent/CN109216873B/zh
Priority to CN201680002743.XA priority patent/CN106716710B/zh
Priority to PCT/CN2016/106994 priority patent/WO2018094625A1/zh
Publication of WO2018094625A1 publication Critical patent/WO2018094625A1/zh

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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
    • H01Q1/22—Supports; Mounting means by structural association with other equipment or articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q21/00—Antenna arrays or systems

Definitions

  • the present invention relates to the field of aircraft technology, and in particular, to a rack of an unmanned aerial vehicle, an unmanned aerial vehicle, and an antenna switching method.
  • the antenna is used to collect information of various types of sensors and send them to the remote control terminal, and receives remote control commands of the remote control terminal.
  • the antenna radiation it is desirable for the antenna radiation to be omnidirectional.
  • the antenna in order to make the antenna meet the requirements of the working environment, the antenna is generally disposed in an open area of the robot or the unmanned aerial vehicle, such as at the top, bottom or inside of the device, and in order to achieve omnidirectional coverage, generally
  • An omnidirectional antenna can be used, which can be a rod antenna or a PCB antenna.
  • the omnidirectional antenna in the prior art is placed at the top or bottom of the device, a longer feeder will be required, which increases the feeder loss. If the omnidirectional antenna in the prior art is disposed inside the device, it will be greatly affected by the internal environment, and the radiation direction will also become poor. And because the gain of the omnidirectional antenna is low, it is necessary to increase the size to meet the communication requirements, and obviously does not meet the compact demand of the product.
  • an embodiment of the present invention provides a rack of an unmanned aerial vehicle, including: a center body, and a plurality of directional antennas;
  • a plurality of the directional antennas are disposed within a housing of the center body;
  • a plurality of the directional antennas are spaced apart and arranged around a circumference of the housing of the center body;
  • Each of the directional antennas is disposed opposite to a central portion of the housing of the center body, and a plurality of the directional antennas are respectively radiated from different directions of the housing of the center body toward the circumference of the housing of the center body Shoot.
  • an embodiment of the present invention provides an unmanned aerial vehicle, including: a flight controller and a rack of the unmanned aerial vehicle as described above;
  • the flight controller is communicatively coupled to a plurality of the directional antennas.
  • an embodiment of the present invention provides an unmanned aerial vehicle antenna switching method, a central body, and a plurality of directional antennas; a plurality of the directional antennas are disposed in a casing of the central body; and the plurality of the directional antennas are spaced apart Arranging and circumferentially surrounding the housing of the center body; each of the directional antennas is disposed opposite a central portion of the housing of the center body, and a plurality of the directional antennas are respectively from the center body
  • the housing is radiated in different directions around the circumference of the housing of the central body, the method comprising:
  • Switching between the microstrip directional antennas is performed according to current feature information of the plurality of microstrip directional antennas.
  • the rack, the unmanned aerial vehicle and the antenna switching method of the unmanned aerial vehicle provided by the embodiment of the invention are provided.
  • the rack of the unmanned aerial vehicle includes: a center body, and a plurality of directional antennas; a plurality of the directional antennas are disposed in a housing of the center body; a plurality of the directional antennas are spaced apart and surround the center body a circumferential arrangement of the housing; each of the directional antennas is disposed opposite a central portion of the housing of the central body, and a plurality of the directional antennas respectively face the housing of the central body toward the housing of the central body Radiation in different directions around the body.
  • the length of the feeder can be reduced and the feeder loss can be reduced.
  • the antenna is a directional antenna, a plurality of directional antennas are disposed opposite to the central portion of the housing of the center body, so that the internal environment of the housing of the center body is less affected, and the radiation direction is ideal, and omnidirectional radiation can be achieved.
  • the directional antenna has a large forward gain and a small size, which can meet the compact demand of the product.
  • FIG. 1 is a first schematic structural view of a rack of an unmanned aerial vehicle according to Embodiment 1 of the present invention
  • FIG. 2 is a second schematic structural diagram of a rack of an unmanned aerial vehicle according to Embodiment 1 of the present invention.
  • FIG. 3 is a graph showing a relationship between a radiation direction and a gain of a plurality of directional antennas in a rack of an unmanned aerial vehicle according to Embodiment 4 of the present invention
  • FIG. 5 is a schematic structural diagram of an unmanned aerial vehicle according to Embodiment 6 of the present invention.
  • FIG. 6 is a schematic diagram of an application scenario of an antenna switching method of an unmanned aerial vehicle according to Embodiment 7 of the present invention.
  • FIG. 7 is a flowchart of an antenna switching method of an unmanned aerial vehicle according to Embodiment 8 of the present invention.
  • a component when referred to as being "fixed” to another component, it can be directly on the other component or the component can be present. When a component is considered to "connect” another component, it can be directly connected to another component or possibly a central component.
  • Embodiment 1 of the present invention provides a rack of an unmanned aerial vehicle.
  • FIG. 1 is a first schematic structural diagram of a rack of an unmanned aerial vehicle according to Embodiment 1 of the present invention
  • FIG. 2 is a schematic diagram of an unmanned aerial vehicle provided by Embodiment 1 of the present invention.
  • a schematic view of the second structure of the rack Figure 1 shows a perspective view of the housing of the center body of the frame of the UAV
  • Figure 2 shows a top view of the housing of the center body of the frame of the UAV.
  • Ben The structure of the frame of the UAV provided by the first embodiment of the invention is not limited to the structure shown in FIGS. 1 and 2.
  • 1 and 2 are only schematic views of one of the structures of the unmanned aerial vehicle frame.
  • the rack 11 of the UAV provided by this embodiment includes a center body 111 and a plurality of directional antennas 112.
  • a plurality of directional antennas 112 are disposed in the housing of the center body 111.
  • a plurality of directional antennas 112 are spaced apart and arranged around the circumference of the housing of the center body 111; each directional antenna 112 is disposed away from the middle of the housing of the center body 111, and a plurality of directional antennas 112 are respectively from the center body 111
  • the housing radiates in different directions around the circumference of the housing of the central body 111.
