WO2019011024A1 - 一种天线及无人机 - Google Patents

一种天线及无人机 Download PDF

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Publication number
WO2019011024A1
WO2019011024A1 PCT/CN2018/083169 CN2018083169W WO2019011024A1 WO 2019011024 A1 WO2019011024 A1 WO 2019011024A1 CN 2018083169 W CN2018083169 W CN 2018083169W WO 2019011024 A1 WO2019011024 A1 WO 2019011024A1
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WO
WIPO (PCT)
Prior art keywords
antenna
bent portion
drone
angle
main body
Prior art date
Application number
PCT/CN2018/083169
Other languages
English (en)
French (fr)
Inventor
倪枫
Original Assignee
深圳市道通智能航空技术有限公司
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 深圳市道通智能航空技术有限公司 filed Critical 深圳市道通智能航空技术有限公司
Priority to EP18723352.3A priority Critical patent/EP3453615B1/en
Priority to US15/989,907 priority patent/US10707572B2/en
Publication of WO2019011024A1 publication Critical patent/WO2019011024A1/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
    • H01Q1/08—Means for collapsing antennas or parts thereof
    • H01Q1/084—Pivotable antennas
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/27—Adaptation for use in or on movable bodies
    • H01Q1/28—Adaptation for use in or on aircraft, missiles, satellites, or balloons
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/27—Adaptation for use in or on movable bodies
    • H01Q1/28—Adaptation for use in or on aircraft, missiles, satellites, or balloons
    • H01Q1/285—Aircraft wire antennas
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/36—Structural form of radiating elements, e.g. cone, spiral, umbrella; Particular materials used therewith
    • 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
    • H01Q3/01—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system varying the shape of the antenna or antenna system
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q9/00—Electrically-short antennas having dimensions not more than twice the operating wavelength and consisting of conductive active radiating elements
    • H01Q9/04—Resonant antennas
    • H01Q9/30—Resonant antennas with feed to end of elongated active element, e.g. unipole
    • H01Q9/42—Resonant antennas with feed to end of elongated active element, e.g. unipole with folded element, the folded parts being spaced apart a small fraction of the operating wavelength
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
    • B64U2201/104—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS] using satellite radio beacon positioning systems, e.g. GPS

Definitions

  • the invention relates to the technical field of drones, in particular to an antenna and a drone using the same.
  • Unmanned Aerial Vehicle is a non-manned aircraft that controls flight attitude through radio remote control equipment and built-in procedures. It is flexible, responsive, and unmanned. It has low operating requirements and is widely used in aerial photography, plant protection, power inspection, disaster relief and many other fields. Among them, in the drone, the wireless communication between the drone and other devices is realized through the antenna, and therefore, the antenna is an indispensable component of the drone.
  • the antennas on the market are mainly 2.4G and 5.8G working frequency, and the vertical distance of the vehicle should be at least 30-60mm.
  • the antenna is usually installed under the motor or under the motor. Inside, to ensure that the antenna signal is blocked from the fuselage.
  • the landing gear cannot be folded relative to the fuselage, and cannot meet the requirements of miniaturization and portability of the drone.
  • the UAV is applied to the fields of aerial photography, film and television shooting, etc., which require image acquisition by the camera device, the user has a very high requirement for the visual field of the UAV camera.
  • One important requirement is to avoid any The body member blocks the field of view of the camera. Since the antenna is mounted in a special manner, it is often easy to become a body member that blocks the field of view of the imaging device.
  • a low-frequency antenna similar to 900M is gradually applied to a drone because of its good receiving gain and anti-interference ability, but the length of this type of antenna must be at least 160 mm or more, if this type of The antenna is applied to a drone that requires image acquisition, which will have extremely severe occlusion of the field of view of the camera and affect the shooting effect.
  • Embodiments of the present invention provide a drone that is miniaturized and portable, and that captures a field of view of an imaging device from being obscured by its own components.
  • a technical solution adopted by the present invention is to provide an antenna for an unmanned aerial vehicle, the unmanned aerial vehicle includes an imaging device, and the antenna includes: an antenna main body and a bent portion connected to the antenna main body; The bent portion is bent in a direction away from the viewing angle of the imaging device.
  • the antenna body is fixedly connected to the bent portion.
  • the antenna body is hinged to the bent portion.
  • the antenna is also provided with a constrained structure.
  • the antenna body has a first oblique side
  • the bent portion has a second oblique side
  • the second oblique side Abutting the first oblique side
  • the antenna body extends in a direction perpendicular to the ground.
