WO2019019399A1 - 飞行器、地面站及射频检测系统 - Google Patents

飞行器、地面站及射频检测系统 Download PDF

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Publication number
WO2019019399A1
WO2019019399A1 PCT/CN2017/104950 CN2017104950W WO2019019399A1 WO 2019019399 A1 WO2019019399 A1 WO 2019019399A1 CN 2017104950 W CN2017104950 W CN 2017104950W WO 2019019399 A1 WO2019019399 A1 WO 2019019399A1
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WIPO (PCT)
Prior art keywords
aircraft
antenna
data
ground station
real
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
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PCT/CN2017/104950
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English (en)
French (fr)
Inventor
胡奔
莫颂权
王坤殿
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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Filing date
Publication date
Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Priority to CN201780072656.6A priority Critical patent/CN109982929A/zh
Publication of WO2019019399A1 publication Critical patent/WO2019019399A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U60/00—Undercarriages
    • B64U60/40—Undercarriages foldable or retractable
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R29/00—Arrangements for measuring or indicating electric quantities not covered by groups G01R19/00 - G01R27/00
    • G01R29/08—Measuring electromagnetic field characteristics
    • G01R29/10—Radiation diagrams of antennas
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • 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]

Definitions

  • the invention relates to the field of radio frequency detection, in particular to an aircraft, a ground station and a radio frequency detection system applicable to the field of radio frequency detection.
  • radio frequency detection is usually performed by manually carrying a radio frequency detection device such as a spectrum analyzer, such as a detection signal interference source, a reconnaissance device positioning signal source, and the like.
  • a radio frequency detection device such as a spectrum analyzer, such as a detection signal interference source, a reconnaissance device positioning signal source, and the like.
  • locating an interference source requires at least three different locations to be measured.
  • the inspector also needs to board the high-rise building to lift the spectrum analyzer antenna and rotate the antenna 360° for measurement, while manually raising the antenna at various angles.
  • the control accuracy is poor, and the position of the located interference source or the like is often in an area that is difficult for humans to reach.
  • the manual piggyback spectrum analyzer performs detection methods such as large work intensity, low efficiency, long time-consuming, inaccurate positioning, and even the inability to complete the detection.
  • an aircraft including a fuselage, an arm extending from the fuselage, and a pan/tilt camera mounted on the fuselage, the arm being coupled to a power unit that drives the aircraft, the aircraft further Including a spectrum analyzer and a data backhaul device, the spectrum analyzer provides frequency The domain analysis map, the data backhaul device returns the frequency domain analysis map to a ground station in real time.
  • the aircraft further includes an aircraft antenna, a spectrometer antenna, and a data return antenna, the aircraft antenna providing a communication connection between the aircraft and the ground station so that the aircraft can be controlled according to the ground station Instructing to perform a task, the spectrometer antenna receiving radio frequency signal data for analysis by the spectrometer and providing a frequency domain analysis map, the data return antenna establishing a communication connection with the ground station, the data backhaul device passing through The data backhaul antenna returns the frequency domain analysis map to the ground station.
  • the spectrum analyzer antenna, the data return antenna and the aircraft antenna are respectively disposed at a bottom position, a top position and a middle position of the aircraft; or the spectrum analyzer antenna, the data return antenna and the aircraft antenna are respectively disposed on The bottom, middle and top positions of the aircraft.
  • the spectrum analyzer and the data backhaul device are fixedly connected and mounted at a bottom position of the aircraft.
  • the spectrum analyzer antenna is disposed on a lower side of the spectrum analyzer and connected to the spectrum analyzer.
  • the aircraft further includes a position sensing module and a height sensing module disposed on the body, the position sensing module sensing position information of the aircraft, and the height sensing module senses the The height information of the aircraft, the position information and the altitude information are transmitted back to the ground station in real time.
  • the position information and the height information of the aircraft are returned in real time through the data backhaul device.
  • the airframe is provided with a control module, and the control module controls to transmit the position information and the height information of the aircraft to the data backhaul device in real time.
  • pan/tilt camera is disposed at a front end of the aircraft to acquire image data.
  • a ground station in another aspect, includes: a remote control unit remotely controlling an aircraft to perform a task and receiving image data captured by the aircraft; and the real-time monitoring unit receives the frequency domain analysis map of the aircraft backhaul in real time and Real-time display; and the data archiving unit archives the frequency domain analysis map and image data of the aircraft backhaul.
  • the remote control unit communicates with the aircraft through an aircraft antenna of the aircraft, remotely controls the aircraft to fly and captures and receives image data captured by the aircraft.
  • the real-time monitoring unit communicates with the aircraft through a data return antenna of the aircraft, and the real-time monitoring unit also receives aircraft position information and altitude information returned by the aircraft in real time, and displays the position in real time. Information and height information.
  • the data archiving unit acquires and maps the frequency domain analysis map, the aircraft position information and the height information, and the image data of the aircraft backhaul through the real-time monitoring unit and the remote control unit.
  • the remote control unit is integrated in the real-time monitoring unit, and the image data received by the remote control unit is displayed in real time through the real-time monitoring unit.