  • the directional antenna 112 is an antenna that transmits and receives electromagnetic waves in a particular direction and is particularly strong, while transmitting and receiving electromagnetic waves in other directions is zero or very small.
  • the type of the directional antenna 112 is not limited in this embodiment.
  • it can be a broadband directional antenna, a microstrip directional antenna, or the like.
  • the size of the directional antenna 112 is not limited, and only the communication frequency of the plurality of directional antennas is required to be in the same frequency band.
  • the center body 111 is located at the center of the frame 11 of the UAV and is a structure having a cavity.
  • a non-metallic structure, a metal structure 113, and a line 114 are formed in the cavity of the center body 111.
  • the number of the directional antennas 112 is not limited, and may be four, six, or the like. Also, the pitch of the plurality of directional antennas 112 is not limited. It can be understood that the spacing between the adjacent two directional antennas 112 may be equal or different, which is not limited in this embodiment.
  • a plurality of directional antennas 112 are disposed within the housing of the center body 111 and spaced around the circumference of the housing of the center body 111. Since each directional antenna 112 transmits and receives electromagnetic wave signals in a certain direction, that is, each directional antenna 112 has a specific radiation direction, when each directional antenna 112 is disposed away from the middle of the housing of the center body 111, The transmitting and receiving electromagnetic wave signals of the directional antenna 112 at the central portion of the housing of the center body 111 are zero or very small, and the plurality of directional antennas 112 are respectively oriented from the housing of the center body 111 toward the periphery of the housing of the center body 111. radiation.
  • the range of the radiation angle of each directional antenna 112 in this embodiment is not limited. It can be understood that the range of radiation angles of each directional antenna 112 may be the same or different, and the radiation range of the plurality of directional antennas 112 may reach omnidirectional radiation.
  • the rack of the drone includes: a center body 111 and a plurality of directional antennas 112; a plurality of directional antennas 112 are disposed in the housing of the center body 111; the plurality of directional antennas 112 are spaced apart and surround the center
  • the housing of the body 111 is circumferentially arranged; each directional antenna 112 is disposed away from the middle of the housing of the center body 111, and the plurality of directional antennas 112 are respectively from the housing of the center body 111 toward the housing of the center body 111. Radiation in different directions around.
  • the plurality of directional antennas 112 are disposed in the casing of the center body 111, the length of the feeder line can be reduced, and the feeder line loss can be reduced. Since the antenna is the directional antenna 112, the plurality of directional antennas 112 are disposed opposite to the center of the casing of the center body 111. Therefore, the internal environment of the housing of the center body 111 is less affected, and the radiation direction is ideal, and omnidirectional radiation can be achieved. And the directional antenna 112 has a large forward gain, and the smaller size can meet the compact demand of the product.
  • the second embodiment of the present invention provides a rack of an unmanned aerial vehicle.
  • the structure of the rack of the unmanned aerial vehicle provided in this embodiment can be referred to FIG. 1 and FIG. 2 .
  • the embodiment further includes the following features on the basis of the first embodiment.
  • the metal structure 113 and the line 114 in the casing of the center body 111 are disposed in the back region of the plurality of directional antennas 112.
  • the metal structure 113 and the line 114 are disposed in the back surface area of the plurality of directional antennas 112. Since each directional antenna 112 faces away from the central position of the housing of the center body 111, the metal structure 113 and the line 114 The central portion of the housing of the center body 111 is disposed. Since the metal structure 113 and the line 114 in the housing of the center body 111 are complicated and widely different, they are disposed in the central portion of the housing of the center body 111, and the directional antenna 112 is utilized. The fact that there is no radiation or radiation in the other direction except the radiation direction further reduces the influence of the internal environment of the housing of the center body 111 on the radiation direction of the directional antenna 112.
  • the plurality of directional antennas 112 are uniformly disposed in the circumferential direction of the casing of the center body 111 in the vicinity of the edge in the casing of the center body 111.
  • a plurality of directional antennas 112 are disposed near the edge position in the casing of the center body 111, so that the directional antenna 112 can be moved away from the metal structure 113 in the casing of the center body 111.
  • line 114 further reduces the effect of the internal environment on the direction of radiation of directional antenna 112.
  • a plurality of directional antennas 112 are uniformly disposed in the casing of the center body 111 along the circumferential direction of the casing of the center body 111, and the radiation angle range of each directional antenna 112 can be set to the same radiation.
  • the angular extent facilitates omnidirectional radiation of the plurality of directional antennas 112 from the housing of the central body 111 toward the periphery of the housing of the central body 111.
  • the rack of the UAV provided in this embodiment can further reduce the radiation direction of the directional antenna 112 by the internal environment by disposing the metal structure 113 and the line 114 in the casing of the center body 111 in the back area of the plurality of directional antennas 112.
  • the effect of the plurality of directional antennas 112 being uniformly disposed in the circumferential direction of the housing of the center body 111 along the circumferential direction of the housing of the center body 111 not only further reduces the influence of the internal environment on the radiation direction of the directional antenna 112, but also It is convenient to cause the radiation direction of the plurality of directional antennas 112 to reach omnidirectional radiation from the housing of the center body 111 toward the periphery of the housing of the center body 111.
  • a third embodiment of the present invention provides a rack of an unmanned aerial vehicle.
  • the structure of the rack of the unmanned aerial vehicle of this embodiment can be referred to FIG. 1 and FIG.
  • the embodiment of the present invention provides a description of the connection manner between the housing of the center body 111 and the plurality of directional antennas 112 on the basis of the first embodiment or the second embodiment of the present invention.
  • the rack also includes the following features.
  • the plurality of directional antennas 112 are fixedly coupled to the inner wall of the housing of the center body 111 or/and the inner components of the housing of the center body 111.
  • the plurality of directional antennas 112 may be fixedly coupled to the inner wall of the housing of the center body 111, or the plurality of directional antennas 112 may be fixedly coupled to the inner components of the housing of the center body 111, or the plurality of directional antennas 112 may pass through the center
  • the inner wall of the housing of the body 111 is fixedly coupled to the inner member.