  • the angle of view of the imaging device is FOV
  • the angle between the antenna body and the bent portion is: 90°+FOV/2 or 90°-FOV/2.
  • the angle between the antenna body and the bent portion is: 90°+FOV/2.
  • Another technical solution adopted by the present invention is to construct a drone, including:
  • a camera device mounted below the body
  • the component is a landing gear.
  • the component is located below the power unit.
  • the component is located at the end of the arm.
  • the arm is rotatably coupled to the body.
  • the antenna provided by the present invention includes an antenna main body and a bent portion connected to the antenna main body, and the bent portion is bent in a direction avoiding an angle of view of an image pickup device of the drone It is possible to avoid the shooting field of the camera device while ensuring a certain effective length to obtain a strong wireless signal, thereby obtaining a shooting picture that satisfies the user's needs.
  • the component with the built-in antenna is mounted on the arm and rotatable relative to the power unit, that is, foldable relative to the body, and can meet the requirements of miniaturization and portability of the drone.
  • FIG. 1 is a front view of a drone according to an embodiment of the present invention.
  • FIG. 2 is a schematic structural view of one of the structures of the antenna shown in FIG. 1;
  • FIG. 3 is a schematic structural view of another structure of the antenna shown in FIG. 1;
  • FIG. 4 is a schematic structural view of still another structure of the antenna shown in FIG. 1.
  • the drone 100 includes a body 10 and an arm 20 connected to the body 10 and are respectively disposed on the arm 20 .
  • the wireless communication connection between the UAV 100 and the external device is realized by the antenna 50; the power device 30 provides power to the UAV 100, and the UAV 100 is driven to fly and adjust the flight attitude; 40 Acquire image information of the shooting scene.
  • the body 10 may include a control circuit component composed of electronic components such as an MCU, and the control circuit component may include a plurality of control modules, such as a flight control module for controlling the power device 30 to adjust the flight attitude of the drone, A Beidou module or a GPS module for navigating a drone, and a data processing module for processing environmental information acquired by an associated onboard device (eg, the camera device 40).
  • a control circuit component composed of electronic components such as an MCU
  • the control circuit component may include a plurality of control modules, such as a flight control module for controlling the power device 30 to adjust the flight attitude of the drone, A Beidou module or a GPS module for navigating a drone, and a data processing module for processing environmental information acquired by an associated onboard device (eg, the camera device 40).
  • the shape and number of the arms 20 are not limited, and the number thereof may be two, four, six, or the like.
  • the arm 20 is rotatably or fixedly coupled to the body 10. When the arm 20 is rotatably coupled to the body 10, it can be folded or unfolded relative to the body 10 to improve the portability of the drone 100.
  • the power unit 30 includes a driving device 31 mounted on the arm 20 and a propeller 32 mounted on the driving device 31.
  • the driving device 31 When the driving device 31 is in operation, the propeller 32 is driven to rotate in a specific direction (clockwise or counterclockwise). Therefore, the drone 100 is provided with lift, and the drone 100 is driven to fly. Further, by separately adjusting the rotational speed or the relative position of each of the driving devices 31, the drone 100 can also be made to fly in different postures.
  • the camera device 40 may include any camera mechanism capable of acquiring an image of a current shooting scene, such as a camera.
  • the camera mechanism may be a single-direction camera mechanism or a panoramic camera mechanism, and the panoramic camera mechanism may be a single panoramic camera. It may be a panoramic imaging mechanism including a one-way camera mounted on a pan/tilt that can be rotated by 360°.
  • the antenna 50 is disposed at a location remote from the fuselage 10 to prevent components within the fuselage 10 from interfering with the antenna 50.
  • the antenna 50 is mounted on the arm 20 and located below the power unit 30. It should be noted that the antenna 50 is generally not exposed to prevent the antenna 50 from being damaged by environmental influences. Therefore, the antenna can be housed in a specific component. In order to make full use of space, the antenna can usually be placed in the landing gear.
  • the antenna 50 is an unmanned aerial vehicle having a bent structure having a certain effective length to obtain a strong wireless signal, and capable of being ingenious when the camera unit 40 is in operation. The shooting field of the imaging device 40 is avoided.
  • the antenna 50 includes an antenna main body 51 and a bent portion 52 connected to the antenna main body 51.
  • the antenna main body 51 is attached to the arm 20, and the bent portion 52 is bent in a direction away from the viewing angle of the imaging device 40.
  • the antenna body 51 includes a first connecting end 511 and a second connecting end 512.
  • the bent portion 52 includes a third connecting end 521 and a hanging end 522.