  • a radio frequency detection system including the aircraft described above and the ground station described above.
  • the real-time monitoring unit controls the spectrum analyzer through the data backhaul device.
  • the aircraft, the ground station and the radio frequency detection system provided by the embodiments of the invention can conveniently and accurately detect the target object, such as the interference source, by setting the spectrum analyzer and the data back-transmitting device on the aircraft, thereby improving the detection precision and efficiency. Reduce the user's work intensity.
  • FIG. 1 is a schematic perspective view of an aircraft in an embodiment of the present invention.
  • Figure 2 is a rear and partial exploded view of the aircraft of Figure 1.
  • Figure 3 is a left side and partial exploded view of the aircraft of Figure 1.
  • FIG. 4 is a top plan view of the aircraft of FIG. 1.
  • Figure 5 is a bottom plan view of the aircraft of Figure 1.
  • FIG. 6 is a system block diagram of a radio frequency detection system in an embodiment of the present invention.
  • a component when referred to as being "fixed” or “mounted” to another component, it can be directly on the other component or can also be in the middle of the component. When a component is considered to be “set to” another component, it can be placed directly on another component or possibly with a centered component.
  • the term "and/or" used herein includes all and any combinations of one or more of the associated listed items.
  • FIG. 1 to FIG. 5 are schematic diagrams of an aircraft 10 according to an embodiment of the present invention.
  • the aircraft 10 is an unmanned aerial vehicle including a fuselage 101 and an arm 102 distributed on a circumferential side of the fuselage 101.
  • words such as "upper side of the fuselage”, “lower side of the fuselage”, and “circumferential side of the fuselage”, etc., such as "upper side of the fuselage”, are used.
  • the peripheral side of the fuselage means that the six-sided space surrounding the fuselage 101 removes the upper portion of the body 101 After being with the bottom, any one or more of the remaining front, rear, left, and right sides of the space.
  • a power unit such as a rotor (not shown) is disposed at the end of the arm 102 to provide the aircraft 10 with the power required to land, fly, and hover.
  • the aircraft 10 is a quadrotor.
  • the aircraft 10 may be other multi-rotor aircraft 10 or a single-rotor aircraft 10, or the aircraft 10 may also be a fixed-wing aircraft. , Umbrella aircraft, etc.
  • the aircraft 10 further includes a landing gear 103 disposed on both sides of the body 101, and a pan-tilt camera 104 and a battery compartment 105 disposed on the lower side of the body 101.
  • the landing gear 103 is a foldable structure that extends when the aircraft 10 is lowered to provide support for landing of the aircraft 10, and at other times the landing gear 103 can be folded over the sides of the fuselage 101, thereby reducing the overall size of the aircraft 10. volume.
  • the battery compartment 105 and the pan-tilt imaging device 104 are arranged on the lower side of the body 101. In the present embodiment, the pan-tilt imaging device 104 is disposed on the front side of the battery compartment 105, so that the pan-tilt imaging device 104 is entirely located in the aircraft.
  • the pan-tilt camera 104 is a three-axis pan/tilt camera that can perform multi-angle photographing and forensics according to the control command to obtain image data of the target object.
  • the pan-tilt camera 104 may be a two-axis or one-axis pan/tilt camera, or may be a one-axis, two-axis or three-axis pan/tilt camera.
  • the position of the pan-tilt camera 104 and the battery compartment 105 may be changed accordingly, for example, the battery compartment 105 is disposed on the upper side of the pan-tilt camera 104.
  • the aircraft 10 further includes a position sensing module (shown in FIG. 6) and a height sensing module (shown in FIG. 6) disposed on the body 101, the position sensing module for sensing the aircraft 10 in real time. Location information, the height sensing module is used to sense altitude information of the aircraft 10 in real time.
  • the aircraft 10 further includes an aircraft antenna 106 that cooperates with a radio frequency module (shown in Figure 6) disposed in the fuselage 101 to establish a communication connection with a ground station (shown in Figure 6). Thereby, the aircraft 10 can perform tasks such as landing, flight, hovering and photographing under the control of the ground station.
  • the aircraft antenna The 106 is substantially strip-shaped, one end of which is mounted on one side of the periphery of the fuselage 101, and the other end extends downward so that the aircraft antenna 106 as a whole is located substantially at the center of the aircraft 10.
  • the aircraft antenna 106 can also extend upward from the mounting end, and only the aircraft antenna 106 needs to be located substantially in the middle of the aircraft 10.
  • the aircraft antenna 106 can have other shapes.
  • the aircraft 10 further includes a data backhaul device 107 and a spectrum analyzer 108 disposed on the underside of the battery compartment 105.
  • the data backhaul device 107 is disposed above the spectrum analyzer 108 and is fixedly coupled with the spectrum analyzer 108 and mounted together at the bottom position of the aircraft 10, for example, in one embodiment, data backhaul
  • the device 107 and the spectrum analyzer 108 are mounted on the body 101 by means of thread locking or snapping.
  • the data back-transfer device 107 and the spectrum analyzer 108 are hung by thread locking or snapping. It is carried on the battery compartment 105.