  • the connection between the directional antenna 112 and the inner wall of the center body 111 or the internal component can be determined according to the installation position of the plurality of directional antennas 112 and the position of the internal components provided in the housing of the center body 111.
  • the plurality of directional antennas 112 are detachably connected to the inner wall of the housing of the center body 111 or/and the inner parts of the housing of the center body 111 by connectors.
  • the connecting member comprises at least one of the following: a threaded fastener, a pin, a buckle, a latch, and an adhesive sticker.
  • the threaded fasteners may be bolts and nuts, screws, or the like.
  • the connector is a non-metallic connector.
  • the non-metallic connecting member may be a connecting member made of a material such as synthetic rubber or synthetic resin or synthetic fiber, or a connecting member made of a material other than a metal element or a compound.
  • the inner part of the housing of the center body 111 is a non-metallic material part.
  • the non-metallic internal component may be an internal component made of a synthetic rubber or a synthetic resin or a synthetic fiber, or an internal component made of other non-metallic elements or compound materials.
  • the plurality of directional antennas 112 are detachably connected to the inner wall of the housing of the center body 111 and/or the inner part of the housing of the center body 111 by a connecting member including at least one of the following: a threaded fastener , pin, snap, latch, adhesive tape, connector is a non-metallic connector, due to the internal components of the housing of the housing of the central body 111 or/and the central body 111 of the plurality of directional antennas 112 When connecting, there is no guarantee that the connecting member must be in the back region of the plurality of directional antennas 112, so that the connecting member is made into a non-metallic connecting member, effectively preventing the connecting member and the inner member of the housing of the center body 111 from radiating to the directional antenna 112. The influence of direction.
  • a connecting member including at least one of the following: a threaded fastener , pin, snap, latch, adhesive tape, connector is a non-metallic connector, due to the internal components of the housing of the
  • the plurality of directional antennas 112 are bonded and fixed to the inner wall of the casing of the center body 111.
  • the plurality of directional antennas 112 are bonded to the inner wall of the housing of the center body 111, which facilitates the mounting and dismounting of the directional antenna 112.
  • the present embodiment provides a rack of an unmanned aerial vehicle.
  • the structure of the rack of the unmanned aerial vehicle provided in this embodiment can be referred to FIG. 1 and FIG. 2, and the embodiment is in the first embodiment or the second embodiment of the present invention.
  • the directional antenna 112 is further illustrated.
  • the rack of the unmanned aerial vehicle provided by the embodiment further includes the following features.
  • the directional antenna 112 is a microstrip directional antenna 112.
  • the directional antenna 112 is a vibrator antenna, a patch antenna, and a slot antenna.
  • the directional antenna 112 is a microstrip directional antenna 112, and the microstrip directional antenna 112 is a microstrip oscillator antenna, a microstrip patch antenna, and a microstrip slot antenna.
  • the directional antenna 112 in Figures 1 and 2 is a microstrip patch antenna.
  • the microstrip directional antenna 112 is used in this embodiment, which can further increase the compactness of the UAV.
  • the microstrip directional antenna 112 is a microstriped vibrator antenna or a microstrip patch antenna or a microstrip slot antenna, which increases the selectivity of the microstrip directional antenna 112.
  • the number of directional antennas 112 is four, and the radiation angle of each directional antenna 112 ranges from 90 degrees.
  • the number of the directional antennas 112 is set to four, and the correspondence of each of the directional antennas 112 to the housing of the center body 111 is set.
  • the edge is close to the edge position, and the directional angle of each directional antenna 112 is 90 degrees by fine-tuning the position, and is radiated from the housing of the center body 111 toward the different directions around the housing of the center body 111, It is easier for the plurality of directional antennas 112 to achieve omnidirectional radiation.
  • FIG. 3 is a graph showing the relationship between the radiation direction and the gain of a plurality of directional antennas in the rack of the UAV aircraft according to the fourth embodiment of the present invention
  • FIG. 4 is a diagram of replacing multiple omnidirectional antennas with multiple omnidirectional antennas in the prior art.
  • each microstrip directional antenna 112 is disposed opposite to the middle of the housing of the center body 111, the radiation directions between the microstrip antennas do not affect each other, and can be achieved in respective radiation directions.
  • Higher gain, and the directional antenna 112 is replaced by an omnidirectional antenna at the same position of the directional antenna 112. Since the omnidirectional antenna is greatly affected by the internal environment, the radiation directions are mutually influenced, and the gain of the omnidirectional antenna is more than the orientation. The gain of antenna 112 is also significantly reduced.
  • the number of directional antennas 112 is four, and the radiation angle of each directional antenna 112 ranges from 90 degrees. Multiple directional antennas 112 can be made more apt to achieve omnidirectional radiation.
  • This embodiment provides a rack of an unmanned aerial vehicle.
  • the structure of the rack of the unmanned aerial vehicle of this embodiment can be referred to FIG. 1 and FIG. 2 .
  • the present embodiment further includes: a transmitter and a receiver, based on the fourth embodiment of the present invention.
  • the transmitter and the receiver are respectively communicatively coupled to the plurality of directional antennas 112.
  • the transmitter and the receiver are respectively communicatively coupled to the plurality of directional antennas 112 via coaxial feed lines.
  • the rack of the UAV provided by the embodiment further includes: a communication link switch.
  • the communication link switch is disposed between the coaxial feeder and the transmitter, the coaxial feeder and the receiver for controlling switching between the plurality of directional antennas 112.
  • a plurality of directional antennas 112 are respectively communicatively coupled to the transmitter and the receiver through coaxial feed lines.
  • a communication link switch is arranged between the coaxial feeder and the transmitter, the coaxial feeder and the receiver, and the switching between the plurality of directional antennas 112 can be controlled by controlling the state of the communication link switch. If the state of the communication link switch is an open state, the directional antenna 112 in the communication link cannot communicate with the transmitter and the receiver, and if the state of the communication link switch is off, the orientation in the communication link Antenna 112 is capable of communicating with the transmitter and receiver.