  • the first connecting end 511 of the antenna main body 51 is mounted on the arm 20 and is located at the driving end. Below the device 31, the second connection end 512 of the antenna body 51 is remote from the drive unit 31 and is connected to the third connection end 521 of the bent portion 52.
  • the antenna main body 51 is a main portion of the antenna 50, which may be a single antenna (ie, a bare wire), or may be a component (such as a landing gear) in which an antenna is built.
  • the shape of the antenna body 51 may include, but is not limited to, a rod shape, a spiral shape, a wave shape, and the like; the cross-sectional shape thereof may include, but is not limited to, a circle, a triangle, a square, and other irregular shapes, etc., in the embodiment of the present invention. No specific restrictions are made.
  • the angle ⁇ between the antenna main body 51 and the driving device 31, that is, the antenna main body 51 and the arm 20 The angle ⁇ between the two needs to satisfy: 45° ⁇ ⁇ ⁇ 90°.
  • connection manner of the first connection end 511 of the antenna main body 51 and the arm 20 may be a fixed connection, such as a card connection, a fork connection, etc., and the connection mode is relatively simple, and is suitable for mounting an imaging device having a specific angle of view. Drone.
  • the first connection end 511 of the antenna main body 51 and the arm 20 can also be connected in a rotational connection (for example, hinged).
  • the antenna main body 51 Under the action of an external force, the antenna main body 51 can be deflected around the driving device 31, thereby The angle ⁇ between the antenna main body 51 and the driving device 31 can be adjusted according to the angle of view of the different imaging mechanisms.
  • the antenna main body 51 can also be rotated to a position parallel to the arm 20, that is, the antenna main body 51 and the arm 20 at this time.
  • the angle is 0° or 180°, which further reduces the space occupied by the small drone.
  • the antenna main body 51 during the flight of the drone 100 is avoided.
  • the angle ⁇ of the arm 20 changes to affect the shooting, and the first limiting structure 53a may be disposed at the junction of the first connecting end 511 of the antenna main body 51 and the arm 20.
  • the first limiting structure 53a may be a component that limits the angle ⁇ to a predetermined angle, such as a spring lock.
  • the first limiting structure 53a may also be a control device that can adjust the angle of the angle ⁇ in real time.
  • the control device includes a driving unit, and the antenna body 51 can be adjusted in real time according to actual conditions when the camera device 40 is in operation.
  • the angle ⁇ of the arm 20 prevents the antenna 50 from blocking the field of view of the imaging device 40 when the drone 100 is flying in other flight attitudes.
  • the bent portion 52 is a bent portion of the antenna 50 whose length is less than or equal to the length of the antenna main body 51, and is bent in a direction avoiding the angle of view of the image pickup device 40.
  • the angle between the antenna main body 51 and the bent portion 52 ie, the angle ⁇ between the antenna main body 51 and the bent portion 52
  • FOV the angle of view of the camera unit 40.
  • the distance d1 between the hanging end 522 of the bent portion 52 and the bottom of the arm 20 is greater than the third connection of the bent portion 52.
  • the distance d2 between the end 521 and the bottom of the arm 20 ensures that the antenna 50 can better transmit wireless signals downwards and/or receive wireless signals transmitted to the drone 100.
  • the third connecting end 521 of the bent portion 52 is connected to the second connecting end 512 of the antenna main body 51.
  • the connecting manner may be a fixed connection, such as: snapping, forking, and integral.
  • the third connecting end 521 and the second connecting end 512 of the antenna main body 51 may also be hinged. Under the action of an external force, the bent portion 52 can be rotated around the antenna main body 51, so that different imaging devices can be used.
  • the angle of view of 40 adjusts the angle ⁇ between the antenna main body 51 and the bent portion 52 accordingly.
  • the angle ⁇ between the antenna main body 51 and the bent portion 52 is prevented from changing during the flight of the drone 100.
  • the second stopper structure 53b may be provided at the junction of the bent portion 52 and the antenna main body 51.
  • the second limiting structure 53b may be a component that limits the angle ⁇ to a predetermined angle, such as a spring lock.
  • the second limiting structure 53b may also be a control device that can adjust the angle of the angle ⁇ in real time.
  • the control device includes a driving unit, and the angle between the main antenna 51 and the bending portion 52 can be adjusted in real time according to actual conditions. ⁇ .
  • the limiting structure can also be formed in the antenna 50 by changing the shape of the antenna body 51 and the bent portion 52.
  • the antenna main body 51 has a first oblique side 5121
  • the bent portion 52 has a second oblique side 5211.