  • the data backhaul device 107 and the spectrum analyzer 108 can also be mounted on the body 101 or the battery compartment 105 by means of a pendant extending from the body 101 or the battery compartment 105.
  • the aircraft 10 further includes a data return antenna 109 and a spectrum analyzer antenna 110, wherein the data return antenna 109 cooperates with a radio frequency module (shown in FIG. 6) in the data backhaul device 107.
  • a communication connection is established with the ground station to enable the data backhaul device 107 to return relevant data to the ground station.
  • the spectrometer antenna 110 cooperates with a radio frequency module (shown in Figure 6) within the spectrometer 108 to receive radio frequency signal data.
  • the data return antenna 109 is substantially strip-shaped, one end of which is mounted on the top of the body 101 and the other end extends upward, so that the data return antenna 109 is entirely located at the top position of the aircraft 10.
  • the data return antenna 109 may also be in other suitable shapes, such that the data return antenna 109 is generally located substantially at the top of the aircraft 10.
  • the spectrometer antenna 110 is substantially plate-shaped and disposed on the lower side of the spectrum analyzer 108.
  • the spectrometer antenna 110 is connected to the spectrum analyzer 108 by thread locking or other fixed means.
  • the spectrometer antenna 110 can also be other suitable shapes, and only the spectrometer antenna 110 needs to be located substantially at the bottom of the aircraft 10. Since the spectrum analyzer antenna 110 is located in the aircraft 10 At the bottom, the other components of the aircraft 10 do not obstruct the spectrometer antenna, allowing the spectrometer antenna to obtain the strongest signal.
  • the data return antenna 109, the aircraft antenna 106 and the spectrum analyzer antenna 110 are respectively disposed at the top, middle and bottom positions of the aircraft 10, the antennas are layered and spaced apart to avoid mutual interference.
  • the data return antenna 109 is interchangeable with the installation location of the aircraft antenna 106, that is, the data return antenna 109 is mounted at the center of the aircraft 10, and the aircraft antenna 106 is mounted at the top of the aircraft 10, so that the antenna can be avoided. Interfering with each other.
  • pan-tilt camera 104 is mounted on the front side of the battery compartment 105, and the data back-transfer device 107, the spectrum analyzer 108, and the spectrum analyzer antenna 110 are mounted under the battery compartment 105 to prevent the pan-tilt camera 104 from being photographed vertically downward.
  • FIG. 6 shows a radio frequency detection system 30 including an aircraft 10 and a ground station 20.
  • the aircraft 10 is connected to the ground station 20 by wireless communication, thereby enabling the aircraft 10 to receive control commands from the ground station 20, perform related tasks in accordance with control commands, and return data to the ground station 20.
  • the ground station 20 includes a remote control unit 21, a real time monitoring unit 22, and a data archiving unit 23.
  • the remote control unit 21 is configured to remotely control the aircraft 10 to execute related instructions to complete related tasks, including: an antenna 211, a radio frequency module 212, a control module 213, a display module 24, and an input module 215.
  • the remote control unit 21 may also include other functional modules so that the remote control unit 21 also has other functions, which are not enumerated here.
  • the input module 215 is configured to input a control command by a user
  • the display module 214 is configured to display image data returned by the aircraft 10.
  • the radio frequency module 212 is configured to transmit a control command of the user through the antenna 211 and receive data transmitted by the aircraft 10 through the aircraft antenna 106.
  • the control module 213 is configured to control the radio frequency module 212, the display module 214 and the input module 215 to cooperate in an orderly manner. jobs.
  • the real-time monitoring unit 22 is configured to receive the data returned by the data backhaul device 107 in real time and display it in real time, including: an antenna 221, a radio frequency module 222, a control module 223, and a display module 224.
  • the real-time monitoring unit 22 also Other functional modules may be included so that the real-time monitoring unit 22 also has other functions, such as input functions, control functions, etc., for example, the real-time monitoring unit 22 may control the data back-transfer device 107, such as controlling the opening and closing of the data back-transfer device 107.
  • the real-time monitoring unit 22 can also control the spectrum analyzer 108 through the data backhaul device 107, such as controlling the opening and closing of the spectrum analyzer 108.
  • the radio frequency module 222 is configured to receive data returned by the data backhaul device 107 through the data return antenna 109 through the antenna 221, such as a frequency domain analysis map, position information and altitude information of the aircraft 10, and the like.
  • the display module 224 is configured to display the data returned by the data backhaul device 107 in real time.
  • the control module 223 is configured to control the radio module 222 to work in an orderly manner with the display module 224.
  • the data archiving unit 23 is configured to archive the data returned by the data backhaul device 107, and includes: a control module 231 and a storage module 232.
  • the control module 232 controls the data returned by the data backhaul device 107 to be saved in the storage module 231. .
  • the data archiving unit 23 acquires the data returned by the data backhaul device 107 and acquires the image data through the remote control unit 21 through the real-time monitoring unit 22, but in other embodiments, the data archiving unit 23 may also
  • the antenna and radio frequency module are configured such that they can establish a communication connection with the aircraft 10 alone to receive frequency domain analysis maps, position information, altitude information, and image data directly from the aircraft 10.