  • only one directional antenna 112 can be allowed to communicate with the transmitter and the receiver at the same time, and the other directional antenna 112 is cut off from the transmitter and
  • the communication state of the receiver, by which directional antenna communicates with the transmitter and receiver, can be determined based on the current characteristics of the directional antenna. That is, switching between the plurality of directional antennas 112 is controlled according to the current characteristics of the plurality of directional antennas.
  • the current feature information may be signal state information of the directional antenna 112, or may be relative position information of the microstrip directional antenna 112 with respect to the ground end.
  • the rack of the UAV provided by this embodiment further includes: a transmitter, a receiver, and a communication link switch.
  • the transmitter and the receiver are respectively connected to the plurality of directional antennas 112, and the transmitter and the receiver are respectively connected to the plurality of directional antennas 112 through a coaxial feeder, and the communication link switch is disposed on the coaxial feeder and the transmitter and the coaxial feeder.
  • the switching between the plurality of directional antennas 112 can be controlled, and the rack of the unmanned aerial vehicle can be used in practical applications, and the switching of the quality inspection by the directional antenna 112 satisfies the communication requirement.
  • FIG. 5 is a schematic structural view of an unmanned aerial vehicle according to Embodiment 6 of the present invention, and FIG. 5 is only a schematic diagram of one of the structures of the unmanned aerial vehicle.
  • the unmanned aerial vehicle provided in this embodiment includes: a flight controller and a rack of the unmanned aerial vehicle provided by any of the above embodiments.
  • the flight controller is communicatively coupled to the plurality of directional antennas 112.
  • the structure and function of the rack of the UAV are the same as those of the rack of the UAV in any of the first embodiment to the fifth embodiment, and details are not described herein again.
  • the position where the flight controller is disposed in the unmanned aerial vehicle is not limited.
  • the flight controller is disposed within the housing of the center body 111 of the frame of the UAV.
  • the flight controller is communicatively coupled to the plurality of directional antennas 112 for controlling switching between the plurality of directional antennas 112 by controlling the state of the channel link switches.
  • the unmanned aerial vehicle provided in this embodiment includes: a flight controller and a rack of the unmanned aerial vehicle provided by any of the above embodiments.
  • the flight controller is communicatively coupled to the plurality of directional antennas 112. Since a plurality of directional field centers are disposed in the housing of the center body 111, the length of the feeder line can be reduced, and the feeder line loss can be reduced. Since the antenna is the directional antenna 112, the plurality of directional antennas 112 are disposed opposite to the center of the housing of the center body 111. Therefore, the internal environment of the housing of the center body 111 is less affected, and the radiation direction is ideal, and omnidirectional radiation can be achieved. Moreover, the directional antenna 112 has a large forward gain and has a small size to meet the compact demand of the product.
  • FIG. 6 is a schematic diagram of an application scenario of an antenna switching method for an unmanned aerial vehicle according to Embodiment 7 of the present invention
  • FIG. 7 is a schematic diagram of an unmanned aerial vehicle according to Embodiment 8 of the present invention.
  • the rack of the unmanned aerial vehicle includes: a center body, and a plurality of directional antennas;
  • the directional antenna is disposed in a housing of the center body; a plurality of the directional antennas are spaced apart and arranged around a circumference of the housing of the center body; each of the directional antennas facing away from the center body
  • Step 701 Acquire current feature information of multiple directional antennas in real time.
  • the UAV includes a plurality of directional antennas for establishing a communication link with the ground end.
  • the current feature information includes at least one of the following: signal state information of the directional antenna, and relative position information of the directional antenna relative to the ground end.
  • Step 702 Perform switching between directional antennas according to current feature information of the plurality of directional antennas.
  • the switching between the directional antennas is performed according to the current feature information of the plurality of directional antennas, and specifically includes:
  • the embodiment of the present invention provides an antenna switching method for an unmanned aerial vehicle.
  • the unmanned aerial vehicle includes a plurality of directional antennas for establishing a communication link with the ground end.
  • the method includes: acquiring current feature information of the plurality of directional antennas in real time; The current feature information of the antenna is used to switch between directional antennas.
  • the normal communication between the UAV and the ground end is realized, and since a plurality of directional antennas are disposed in the casing of the center body, the length of the feeder can be reduced, and the loss of the feeder can be reduced. Since the antenna is a directional antenna, the plurality of directional antennas are facing away from the center.
  • the middle part of the body is arranged, so the internal environment of the shell of the center body is less affected, and the radiation direction is ideal, and omnidirectional radiation can be achieved.
  • the directional antenna has a large forward gain, and the smaller size can meet the compact demand of the product.