  • the second oblique side 5211 abuts the first oblique side 5121, so that the angle between the bending portion 52 and the antenna main body 51 is limited to an angle between the direction in which the first oblique side 5121 is located and the direction in which the antenna main body 51 is located.
  • the clamping can be simultaneously adjusted in a coordinated manner.
  • the value of the angle ⁇ and the angle ⁇ increases the flexibility of the antenna 50.
  • the angle ⁇ can be adjusted by the second limiting structure 53b according to the flight state of the drone 100 and/or the angle ⁇ can be adjusted by the first limiting structure 53a to avoid
  • the antenna 50 blocks the shooting field of the camera 40; or when the drone 100 still performs the mission but the camera 40 stops working, it can be adjusted by the second limiting structure 53b.
  • an appropriate antenna 50 can be selected according to the mounting position of the imaging device 40 and the antenna 50, the total length required for the antenna 50, and the field of view of the imaging device 40 (i.e., determining the length of the antenna body 51 of the antenna 50). L1 and an angle ⁇ between the antenna main body 51 and the bent portion 52.
  • the angle of view of the imaging device 40 is FOV
  • the maximum line of sight corresponding to the field of view angle FOV is X
  • the range covered by the maximum line of sight X is the field of view of the imaging device 40
  • the length of the single blade of the propeller 32 is R
  • the length of the driving device 31 in the vertical direction is M
  • the required total length of the antenna 50 is L tot .
  • the antenna body 51 of the antenna 50 In order to ensure that the antenna body 51 of the antenna 50 avoids the imaging field of view of the imaging device 40 (ie, the second connection end 512 of the antenna body 51 is located outside the maximum line of sight X of the imaging device 40), the antenna body 51 of the antenna 50
  • the length L1 needs to satisfy: L1 ⁇ R*tan(FOV/2)-M;
  • the bent portion 52 in order to ensure that the bent portion 52 also avoids the photographing field of the imaging device 40 (ie, the third connecting end 521 of the bent portion 52 and the floating end) 522 are both located outside the maximum line of sight X of the imaging device 40), and the angle ⁇ between the antenna body 51 and the bent portion 52 is required to satisfy: 180°- ⁇ 180°- ⁇ +FOV/2.
  • the antenna main body 51 and the arm 20 need to be readjusted.
  • the angle ⁇ , the length L1 of the antenna main body 51, and the angle ⁇ between the antenna main body 51 and the bent portion 52 or the model of the antenna 50 are replaced to ensure that the length of the antenna main body 51 is greater than or equal to the length of the bent portion 52.
  • the distance d1 between the hanging end 522 of the bent portion 52 and the bottom of the arm 2 is greater than the distance d2 between the third connecting end 521 of the bent portion 52 and the bottom of the arm 2, and the third connecting end of the bent portion 52
  • Both the 521 and the flying end 522 are located outside the maximum line of sight X of the imaging device 40 (ie, the antenna 50 avoids the field of view of the imaging device 40).
  • connection line X of the imaging device 40 is taken as an example of the connection between the imaging device 40 and the propeller 32, and is not intended to limit the present invention, and is implemented in other embodiments.
  • the maximum line of sight of the camera device 40 may also be X' or other line of sight as shown in FIG.
  • the antenna provided by the embodiment of the present invention includes an antenna body and a bent portion connected to the antenna body, and the bent portion is directed to avoid the camera of the drone.
  • the direction of the field angle is bent, and when a certain effective length is secured to obtain a strong wireless signal, when the camera device is in operation, the shooting field of the camera device is skillfully avoided, thereby obtaining a shooting that meets the user's needs. Picture.