  • the remote control unit 21 can also be integrated into the real-time monitoring unit 22 and share the display module 224 of the real-time monitoring unit 22, so that the frequency domain analysis map and location information acquired by the aircraft 10 are obtained.
  • the height information and the image data partition are presented on the display module 224 of the real-time monitoring unit 22.
  • the data archiving unit 23 can also be connected or integrated into the real-time monitoring unit 22 to obtain and analyze the frequency domain analysis map, location information, height information, and image data from the real-time monitoring unit.
  • the body 101 of the aircraft 10 is provided with a control module 1011, a radio frequency module 1012, a position sensing module 1013, and a height sensing module 1014, wherein the control module 1011 and the radio frequency module 1012, the position sensing module 1013, the height sensing module 1014, and the cloud
  • the radiography module 1012 is connected to the aircraft antenna 106 to establish a communication connection with the remote control unit 21, specifically, in the present embodiment.
  • the radio frequency module 1012 receives the control command from the remote control unit 21 through the aircraft antenna 106 and transmits the control command to the control module 1011.
  • the control module 1011 controls the power device 111 and the pan-tilt camera 104 to operate according to the control command, for example, controlling the power device 111.
  • the position sensing module 1013 senses the position information of the aircraft 10 in real time
  • the height sensing module 1014 senses the height information of the aircraft 10 in real time.
  • the location information and the height information are all controlled and transmitted to the data backhaul device 107 by the control module 1011.
  • the position sensing module 1013 and the height sensing module 1014 can also be disposed on other parts of the aircraft 10, such as the arm 102.
  • the spectrum analyzer 108 includes a control module 1081, an analysis module 1082, and a radio frequency module 1083.
  • the radio frequency module 1083 is configured to cooperate with the spectrum analyzer antenna 110 to receive radio frequency signal data, and the received radio frequency signal data is transmitted to the analysis module 1082 and the frequency domain analysis is performed by the analysis module 1082 to obtain a frequency domain analysis spectrum.
  • the domain analysis map is controlled by the control module 1081 to be transmitted to the data backhaul device 107.
  • the data backhaul device 107 includes a control module 1071 and a radio frequency module 1072.
  • the radio frequency module 1072 is configured to cooperate with the data return antenna 109 to transmit the received position information of the aircraft 10, the altitude information, and the frequency domain analysis map output by the spectrum analyzer 108 to the real-time under the control of the control module 1071.
  • the real-time monitoring unit 22 is configured to display the real-time monitoring unit 22 to the user in real time, thereby facilitating the user to locate the interference source or signal source and controlling the aircraft 10 to continue capturing forensics.
  • the working principle of the aircraft 10 is further explained below by taking the aircraft 10 as an interference source as an example.
  • the user remotely controls the aircraft 10 to hover in a position through the remote control unit 21, and the spectrum analyzer 108 analyzes the intensity of the surrounding radio frequency signals, and transmits the generated frequency domain analysis map to the real-time monitoring unit 22 in real time, and simultaneously returns the aircraft 10 in real time.
  • Location information and height information The user continues to remotely control the aircraft 10 to rotate at one or more angles at the position through the remote control unit 21, and then combines the positional information of the aircraft 10 according to the frequency domain analysis map returned by the aircraft 10.
  • the information and altitude information determine the orientation of the source of interference and the source of the interference, and send a control command to remotely control the aircraft 10 to cause the aircraft 10 to continue to measure in accordance with the location of the source of interference, such that the location of the source of interference is determined.
  • the user After determining the location of the interference source, the user then remotely controls the pan-tilt camera 104 to take evidence.
  • the user can remotely control the pan-tilt camera 104 to take evidence.
  • the user can remotely control the pan-tilt camera 104 for full-process shooting monitoring.
  • the obtained image data is transmitted to the remote control unit 21 in real time.
  • the aircraft provided by the present invention has at least the following advantages:
  • the prior art is manually carried by a spectrum analyzer, and the user needs to climb up to a high-rise building to raise the antenna for measurement;
  • the aircraft of the present invention is equipped with a spectrum analyzer, and the aircraft can be stably hovered in the air, and the user can operate the aircraft to fly to the measurement site for measurement, which can effectively improve Detection efficiency reduces user work intensity;
  • the prior art is to manually raise the spectrum analyzer antenna and rotate it 360° horizontally.
  • the user can operate the aircraft to stably rotate 360° horizontally, and the control precision is high;
  • the prior art is to manually find an interference source after locking the interference source area.