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  • Aviation & Aerospace Engineering (AREA)
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Abstract

一种无人飞行器的机架，包括：中心体(111)、及多个定向天线(112)；多个所述定向天线设置在所述中心体(111)的壳体内；多个所述定向天线(112)间隔设置，并且围绕所述中心体(111)的壳体的周向排布；每个所述定向天线(112)背对所述中心体(111)的壳体的中部设置，并且多个所述定向天线(112)分别从所述中心体(111)的壳体朝向所述中心体(111)的壳体的周围的不同方向辐射。由于将多个定向天线(112)设置在中心体(111)的壳体内，能够减少馈线长度，减少了馈线损耗，由于天线为定向天线，将多个定向天线背对中心体的壳体的中部设置，所以受中心体的壳体的内部环境影响较小，辐射方向理想，能够达到全向辐射。并且定向天线的具有较大的前向增益，较小的尺寸，能够满足产品紧凑的需求。

Description

无人飞行器的机架、无人飞行器及天线切换方法 技术领域
本发明涉及飞行器技术领域，尤其涉及一种无人飞行器的机架、无人飞行器及天线切换方法。
背景技术
随着无人飞行器、机器人的普及和推广，各类传感器成为了其不可或缺的组件。天线被用来采集各类传感器的信息发送给遥控终端，并接收遥控终端的遥控指令。但由于无人飞行器、机器人这些设备的空间局限，不仅对天线的尺寸有所要求，也对天线的辐射方向有着较为特殊的要求。对于无人飞行器而言，希望天线的辐射能够全向覆盖。
在现有技术中，为了使天线满足工作环境的要求，一般会将天线设置在机器人或无人飞行器的开阔地带，如设置在设备的顶部、底部或内部，并且为了达到全向覆盖，一般会采用全向天线，该全向天线可以为棒状天线或PCB天线。
若现有技术中的全向天线设置在设备的顶部或底部，会需要较长的馈线，增加了馈线损耗。若现有技术中的全向天线设置在设备的内部，会受到内部环境较大的影响，辐射方向也会变得较差。并且由于全向天线的增益较低，需要增加尺寸满足通信需求，显然不满足产品紧凑的需求。
发明内容
第一方面，本发明实施例提供一种无人飞行器的机架，包括：中心体、及多个定向天线；
多个所述定向天线设置在所述中心体的壳体内；
多个所述定向天线间隔设置，并且围绕所述中心体的壳体的周向排布；
每个所述定向天线背对所述中心体的壳体的中部设置，并且多个所述定向天线分别从所述中心体的壳体朝向所述中心体的壳体的周围的不同方向辐 射。
第二方面，本发明实施例提供一种无人飞行器，包括：飞行控制器以及如上所述的无人飞行器的机架；
其中，所述飞行控制器与多个所述定向天线通信连接。
第三方面，本发明实施例提供一种无人飞行器天线切换方法，中心体、及多个定向天线；多个所述定向天线设置在所述中心体的壳体内；多个所述定向天线间隔设置，并且围绕所述中心体的壳体的周向排布；每个所述定向天线背对所述中心体的壳体的中部设置，并且多个所述定向天线分别从所述中心体的壳体朝向所述中心体的壳体的周围的不同方向辐射，所述方法包括：
实时获取多个微带定向天线的当前特征信息；
根据所述多个微带定向天线的当前特征信息，进行微带定向天线间的切换。
本发明实施例提供的无人飞行器的机架、无人飞行器及天线切换方法。在无人飞行器的机架包括：中心体、及多个定向天线；多个所述定向天线设置在所述中心体的壳体内；多个所述定向天线间隔设置，并且围绕所述中心体的壳体的周向排布；每个所述定向天线背对所述中心体的壳体的中部设置，并且多个所述定向天线分别从所述中心体的壳体朝向所述中心体的壳体的周围的不同方向辐射。由于将多个定向天线设置在中心体的壳体内，能够减少馈线长度，减少了馈线损耗。由于天线为定向天线，将多个定向天线背对中心体的壳体的中部设置，所以受中心体的壳体的内部环境影响较小，辐射方向理想，能够达到全向辐射。并且定向天线的具有较大的前向增益，较小尺寸，能够满足产品紧凑的需求。
附图说明
图1为本发明实施例一提供的无人飞行器的机架的第一结构示意图；
图2为本发明实施例一提供的无人飞行器的机架的第二结构示意图；
图3为本发明实施例四提供的无人机飞行器的机架中多个定向天线的辐射方向与增益的关系曲线图；
图4为现有技术中以多个全向天线替代多个定向天线后的辐射方向与增 益的关系曲线图；
图5为本发明实施例六提供的无人飞行器的结构示意图；
图6为本发明实施例七提供的无人飞行器的天线切换方法的应用场景示意图；
图7为本发明实施例八提供的无人飞行器的天线切换方法的流程图。
附图标记：
1-无人飞行器 11-无人飞行器的机架 111-中心体 112-定向天线 113-金属结构 114-线路 2-地面端
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
需要说明的是，当组件被称为“固定于”另一个组件，它可以直接在另一个组件上或者也可以存在居中的组件。当一个组件被认为是“连接”另一个组件，它可以是直接连接到另一个组件或者可能同时存在居中组件。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“和/或”包括一个或多个相关的所列项目的任意的和所有的组合。
下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
实施例一
本发明实施例一提供一种无人飞行器的机架，图1为本发明实施例一提供的无人飞行器的机架的第一结构示意图，图2本发明实施例一提供的无人飞行器的机架的第二结构示意图。图1显示了无人飞行器的机架的中心体的壳体的立体图，图2显示了无人飞行器的机架的中心体的壳体的俯视图。本 发明实施例一提供的无人飞行器的机架的结构并不限定于图1和图2中所示的结构。图1和图2只是无人飞行器的机架的其中一种结构的示意图。
如图1和图2所示，本实施例提供的无人飞行器的机架11包括：中心体111、及多个定向天线112。