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  • Aviation & Aerospace Engineering (AREA)
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Abstract

本发明公开了一种天线及无人机，其中，该天线应用于无人机，所述无人机包括摄像装置，所述天线包括天线主体和与所述天线主体连接的弯折部；所述弯折部向避开所述摄像装置的视场角的方向弯折。通过上述技术方案，本实用新型实施例能够在保证天线具有一定的有效长度以获取较强的无线信号的情况下，避开摄像装置的拍摄视野，从而获得满足用户需求的拍摄画面。

Description

一种天线及无人机 技术领域
本发明涉及无人机技术领域，特别是涉及一种天线及应用该天线的无人机。
背景技术
无人驾驶飞机，简称无人机(Unmanned Aerial Vehicle，UAV)，是一种通过无线电遥控设备和内置的程序来控制飞行姿态的不载人飞机，由于其具有机动灵活、反应快速、无人驾驶、操作要求低等优点，现已广泛应用于航拍、植保、电力巡检、救灾等众多领域。其中，在无人机中，通过天线实现无人机与其他设备的无线通信，因此，天线是无人机不可或缺的一个重要部件。
目前，市面上天线多以2.4G和5.8G的工作频率为主，其在无人机上要保证至少30～60毫米的垂直距离，这种天线一般安装在电机下方或者设于电机下方的起落架内，以保证远离机身，避免天线信号被遮挡。起落架相对于机身无法折叠，无法满足无人机小型化、便携化的要求。且当将无人机应用于航拍、影视拍摄等需要通过摄像装置进行图像采集的领域时，用户对无人机的摄像装置的视野也有着极高的要求，其中一个重要的要求就是：避免任何机身部件遮挡摄像装置的视野。由于天线的安装方式特殊，往往容易成为遮挡摄像装置的视野的机身部件。再者，类似于900M的低频天线由于其具有较好的接收增益和抗干扰能力，也逐渐被应用于无人机上，但该类型的天线的长度至少要达到160mm或以上，若将该类型的天线应用于需要进行图像采集的无人机，其将会对 摄像装置的视野产生极其严重的遮挡，影响拍摄效果。
发明内容
本发明实施例提供一种小型化、便携化且摄像装置拍摄视野不受自身部件遮挡的无人机。
本发明采用的一个技术方案是：提供一种天线，应用于无人机，所述无人机包括摄像装置，所述天线包括：天线主体和与所述天线主体连接的弯折部；所述弯折部向避开所述摄像装置视场角的方向弯折。
在本发明的一实施例中，所述天线主体与所述弯折部固定连接。
在本发明的一实施例中，所述天线主体与所述弯折部铰接。
在本发明的一实施例中，所述天线还设置有限位结构。
在本发明的一实施例中，所述天线主体具有第一斜边，所述弯折部具有第二斜边，所述弯折部向所述天线主体弯折时，所述第二斜边与所述第一斜边抵接。
在本发明的一实施例中，所述天线主体向垂直于地面的方向延伸。
在本发明的一实施例中，所述摄像装置的视场角为FOV，则所述天线主体与所述弯折部所呈角度为：90°+FOV/2或90°-FOV/2。
在本发明的一实施例中，所述天线主体与所述弯折部所呈角度为：90°+FOV/2。
本发明采用的另一技术方案为，构造一种无人机，包括：
机身；
机臂，与所述机身相连；
动力装置，设置于所述机臂；
摄像装置，安装于所述机身的下方；以及
内置有天线的部件，所述部件安装于所述机臂上且可相对于所述动力装置旋转。
在本发明的一实施例中，所述部件为起落架。
在本发明的一实施例中，所述部件位于所述动力装置下方。
在本发明的一实施例中，所述部件位于所述机臂末端。
在本发明的一实施例中，所述机臂与所述机身转动连接。
本发明实施例的有益效果是：本发明提供的天线包括天线主体和与该天线主体连接的弯折部，所述弯折部向避开无人机的摄像装置的视场角的方向弯折能够在保证具有一定的有效长度以获取较强的无线信号的情况下，避开摄像装置的拍摄视野，从而获得满足用户需求的拍摄画面。此外，内置有天线的部件安装于机臂并可相对于动力装置旋转，即相对于机身可折叠，能够满足无人机小型化和便携化的要求。
附图说明
为了更清楚地说明本发明实施例的技术方案，下面将对本发明实施例中所需要使用的附图作简单地介绍。显而易见地，下面所描述的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本发明实施例提供的一种无人机的主视图；
图2是图1所示的天线的其中一种结构的结构示意图；
图3是图1所示的天线的另一种结构的结构示意图；
图4是图1所示的天线的又一种结构的结构示意图。
具体实施方式