  • the aircraft installation pan/tilt camera of the present invention can directly find the interference source in the air, which can effectively improve the search efficiency and reduce the user work intensity;
  • the aircraft provided by the invention is equipped with a data backhaul device, and the spectrum analyzer monitoring data can be back-filed in real time.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Mechanical Engineering (AREA)
  • General Physics & Mathematics (AREA)
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  • Electromagnetism (AREA)
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  • Position Fixing By Use Of Radio Waves (AREA)
  • Arrangements For Transmission Of Measured Signals (AREA)
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Abstract

本发明提供一种飞行器，所述飞行器(10)包括机身(101)、由机身(101)延伸的机臂(102)以及搭载于机身的云台拍摄装置(104)，所述机臂(102)连接驱动所述飞行器的动力装置(111)，所述飞行器(10)还包括频谱仪(108)与数据回传装置(109)，所述频谱仪(108)提供频域分析图谱，所述数据回传装置(109)实时回传所述频域分析图谱至一地面站(20)。本发明还提供一种地面站与一种射频检测系统，本发明实施例提供的飞行器、地面站及射频检测系统能降低用户工作强度，提高检测精度与效率。

Description

飞行器、地面站及射频检测系统
版权申明
本专利文件披露的内容包含受版权保护的材料。该版权为版权所有人所有。版权所有人不反对任何人复制专利与商标局的官方记录和档案中所存在的该专利文件或者该专利披露。
技术领域
本发明涉及射频检测领域，尤其涉及可应用于射频检测领域的飞行器、地面站及射频检测系统。
背景技术
目前射频检测通常是由人工背负射频检测设备如频谱仪完成的，如检测信号干扰源、侦码设备定位信号源等。一般来说，定位一个干扰源最少需要在三个不同地点进行测量，在有些情况下，检测人员还需要登到高楼举起频谱仪天线并旋转天线360°进行测量，而人工高举天线各向角度控制精度差，所定位的干扰源等的位置也经常处在人力很难达到的区域。
总的来说，人工背负频谱仪进行检测的方式存在工作强度大，效率低，耗时长，定位不精准等问题，甚至存在无法完成检测的情况。
发明内容
有鉴于此，有必要提出一种飞行器、地面站与射频检测系统，以解决上述以及其他潜在问题。
一方面，提供一种飞行器，所述飞行器包括机身、由机身延伸的机臂以及搭载于机身的云台拍摄装置，所述机臂连接驱动所述飞行器的动力装置，所述飞行器还包括频谱仪与数据回传装置，所述频谱仪提供频 域分析图谱，所述数据回传装置实时回传所述频域分析图谱至一地面站。
进一步地，所述飞行器还包括飞行器天线、频谱仪天线与数据回传天线，所述飞行器天线供所述飞行器与所述地面站之间建立通信连接以便所述飞行器能根据所述地面站的控制指令执行任务，所述频谱仪天线接收射频信号数据以供所述频谱仪分析并提供频域分析图谱，所述数据回传天线与所述地面站建立通信连接，所述数据回传装置通过所述数据回传天线向所述地面站回传所述频域分析图谱。
进一步地，所述频谱仪天线、数据回传天线与飞行器天线分别设置于所述飞行器的底部位置、顶部位置与中部位置；或者，所述频谱仪天线、数据回传天线与飞行器天线分别设置于所述飞行器的底部位置、中部位置与顶部位置。
进一步地，所述频谱仪与数据回传装置之间固定连接并挂载于所述飞行器的底部位置。
进一步地，所述频谱仪天线设置于所述频谱仪下侧、连接于所述频谱仪上。
进一步地，所述飞行器还包括设置于所述机身的位置传感模块与高度传感模块，所述位置传感模块感测所述飞行器的位置信息，所述高度传感模块感测所述飞行器的高度信息，所述位置信息与高度信息实时回传至所述地面站。
进一步地，所述飞行器的位置信息与高度信息通过所述数据回传装置实时回传。
进一步地，所述机身设置一控制模块，所述控制模块控制将所述飞行器的位置信息与高度信息实时传送给所述数据回传装置。
进一步地，所述云台拍摄装置设置于所述飞行器前端以获取影像数据。
另一方面，还提供一种地面站，所述地面站包括：遥控单元遥控一飞行器执行任务并接收所述飞行器拍摄的影像数据；实时监控单元实时接收所述飞行器回传的频域分析图谱并实时显示；及数据存档单元将所述飞行器回传的频域分析图谱与影像数据存档。
进一步地，所述遥控单元通过所述飞行器的飞行器天线与所述飞行器通信、遥控所述飞行器飞行与拍摄并接收飞行器拍摄的影像数据。