其中，多个定向天线112设置在中心体111的壳体内。多个定向天线112间隔设置，并且围绕中心体111的壳体的周向排布；每个定向天线112背对中心体111的壳体的中部设置，并且多个定向天线112分别从中心体111的壳体朝向中心体111的壳体的周围的不同方向辐射。
本实施例中，定向天线112是在某一个特定方向上发射及接收电磁波信号特别强，而在其他的方向上发射及接收电磁波信号为零或极小的一种天线。本实施例中对定向天线112的类型不做限定。如可以为宽带定向天线、微带定向天线等。本实施例中对定向天线112的尺寸不做限定，只需满足多个定向天线的通信频率在同一频段中即可。
本实施例中，中心体111位于无人飞行器的机架11的中心位置，是一个具有腔体的结构。在中心体111的腔体内具有非金属结构、金属结构113及线路114。
本实施例中，对定向天线112的个数不做限定，如可以为4个、6个等。并且对多个定向天线112的间距不做限定。可以理解，相邻的两个定向天线112间的间距可以相等也可以不等，本实施例中对此不做限定。
具体地，本实施例中，将多个定向天线112设置在中心体111的壳体内并且围绕中心体111的壳体的周线间隔设置。由于每个定向天线112在某一个特定方向上发射及接收电磁波信号，即每个定向天线112具有特定的辐射方向，所以在每个定向天线112背对中心体111的壳体的中部设置时，在中心体111的壳体的中部位置定向天线112的发射及接收电磁波信号为零或极小，多个定向天线112分别从中心体111的壳体朝向中心体111的壳体的周围的不同方向辐射。
本实施例中对每个定向天线112的辐射角度范围不做限定。可以理解，每个定向天线112的辐射角度范围可以相同也可以不同，多个定向天线112的辐射范围可以达到全向辐射。
本实施例提供的无人机的机架，包括：中心体111、及多个定向天线112；多个定向天线112设置在中心体111的壳体内；多个定向天线112间隔设置，并且围绕中心体111的壳体的周向排布；每个定向天线112背对中心体111的壳体的中部设置，并且多个定向天线112分别从中心体111的壳体朝向中心体111的壳体的周围的不同方向辐射。由于将多个定向天线112设置在中心体111的壳体内，能够减少馈线长度，减少了馈线损耗，由于天线为定向天线112，将多个定向天线112背对中心体111的壳体的中部设置，所以受中心体111的壳体的内部环境影响较小，辐射方向理想，能够达到全向辐射。并且定向天线112的具有较大的前向增益，较小尺寸能够满足产品紧凑的需求。
实施例二
本发明实施例二提供一种无人飞行器的机架，本实施例提供的无人飞行器的机架的结构示意图，可参照图1和图2。则本实施例在实施例一的基础上，还包括以下特征。
进一步地，如图1和图2所示，本实施例中，中心体111的壳体内的金属结构113和线路114设置在多个定向天线112的背面区域。
具体地，本实施例中，将金属结构113和线路114设置在多个定向天线112的背面区域，由于每个定向天线112背对中心体111壳体的中部位置，所以金属结构113和线路114被设置在了中心体111壳体内的中部区域，由于中心体111的壳体内的金属结构113和线路114复杂且差异很大，将其设置在中心体111壳体内的中部区域，利用定向天线112对除辐射方向的其它方向没有辐射或辐射极小的特点，进一步减小了中心体111的壳体的内部环境对定向天线112辐射方向的影响。
优选地，本实施例中，多个定向天线112沿中心体111的壳体的周向均匀地设置在中心体111的壳体内的靠近边缘位置。
首先，如图1和图2所示，本实施例中，将多个定向天线112设置在中心体111的壳体内的靠近边缘位置，能够使定向天线112远离中心体111壳体内的金属结构113和线路114，进一步减少了内部环境对定向天线112辐射方向的影响。
其次，本实施例中，将多个定向天线112沿中心体111的壳体的周向均匀地设置在中心体111的壳体内，能够将每个定向天线112的辐射角度范围均设置为同一辐射角度范围，便于使多个定向天线112的辐射方向从中心体111的壳体朝向中心体111的壳体的周围达到全向辐射。
本实施例提供的无人飞行器的机架，通过将中心体111的壳体内的金属结构113和线路114设置在多个定向天线112的背面区域，能够进一步减少了内部环境对定向天线112辐射方向的影响，通过多个定向天线112沿中心体111的壳体的周向均匀地设置在中心体111的壳体内的靠近边缘位置，不仅进一步减少了内部环境对定向天线112辐射方向的影响，而且便于使多个定向天线112的辐射方向从中心体111的壳体朝向中心体111的壳体的周围达到全向辐射。
实施例三
本发明实施例三提供一种无人飞行器的机架，本实施例的无人飞行器的机架的结构示意图可参照图1和图2。则本实施例在本发明实施例一或实施例二的基础上，对中心体111的壳体与多个定向天线112的连接方式进行进一步地说明，则本实施例提供的无人飞行器的机架还包括以下特征。
本实施例中，多个定向天线112与中心体111的壳体的内壁或/及中心体111的壳体的内部部件固定连接。
具体地，多个定向天线112可以与中心体111的壳体的内壁固定连接，或者多个定向天线112可以与中心体111的壳体的内部部件固定连接，或者多个定向天线112可以通过中心体111的壳体的内壁和内部部件固定连接。本实施例中，定向天线112与中心体111的内壁还是内部部件连接可根据多个定向天线112的设置位置以及中心体111壳体内设有的内部部件位置进行确定。
进一步地，多个定向天线112与中心体111的壳体的内壁或/及中心体111的壳体的内部部件通过连接件可拆卸连接。
其中，连接件包括如下至少一种：螺纹紧固件，销钉，卡扣，插销，粘胶贴。具体地，螺纹紧固件可以为螺栓和螺母、螺钉等。
优选地，连接件为非金属材质连接件。具体地，非金属材质连接件可以为由合成橡胶或合成树脂或合成纤维等材料制成的连接件，或者由其他非金属元素或化合物的材料制成的连接件。
优选地，中心体111的壳体的内部部件为非金属材质部件。同理，非金属材质内部部件可以为由合成橡胶或合成树脂或合成纤维等材料制成的内部部件，或者由其他非金属元素或化合物的材料制成的内部部件。