为了便于理解本发明，下面结合附图和具体实施例，对本发明进行更详细的说明。需要说明的是，当元件被表述“固定于”另一个元件，它可以直接在另一个元件上、或者其间可以存在一个或多个居中的元件。 当一个元件被表述“连接”另一个元件，它可以是直接连接到另一个元件、或者其间可以存在一个或多个居中的元件。本说明书所使用的术语“上”、“下”、“内”、“外”、“底部”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”“第三”等仅用于描述目的，而不能理解为指示或暗示相对重要性。
除非另有定义，本说明书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。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，不是用于限制本发明。本说明书所使用的术语“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。此外，下面所描述的本发明不同实施例中所涉及的技术特征只要彼此之间未构成冲突就可以相互结合。
图1是本发明实施例提供的一种无人机的主视图，请参阅图1，该无人机100包括：机身10、与机身10相连的机臂20、分别设置在机臂20上的动力装置30、安装于机身10的下方的摄像装置40以及安装于动力装置30的下方的天线50。在本实施例中，通过天线50实现无人机100与外部设备的无线通信连接；由动力装置30为无人机100提供动力，带动无人机100飞行以及进行飞行姿态的调整；通过摄像装置40采集拍摄场景的图像信息。
机身10内可以包括由MCU等电子元器件组成的控制电路组件，该控制电路组件可以包括多个控制模块，如，用于控制动力装置30以调整无人机飞行姿态的飞行控制模块、用于导航无人机的北斗模块或GPS模块以及用于处理相关机载设备(如：摄像装置40)所获取的环境信息的数据处理模块等。
机臂20的形状和数量均不受限制，其数量可以是两个、四个、六 个等等。在本发明的一实施例中，机臂20可与机身10转动连接或固定连接。当机臂20与机身10转动连接时，可相对于机身10折叠或展开，提高无人机100的便携性。
动力装置30包括安装于机臂20上的驱动装置31和安装于驱动装置31上的螺旋桨32，当驱动装置31运转时，带动螺旋桨32沿着特定的方向(顺时针方向或者逆时针方向)转动，从而为无人机100提供升力，带动无人机100飞行，此外，通过分别调整各驱动装置31的转速或者相对位置，还可以使无人机100实现不同姿态的飞行。
摄像装置40可以包括任意能够采集当前拍摄场景的图像的摄像机构，如，相机，该摄像机构可以是单方向的摄像机构也可以是全景摄像机构，所述全景摄像机构可以是单一的全景摄像头，也可以是由可360°转动的云台搭载单向摄像头构成的全景摄像机构。
本发明的一实施例中，天线50设置于远离机身10的位置以避免机身10内的部件对天线50造成干扰。在本实施例中，所述天线50安装于机臂20，并位于动力装置30的下方。需要注意的是，天线50通常不会裸露在外，以防止天线50受到环境影响而损坏。因此，可以将天线收容在特定的部件内。出于充分利用空间的考虑，通常情况下，可以将天线放置在起落架内。
特别地，在本发明的一实施例中，天线50是一种具有弯折结构的无人机天线，其具有一定的有效长度以获得较强的无线信号，并且能够在摄像装置40工作时巧妙地避开摄像装置40的拍摄视野。
具体地，请一并参考图1-4，天线50包括天线主体51和与天线主体51连接的弯折部52。天线主体51安装于机臂20，弯折部52向避开摄像装置40的视场角的方向弯折。其中，天线主体51包括第一连接端511和第二连接端512，弯折部52包括第三连接端521和悬空端522；天线主体51的第一连接端511安装于机臂20并位于驱动装置31的下 方，天线主体51的第二连接端512远离驱动装置31，并且与弯折部52的第三连接端521连接。
其中，在本实施例中，天线主体51是天线50的主体部分，其可以是一根单一的天线(即裸线)，也可以是内置有天线的一个部件(如起落架)。该天线主体51的形状可以包括但不限于：杆状、螺旋状和波浪状等；其横截面形状可以包括但不限于：圆形、三角形、正方形以及其他不规则形状等，在本发明实施例中不作具体限定。
一般地，在无人机飞行过程中，为了保证无人机100与地面的外部设备实现稳定的无线通信，天线主体51与驱动装置31的夹角β，也即天线主体51与机臂20之间的夹角β需满足：45°＜β≤90°，优选地，为了增强天线50接收/发射的无线信号的强度，天线主体51向垂直于地面的方向延伸，天线主体51的第一连接端511垂直安装于驱动装置31的下方(即：β＝90°)。其中，天线主体51的第一连接端511与机臂20的连接方式可以是固定连接，如：卡接、叉接等，该连接方式较为简单，适用于搭载具有特定的视场角的摄像装置的无人机。