进一步地，所述实时监控单元通过所述飞行器的数据回传天线与所述飞行器通信，所述实时监控单元还实时接收所述飞行器回传的飞行器位置信息与高度信息、并实时显示所述位置信息与高度信息。
进一步地，所述数据存档单元通过所述实时监控单元与遥控单元获取所述飞行器回传的频域分析图谱、飞行器位置信息与高度信息以及影像数据并存档。
进一步地，所述遥控单元整合于所述实时监控单元中，所述遥控单元接收的影像数据通过所述实时监控单元实时显示。
再一方面，还提供一种射频检测系统，所述射频检测系统包括上述的飞行器及上述的地面站。
进一步地，所述实时监控单元通过所述数据回传装置控制所述频谱仪。
本发明实施例提供的飞行器、地面站及射频检测系统，通过在飞行器上设置频谱仪与数据回传装置，可以方便对标的物例如干扰源进行准确且方便的检测，提高了检测精度与效率，降低了用户工作强度。
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，下面描述中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是本发明一实施方式中的飞行器的立体示意图。
图2是图1所示飞行器的后视与部分分解示意图。
图3是图1所示飞行器的左视与部分分解示意图。
图4是图1所示飞行器的俯视示意图。
图5是图1所示飞行器的仰视示意图。
图6是本发明一实施方式中的射频检测系统的系统框图。
主要元件符号说明
飞行器          10
机身           101
机臂           102
起落架         103
云台拍摄装置   104
电池仓         105
飞行器天线     106
数据回传装置   107
频谱仪         108
数据回传天线   109
频谱仪天线     110
动力装置       111
位置传感模块   1013
高度传感模块   1014
地面站         20
遥控单元       21
实时监控单元   22
数据存档单元   23
天线           211、221
射频模块        212、222、1012、1083、1072
控制模块        213、223、231、1011、1081、1071
分析模块        1082
存储模块        232
显示模块        214、224
输入模块        215
射频检测系统    30
如下具体实施方式将结合上述附图进一步说明本发明。
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作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”、“安装于”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“设置于”另一个组件，它可以是直接设置在另一个组件上或者可能同时存在居中组件。本文所使用的术语“及/或”包括一个或多个相关的所列项目的所有的和任意的组合。
请参阅图1-图5所示，为本发明一实施方式中的飞行器10的示意图。所述飞行器10为无人驾驶飞行器，包括机身101与分布于机身101周侧的机臂102。在下述具体描述中，为方便描述，会使用诸如“机身的上侧”、“机身的下侧”以及“机身的周侧”等表达方位的词语，其中“机身的上侧”是指沿飞行器10航向轴所指方向，位于机身101之上的空间位置，“机身的下侧”是指沿飞行器10航向轴所指方向，位于机身101之下的空间位置，“机身的周侧”是指环绕机身101的六面空间去除机身101的上方 与下方后，剩余的前后左右四面空间中的任一个或多个空间位置。所述机臂102末端设置动力装置如旋翼(图未示)，以便为飞行器10提供起落、飞行与悬停所需的动力。在本实施方式中，所述飞行器10为四旋翼飞行器，在其他实施方式中，所述飞行器10可为其他多旋翼飞行器10或者单旋翼飞行器10，或者，所述飞行器10也可以为固定翼飞行器、伞翼飞行器等。
所述飞行器10进一步包括设置于机身101两侧的起落架103以及设置于机身101下侧的云台拍摄装置104与电池仓105。起落架103为一可折叠结构，在飞行器10降落时所述起落架103伸展，以便为飞行器10降落提供支撑，在其他时候起落架103可折叠于机身101两侧，从而减少飞行器10的整体体积。电池仓105与云台拍摄装置104排列设置于机身101下侧，其中，在本实施方式中，云台拍摄装置104设置于电池仓105的前侧，从而使云台拍摄装置104整体位于飞行器10前端。电池仓105内装载电池，从而为飞行器10整体提供电能供应。云台拍摄装置104为一三轴云台相机，能根据控制指令进行多角度的拍摄取证以获得目标物的影像数据。在其他实施方式中，云台拍摄装置104可以为两轴或一轴云台相机，也可以为一轴、二轴或三轴云台摄像机。在其他实施方式中，云台拍摄装置104与电池仓105的位置可以相应变化，例如，将电池仓105设置于云台拍摄装置104的上侧。
所述飞行器10进一步包括设置于机身101上的位置传感模块(见图6所示)与高度传感模块(见图6所示)，所述位置传感模块用于实时感测飞行器10的位置信息，所述高度传感模块用于实时感测飞行器10的高度信息。