本实施例中，多个定向天线112与中心体111的壳体的内壁或/及中心体111的壳体的内部部件通过连接件可拆卸连接，连接件包括如下至少一种：螺纹紧固件，销钉，卡扣，插销，粘胶贴，连接件为非金属材质连接件，由于在多个定向天线112与中心体111的壳体的内壁或/及中心体111的壳体的内部部件固定连接时，不能保证连接件一定在多个定向天线112的背面区域，所以将连接件制成非金属材质的连接件，有效防止连接件和中心体111的壳体的内部部件对定向天线112辐射方向的影响。
进一步地，如图1和图2所示，本实施例中，多个定向天线112与中心体111的壳体的内壁粘接固定。
本实施例中，将多个定向天线112与中心体111的壳体的内壁粘接固定，更便于定向天线112的安装和拆卸。
实施例四
本实施例提供一种无人飞行器的机架，本实施例提供的无人飞行器的机架的结构示意图可参照图1和图2，则本实施例在本发明实施例一或实施例二或实施例三的基础上，对定向天线112进一步地说明，则本实施例提供的无人飞行器的机架还包括以下特征。
进一步地，本实施例中，定向天线112为微带定向天线112。定向天线112为振子天线，贴片天线，缝隙天线。
优选地，本实施例中，定向天线112为微带定向天线112，微带定向天线112为微带振子天线，微带贴片天线，微带缝隙天线。在图1和图2中的定向天线112为微带贴片天线。
本实施例中，由于微带天线体积小、重量轻、低剖面、并且容易集成， 所以本实施例中采用微带定向天线112，能够进一步增加无人飞行器的紧凑性。微带定向天线112为微带振子天线或微带贴片天线或微带缝隙天线，增加了微带定向天线112的可选择性。
进一步地，如图1和图2所示，本实施例中，定向天线112的个数为四个，每个定向天线112的辐射角度范围为90度。
具体地，本实施例中，由于中心体111的壳体为一个近似矩形的结构，所以将定向天线112的个数设置为四个，每个定向天线112设置在中心体111的壳体的对应边的靠近边缘位置，并通过对位置的微调，使每个定向天线112的辐射角度范围为90度，并从中心体111的壳体朝向中心体111的壳体的周围的不同方向辐射，能够使多个定向天线112更易达到全向辐射。
其中，图3为本发明实施例四提供的无人机飞行器的机架中多个定向天线的辐射方向与增益的关系曲线图，图4为现有技术中以多个全向天线替代多个定向天线112后的辐射方向与增益的关系曲线图。如图3和图4所示，由于每个微带定向天线112背对中心体111的壳体的中部设置，每个微带天线间的辐射方向互不影响，能够在各自的辐射方向上达到较高的增益，而在定向天线112相同的位置以全向天线替代定向天线112，由于全向天线受内部环境的影响较大，使辐射方向互相影响，并且全向天线的增益将较于定向天线112的增益也有明显的降低。
本实施例提供的无人飞行器的机架，定向天线112的个数为四个，每个定向天线112的辐射角度范围为90度。能够使多个定向天线112更易达到全向辐射。
实施例五
本实施例提供一种无人飞行器的机架，本实施例的无人飞行器的机架的结构示意图可参照图1和图2。则本实施例在本发明实施例四的基础上，还包括：发射器和接收器。
进一步地，发射器与接收器分别与多个定向天线112通信连接。
可选地，发射器与接收器分别与多个定向天线112通过同轴馈线通信连接。
进一步地，本实施例提供的无人飞行器的机架，还包括：通信链路开关。通信链路开关设置在同轴馈线与发射器、同轴馈线与接收器之间，用于控制多个定向天线112间的切换。
具体地，本实施例中，多个定向天线112通过同轴馈线分别与发射器和接收器通信连接。并在同轴馈线与发射器、同轴馈线与接收器之间设置通信链路开关，则可通过控制通信链路开关的状态，控制多个定向天线112间的切换。若通信链路开关的状态为打开状态，则该通信链路中的定向天线112不能与发射器和接收器进行通信，若通信链路开关的状态为关闭状态，则该通信链路中的定向天线112能够与发射器和接收器进行通信。
本实施例中，为了保证发射器和接收器的通信信号的准确性，在同一时间，只能允许一个定向天线112与发射器和接收器保持通信状态，另外的定向天线112切断与发射器和接收器的通信状态，具体由哪个定向天线与发射器和接收器进行通信，可根据定向天线的当前特征进行确定。即根据多个定向天线的当前特征控制多个定向天线112间的切换。
具体地，本实施例中，当前特征信息可以为定向天线112的信号状态信息，也可以为微带定向天线112相对于地面端的相对位置信息。
本实施例提供的无人飞行器的机架，还包括：发射器、接收器和通信链路开关。发射器与接收器分别与多个定向天线112通信连接，发射器与接收器分别与多个定向天线112通过同轴馈线通信连接，通信链路开关设置在同轴馈线与发射器、同轴馈线与接收器之间，用于控制多个定向天线112间的切换，能够将该无人飞行器的机架用于实际应用中，通过定向天线112质检的切换满足通信需求。
实施例六
本发明实施例提供一种无人飞行器，图5为本发明实施例六提供的无人飞行器的结构示意图，图5只是无人飞行器的其中一种结构的示意图。
如图5所示，本实施例提供的无人飞行器包括：飞行控制器以及如上任一实施例提供的无人飞行器的机架。
其中，飞行控制器与多个定向天线112通信连接。
本实施例中，无人飞行器的机架的结构和功能与实施例一至实施例五中的任一实施例中的无人飞行器的机架的结构和功能相同，在此不再一一赘述。
本实施例中，飞行控制器设置在无人飞行器中的位置不做限定。如在图5中，飞行控制器设置在无人飞行器的机架的中心体111的壳体内。
具体地，本实施例中，飞行控制器与多个定向天线112通信连接，用于通过控制通道链路开关的状态，控制多个定向天线112间的切换。
本实施例提供的无人飞行器，包括：飞行控制器及上述任一实施例提供的无人飞行器的机架。其中，飞行控制器与多个定向天线112通信连接。由于将多个定向田心设置在中心体111的壳体内，能够减少馈线长度，减少了馈线损耗，由于天线为定向天线112，将多个定向天线112背对中心体111的壳体的中部设置，所以受中心体111的壳体的内部环境影响较小，辐射方向理想，能够达到全向辐射。并且定向天线112的具有较大的前向增益，具有较小的尺寸，能够满足产品紧凑的需求。