在一些实施例中，天线主体51的第一连接端511与机臂20的连接方式也可以是转动连接(例如，铰接)，在外力的作用下，天线主体51可以绕驱动装置31偏转，从而能够根据不同的摄像机构的视场角相应调整天线主体51与驱动装置31的夹角β。而当无人机不工作时，由于天线主体51可以相对于驱动装置31旋转，因此，天线主体51也可转动至与机臂20平行的位置，即，此时天线主体51与机臂20的夹角为0°或180°，进一步缩了小无人机的占用空间。
进一步地，在另一些实施例中，如图3所示，为了提升天线主体51的第一连接端511与机臂20的连接的稳固性，避免在无人机100飞行的过程中天线主体51与机臂20的夹角β发生变化而影响拍摄，还可以在天线主体51的第一连接端511与机臂20的连接处设置第一限位结构 53a。其中，该第一限位结构53a可以是一个将夹角β限定于某一预设角度的部件，如：弹簧锁。或者，该第一限位结构53a也可以是一个可以实时调整夹角β的角度的控制装置，该控制装置中包括驱动单元，可以在摄像装置40工作时，根据实际情况实时调整天线主体51与机臂20的夹角β，避免无人机100在以其他飞行姿态飞行时，天线50遮挡到摄像装置40的拍摄视野。
在本实施例中，弯折部52是天线50的弯折部分，其长度小于或等于天线主体51的长度，并且向避开摄像装置40的视场角的方向弯折。当天线主体51向垂直于地面的方向延伸时，天线主体51与弯折部52所呈角度(即：天线主体51与弯折部52的夹角α)可以设置为90°+FOV/2或90°-FOV/2，其中，FOV是摄像装置40的视场角。其中，当天线主体51与弯折部52所呈角度为：90°+FOV/2时，弯折部52的悬空端522与机臂20的底部的距离d1大于弯折部52的第三连接端521与机臂20的底部的距离d2，从而可以保证该天线50可以更好地向下发射无线信号和/或接收地面向无人机100发射的无线信号。
其中，弯折部52的第三连接端521与天线主体51的第二连接端512连接，其连接方式可以是固定连接，如：卡接、叉接以及一体式等。在其他实施例中，第三连接端521与天线主体51的第二连接端512也可以是铰接，在外力的作用下，弯折部52可以绕天线主体51转动，从而能够根据不同的摄像装置40的视场角相应调整天线主体51与弯折部52的夹角α。
进一步地，在另一些实施例中，为了提升天线主体51与弯折部52连接的稳固性，避免在无人机100飞行的过程中天线主体51与弯折部52的夹角α发生变化而影响拍摄，还可以在弯折部52与天线主体51的连接处设置第二限位结构53b。其中，该第二限位结构53b可以是一个将夹角α限定于某一预设角度的部件，如：弹簧锁。或者，该第二限位 结构53b也可以是一个可以实时调整夹角α的角度的控制装置，该控制装置中包括驱动单元，可以根据实际情况实时调整主天线51与弯折部52的夹角α。在其他可能的实施例中，也可以通过改变天线主体51和弯折部52的形状，在天线50中形成限位结构。比如，如图4(a)所示，天线主体51具有第一斜边5121，弯折部52具有第二斜边5211，当弯折部52向天线主体51弯折时，如图4(b)所示，第二斜边5211与第一斜边5121抵接，从而将弯折部52与天线主体51所呈角度限定于第一斜边5121所在方向与天线主体51所在方向的夹角。
当天线50中同时包括第一限位结构53a和第二限位结构53b，且该第一限位结构53a和第二限位结构53b均为控制装置时，还可以以联动的方式同时调整夹角α和夹角β的值，提升该天线50的灵活性。例如：在摄像装置40正在工作的情况下，可以根据无人机100的飞行状态，通过第二限位结构53b调整夹角α和/或通过第一限位结构53a调整夹角β，以避免无人机100在以其他飞行姿态飞行时天线50遮挡到摄像装置40的拍摄视野；或者，当无人机100仍然执行飞行任务但摄像装置40停止工作时，可以通过第二限位结构53b调整夹角α和/或通过第一限位结构53a调整夹角β以使得弯折部52和/或天线主体51与地面垂直，从而能够获得更强的无线信号；又或者，当需要收纳无人机100时，也可以通过限位结构53b调整夹角α＝0°，以及通过第一限位结构53a减小夹角β的值，从而缩小天线50所占用的空间。
在实际的应用中，可以根据摄像装置40和天线50的安装位置、天线50所需的总长以及摄像装置40的视场角来选择合适的天线50(即：确定天线50的天线主体51的长度L1以及天线主体51与弯折部52的夹角α)。