所述飞行器10进一步包括一飞行器天线106，所述飞行器天线106与设置于机身101的射频模块(见图6所示)配合工作以与一地面站(见图6所示)建立通信连接，从而使飞行器10能在地面站的控制下执行起落、飞行、悬停与拍照等任务。在本实施方式中，所述飞行器天线 106大致呈条状，其一端安装于机身101周缘一侧，另一端往下延伸，使飞行器天线106整体大致位于飞行器10的中部位置。当然，在其他实施方中，所述飞行器天线106亦可由安装一端往上延伸，仅需使飞行器天线106大致位于飞行器10中部位置而已，另外，飞行器天线106亦可为其他形状。
所述飞行器10进一步包括设置于电池仓105下侧的数据回传装置107与频谱仪108。在本实施方式中，数据回传装置107设置于频谱仪108上方、且与频谱仪108之间固定连接并一起挂载于飞行器10的底部位置，例如，在一种实施方式中，数据回传装置107与频谱仪108通过螺纹锁定或卡扣固定等方式挂载于机身101上，在另一种实施方式中，数据回传装置107与频谱仪108通过螺纹锁定或卡扣固定等方式挂载在电池仓105上。在再一种实施方式中，数据回传装置107与频谱仪108也可通过从机身101上或电池仓105上延伸出的挂件挂载于机身101或电池仓105上。
所述飞行器10进一步包括一数据回传天线109与一频谱仪天线110，其中，所述数据回传天线109与所述数据回传装置107内的射频模块(见图6所示)配合工作以与地面站建立通信连接，从而使数据回传装置107能回传相关数据给地面站。所述频谱仪天线110与所述频谱仪108内的射频模块(见图6所示)配合工作以接收射频信号数据。在本实施方式中，所述数据回传天线109大致呈条状，其一端安装于机身101顶部，另一端往上延伸，使数据回传天线109整体位于飞行器10的顶部位置。在其他实施方式中，所述数据回传天线109也可为其他适合形状，仅需使数据回传天线109整体大致位于飞行器10的顶部位置。所述频谱仪天线110大致呈板状，设置于频谱仪108的下侧，频谱仪天线110通过螺纹锁定或其他固定方式连接在频谱仪108上。在其他实施方式中，所述频谱仪天线110也可为其他适合形状，仅需使频谱仪天线110大致位于飞行器10的底部位置即可。由于频谱仪天线110位于飞行器10 的最下方，飞行器10其他部件不对频谱仪天线造成阻碍，使频谱仪天线能获得最强信号。
此外，由于将数据回传天线109、飞行器天线106与频谱仪天线110分别设置于飞行器10的顶部、中部与底部位置，使天线之间分层设置、相隔较远，避免相互干扰。在其他实施方式中，数据回传天线109与飞行器天线106的安装位置可互换，即数据回传天线109安装于飞行器10中部位置、飞行器天线106安装于飞行器10顶部位置，如此亦能避免天线之间相互干扰。
再者，云台拍摄装置104安装于电池仓105前侧，数据回传装置107、频谱仪108以及频谱仪天线110安装于电池仓105下方，避免遮挡云台拍摄装置104向下垂直拍照。
以下结合图6介绍本发明飞行器10的工作原理。
请参阅图6所示，图6所示为一射频检测系统30，所示射频检测系统30包括飞行器10与一地面站20。飞行器10与地面站20之间通过无线通信连接，从而使飞行器10能接收地面站20的控制指令、根据控制指令执行相关任务并回传数据给地面站20。
地面站20包括遥控单元21、实时监控单元22与数据存档单元23。所述遥控单元21用于遥控飞行器10执行相关指令以完成相关任务，包括：天线211、射频模块212、控制模块213、显示模块24以及输入模块215。当然，遥控单元21还可包括其他功能模块以便遥控单元21还具有其他功能，在此不一一列举。所述输入模块215用于供用户输入控制指令，所述显示模块214用于显示由飞行器10回传的影像数据。所述射频模块212用于通过天线211传送用户的控制指令以及接收飞行器10通过飞行器天线106回传的数据，所述控制模块213用于控制射频模块212、显示模块214与输入模块215有序协同工作。所述实时监控单元22用于实时接收数据回传装置107回传的数据并实时显示，包括：天线221、射频模块222、控制模块223与显示模块224。当然，实时监控单元22还 可包括其他功能模块以便实时监控单元22还具有其他功能，例如输入功能、控制功能等，例如，所述实时监控单元22可控制数据回传装置107，如控制数据回传装置107的开启与关闭等，所述实时监控单元22还可通过数据回传装置107控制频谱仪108，如控制频谱仪108的开启与关闭等。所述射频模块222用于通过天线221接收数据回传装置107通过数据回传天线109回传的数据，如频域分析图谱、飞行器10的位置信息与高度信息等。所述显示模块224用于实时显示由数据回传装置107回传的数据。所述控制模块223用于控制射频模块222与显示模块224有序协同工作。所述数据存档单元23用于将数据回传装置107回传的数据存档，包括：控制模块231与存储模块232，控制模块232控制将数据回传装置107回传的数据保存至存储模块231中。
在上述实施方式中，所述数据存档单元23通过实时监控单元22获取由数据回传装置107回传的数据以及通过遥控单元21获取影像数据，然在其他实施方式中，数据存档单元23也可配置天线与射频模块、以便其能单独与飞行器10建立通信连接以直接从飞行器10接收频域分析图谱、位置信息、高度信息以及影像数据。
也可以理解，在其他实施方式中，所述遥控单元21也可整合至实时监控单元22中并共用所述实时监控单元22的显示模块224，从而使飞行器10获取的频域分析图谱、位置信息、高度信息以及影像数据分区呈现在实时监控单元22的显示模块224上。同时，所述数据存档单元23也可连接或整合至实时监控单元22中，从而从实时监控单元处获得频域分析图谱、位置信息、高度信息以及影像数据并存档。