实施例七
本实施例提供一种无人飞行器的天线切换方法，图6为本发明实施例七提供的无人飞行器的天线切换方法的应用场景示意图，图7为本发明实施例八提供的无人飞行器的天线切换方法的流程图，如图6和图7所示，本实施例提供的无人飞行器的天线切换方法中，无人飞行器的机架包括：中心体、及多个定向天线；多个所述定向天线设置在所述中心体的壳体内；多个所述定向天线间隔设置，并且围绕所述中心体的壳体的周向排布；每个所述定向天线背对所述中心体的壳体的中部设置，并且多个所述定向天线分别从所述中心体的壳体朝向所述中心体的壳体的周围的不同方向辐射，则本实施例提供的无人飞行器的天线切换方法包括以下步骤：
步骤701，实时获取多个定向天线的当前特征信息。
本实施例中，无人飞行器包括用于与地面端建立通信链路的多个定向天线。
其中，当前特征信息包括如下至少一种：定向天线的信号状态信息，定向天线相对于地面端的相对位置信息。
步骤702，根据多个定向天线的当前特征信息，进行定向天线间的切换。
进一步地，本实施例中，根据多个定向天线的当前特征信息，进行定向天线间的切换，具体包括：
判断多个微带定向天线的当前特征信息是否满足切换准则；若满足切换准则，则通过控制通信链路开关的状态进行微带定向天线间的切换。
本实施例提供的无人飞行器的天线切换方法，无人飞行器包括用于与地面端建立通信链路的多个定向天线，方法包括：实时获取多个定向天线的当前特征信息；根据多个定向天线的当前特征信息，进行定向天线间的切换。实现了无人飞行器与地面端的正常通信，并且由于将多个定向天线设置在中心体的壳体内，能够减少馈线长度，减少了馈线损耗，由于天线为定向天线，将多个定向天线背对中心体的壳体的中部设置，所以受中心体的壳体的内部环境影响较小，辐射方向理想，能够达到全向辐射。并且定向天线的具有较大的前向增益，较小的尺寸，能够满足产品紧凑的需求。
以上仅为本发明的实施例，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (20)

  1. 一种无人飞行器的机架，其特征在于，包括：中心体、及多个定向天线；
    多个所述定向天线设置在所述中心体的壳体内；
    多个所述定向天线间隔设置，并且围绕所述中心体的壳体的周向排布；
    每个所述定向天线背对所述中心体的壳体的中部设置，并且多个所述定向天线分别从所述中心体的壳体朝向所述中心体的壳体的周围的不同方向辐射。
  2. 根据权利要求1所述的无人飞行器的机架，其特征在于，所述中心体的壳体内的金属结构和线路设置在多个所述定向天线的背面区域。
  3. 根据权利要求2所述的无人飞行器的机架，其特征在于，多个所述定向天线沿所述中心体的壳体的周向均匀地设置在所述中心体的壳体内的靠近边缘位置。
  4. 根据权利要求1-3任一项所述的无人飞行器的机架，其特征在于，多个所述定向天线与所述中心体的壳体的内壁或/及所述中心体的壳体的内部部件固定连接。
  5. 根据权利要求4所述的无人飞行器的机架，其特征在于，多个所述定向天线与所述中心体的壳体的内壁或/及所述中心体的壳体的内部部件通过连接件可拆卸连接。
  6. 根据权利要求5所述的无人飞行器的机架，其特征在于，所述连接件包括如下至少一种：螺纹紧固件，销钉，卡扣，插销，粘胶贴。
  7. 根据权利要求6所述的无人飞行器的机架，其特征在于，所述连接件为非金属材质连接件。
  8. 根据权利要求6所述的无人飞行器的机架，其特征在于，多个所述定向天线与所述中心体的壳体的内壁粘接固定。
  9. 根据权利要求5所述的无人飞行器的机架，其特征在于，所述中心体的壳体的内部部件为非金属材质部件。
  10. 根据权利要求1-3、5-9任一项所述的无人飞行器的机架，其特征在于，所述定向天线为微带定向天线。
  11. 根据权利要求10所述的无人飞行器的机架，其特征在于，所述定向天线为振子天线，贴片天线，或缝隙天线。
  12. 根据权利要求11所述的无人飞行器的机架，其特征在于，所述定向天线的个数为四个，每个所述定向天线的辐射角度范围为90度。
  13. 根据权利要求12所述的无人飞行器的机架，其特征在于，还包括：发射器和接收器；
    所述发射器与所述接收器分别与多个所述定向天线通信连接。
  14. 根据权利要求13所述的无人飞行器的机架，其特征在于，所述发射器与所述接收器分别与多个所述定向天线通过同轴馈线通信连接。
  15. 根据权利要求14所述的无人飞行器的机架，其特征在于，还包括：通信链路开关；
    所述通信链路开关设置在所述同轴馈线与所述发射器、所述同轴馈线与所述接收器之间，用于控制多个所述定向天线间的切换。
  16. 一种无人飞行器，其特征在于，包括：飞行控制器以及权利要求1-15任一项所述的无人飞行器的机架；
    其中，所述飞行控制器与多个所述定向天线通信连接。
  17. 一种无人飞行器的天线切换方法，其特征在于，中心体、及多个定向天线；多个所述定向天线设置在所述中心体的壳体内；多个所述定向天线间隔设置，并且围绕所述中心体的壳体的周向排布；每个所述定向天线背对所述中心体的壳体的中部设置，并且多个所述定向天线分别从所述中心体的壳体朝向所述中心体的壳体的周围的不同方向辐射，所述方法包括：
    实时获取多个定向天线的当前特征信息；
    根据所述多个定向天线的当前特征信息，进行定向天线间的切换。
  18. 根据权利要求17所述的方法，其特征在于，所述地面端为：地面基站或遥控终端。
  19. 根据权利要求18所述的方法，其特征在于，所述当前特征信息包括如下至少一种：所述定向天线的信号状态信息，所述定向天线相对于所述地面端的相对位置信息。
  20. 根据权利要求17-19任一项所述的方法，其特征在于，所述根据所述多个微带定向天线的当前特征信息，进行微带定向天线间的切换，具体包括：
    判断所述多个微带定向天线的当前特征信息是否满足切换准则；若满足所述切换准则，则通过控制通信链路开关的状态进行微带定向天线间的切换。
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