举例说明：如图1所示，无人机100当前处于水平飞行或者水平悬停状态，天线50垂直安装于驱动装置31的下方(即：天线主体51与 机臂20的夹角β＝90°)。假设：摄像装置40的视场角为FOV，与该视场角FOV对应的最大拍摄视线为X，最大拍摄视线X所包覆的范围即摄像装置40的拍摄视野；螺旋桨32单个叶片的长度为R，驱动装置31在竖直方向上的长度为M；天线50的所需的总长为L tot。首先，为了保证天线50的天线主体51避开摄像装置40的拍摄视野(即：天线主体51的第二连接端512位于摄像装置40的最大拍摄视线X之外)，天线50的天线主体51的长度L1需满足：L1≤R*tan(FOV/2)-M；其次，为了保证弯折部52也避开摄像装置40的拍摄视野(即弯折部52的第三连接端521和悬空端522均位于摄像装置40的最大拍摄视线X之外)，天线主体51与弯折部52的夹角α需满足：180°-β＜α≤180°-β+FOV/2。此外，若L1＝R*tan(FOV/2)-M＜L tot/2(说明此时天线主体51的长度小于弯折部52的长度)，则需重新调整天线主体51与机臂20的夹角β、天线主体51的长度L1以及天线主体51与弯折部52的夹角α或者更换天线50的型号，以在保证天线主体51的长度大于或等于弯折部52的长度的情况下，使弯折部52的悬空端522与机臂2的底部的距离d1大于弯折部52的第三连接端521与机臂2的底部的距离d2，并且弯折部52的第三连接端521和悬空端522均位于摄像装置40的最大拍摄视线X之外(即天线50避开摄像装置40的拍摄视野)。
其中，应当理解的是，在本实施例中，仅以摄像装置40的最大拍摄视线X为摄像装置40与螺旋桨32的连线为例进行解释说明，并不用于限定本发明，在另一些实施例中，摄像装置40的最大拍摄视线也可以是如图1中所示的X’或者其他视线。
总的来说，区别于现有技术的情况，本发明实施例提供的天线包括天线主体和与该天线主体连接的弯折部，所述弯折部向避开无人机的摄像装置的视场角的方向弯折，能够在保证具有一定的有效长度以获取较强的无线信号的情况下，在摄像装置工作时，巧妙地避开该摄像装置的 拍摄视野，从而获得满足用户需求的拍摄画面。
需要说明的是，本发明的说明书及其附图中给出了本发明的较佳的实施例，但是，本发明可以通过许多不同的形式来实现，并不限于本说明书所描述的实施例，这些实施例不作为对本发明内容的额外限制，提供这些实施例的目的是使对本发明的公开内容的理解更加透彻全面。并且，上述各技术特征继续相互组合，形成未在上面列举的各种实施例，均视为本发明说明书记载的范围；进一步地，对本领域普通技术人员来说，可以根据上述说明加以改进或变换，而所有这些改进和变换都应属于本发明所附权利要求的保护范围。

Claims (13)

  1. 一种天线，应用于无人机，所述无人机包括摄像装置，其特征在于，所述天线包括：天线主体和与所述天线主体连接的弯折部；所述弯折部向避开所述摄像装置视场角的方向弯折。
  2. 根据权利要求1所述的天线，其特征在于，所述天线主体与所述弯折部固定连接。
  3. 根据权利要求1所述的天线，其特征在于，所述天线主体与所述弯折部铰接。
  4. 根据权利要求3所述的天线，其特征在于，所述天线还设置有限位结构。
  5. 根据权利要求4所述的天线，其特征在于，所述天线主体具有第一斜边，所述弯折部具有第二斜边，所述弯折部向所述天线主体弯折时，所述第二斜边与所述第一斜边抵接。
  6. 根据权利要求1-5任一项所述的天线，其特征在于，所述天线主体向垂直于地面的方向延伸。
  7. 根据权利要求6所述的天线，其特征在于，所述摄像装置的视场角为FOV，则所述天线主体与所述弯折部所呈角度为：90°+FOV/2或90°-FOV/2。
  8. 根据权利要求7所述的天线，其特征在于，所述天线主体与所述弯折部所呈角度为：90°+FOV/2。
  9. 一种无人机，其特征在于，包括：
    机身；
    机臂，与所述机身相连；
    动力装置，设置于所述机臂；
    摄像装置，安装于所述机身的下方；以及
    内置有天线的部件，所述部件安装于所述机臂上且可相对于所述动力装置旋转。
  10. 根据权利要求9所述的无人机，其特征在于，所述部件为起落架。
  11. 根据权利要求9或10所述的无人机，其特征在于，所述部件位于所述动力装置下方。
  12. 根据权利要求9-11中任一项所述的无人机，其特征在于，所述部件位于所述机臂末端。
  13. 根据权利要求9-12中任一项所述的无人机，其特征在于，所述机臂与所述机身转动连接。
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