飞行器10的机身101设有控制模块1011、射频模块1012、位置传感模块1013以及高度传感模块1014，其中控制模块1011与射频模块1012、位置传感模块1013、高度传感模块1014、云台拍摄装置104、动力装置111以及数据回传装置107相连，射频模块1012用于与飞行器天线106连接从而与遥控单元21之间建立通信连接，具体地，在本实施方 式中，所述射频模块1012通过飞行器天线106从遥控单元21接收控制指令并传给控制模块1011，控制模块1011根据控制指令控制动力装置111与云台拍摄装置104动作，例如，控制动力装置111启停、加速、悬停以及控制云台拍摄装置104拍摄等。所述位置传感模块1013实时感测飞行器10的位置信息，所述高度传感模块1014实时感测飞行器10的高度信息。所述位置信息、高度信息均被控制模块1011控制传输给数据回传装置107。
可以理解，在其他实施方式中，位置传感模块1013与高度传感模块1014也可设置在飞行器10的其他部位，如机臂102上。
所述频谱仪108包括控制模块1081、分析模块1082与射频模块1083。所述射频模块1083用于与频谱仪天线110协同工作以接收射频信号数据，接收的射频信号数据被传给分析模块1082并由分析模块1082执行频域分析以获得频域分析图谱，所述频域分析图谱被控制模块1081控制传输给数据回传装置107。
所述数据回传装置107包括一控制模块1071与一射频模块1072。所述射频模块1072用于与数据回传天线109协同工作以在控制模块1071的控制下将接收的飞行器10的位置信息、高度信息、以及频谱仪108输出的频域分析图谱实时发送给所述实时监控单元22，以便实时监控单元22实时显示给用户，从而便于用户定位干扰源或信号源并控制飞行器10继续拍摄取证。
以下以飞行器10定位一干扰源为例进一步阐述飞行器10的工作原理。
用户通过遥控单元21遥控飞行器10悬停于一位置，频谱仪108分析周围射频信号的强度，并将生成的频域分析图谱实时传送给实时监控单元22，同时一同实时回传的还有飞行器10的位置信息与高度信息。用户通过遥控单元21继续遥控飞行器10在该位置旋转一或多个角度进行测量，然后根据飞行器10回传的频域分析图谱结合飞行器10的位置信 息与高度信息确定干扰源及干扰源的方位，并发送控制指令遥控飞行器10、使飞行器10依照干扰源方位变更位置继续测量，如此直至干扰源的位置被确定为止。在确定了干扰源位置后，用户再遥控云台拍摄装置104拍摄取证。当然，不限于定位干扰源后才拍摄取证，在定位干扰源的过程中的任何时候，用户均可遥控云台拍摄装置104拍摄取证，例如，用户可遥控云台拍摄装置104进行全过程拍摄监控，获得的影像数据实时传送给遥控单元21。
相较于现有技术，本发明提供的飞行器至少具有如下优点：
现有技术由人工背负频谱仪，用户需要登到高楼举起天线进行测量；本发明的飞行器安装频谱仪，飞行器可在空中稳定悬停，用户可操作飞行器飞至测量地点进行测量，能有效提高检测效率降低用户工作强度；
现有技术是由人工高举频谱仪天线并水平旋转360°，而利用本发明提供的飞行器，用户可操作飞行器稳定水平旋转360°，控制精度高；
现有技术是在锁定干扰源区域后由人工寻找干扰源，本发明的飞行器安装云台拍摄装置，可直接在空中寻找干扰源，能够有效提高查找效率，降低用户工作强度；
本发明提供的飞行器安装了数据回传装置，可将频谱仪监测数据实时回传存档。
最后应说明的是，以上实施例仅用以说明本发明的技术方案而非限制，尽管参照较佳实施例对本发明进行了详细说明，本领域的普通技术人员应当理解，可以对本发明的技术方案进行修改或等同替换，而不脱离本发明技术方案的精神和范围。

Claims (28)

  1. 一种飞行器，所述飞行器包括机身、由机身延伸的机臂以及搭载于机身的云台拍摄装置，所述机臂连接驱动所述飞行器的动力装置，其特征在于，所述飞行器还包括频谱仪与数据回传装置，所述频谱仪提供频域分析图谱，所述数据回传装置实时回传所述频域分析图谱至一地面站。
  2. 如权利要求1所述的飞行器，其特征在于，还包括飞行器天线、频谱仪天线与数据回传天线，所述飞行器天线供所述飞行器与所述地面站之间建立通信连接以便所述飞行器能根据所述地面站的控制指令执行任务，所述频谱仪天线接收射频信号数据以供所述频谱仪分析并提供频域分析图谱，所述数据回传天线与所述地面站建立通信连接，所述数据回传装置通过所述数据回传天线向所述地面站回传所述频域分析图谱。
  3. 如权利要求2所述的飞行器，其特征在于，所述频谱仪天线、数据回传天线与飞行器天线分别设置于所述飞行器的底部位置、顶部位置与中部位置；或者，所述频谱仪天线、数据回传天线与飞行器天线分别设置于所述飞行器的底部位置、中部位置与顶部位置。
  4. 如权利要求2所述的飞行器，其特征在于，所述频谱仪与数据回传装置之间固定连接并挂载于所述飞行器的底部位置。
  5. 如权利要求4所述的飞行器，其特征在于，所述频谱仪天线设置于所述频谱仪下侧、连接于所述频谱仪上。
  6. 如权利要求1所述的飞行器，其特征在于，还包括设置于所述机身的位置传感模块与高度传感模块，所述位置传感模块感测所述飞行器的位置信息，所述高度传感模块感测所述飞行器的高度信息，所述位置信息与高度信息实时回传至所述地面站。
  7. 如权利要求6所述的飞行器，其特征在于，所述飞行器的位置信息与高度信息通过所述数据回传装置实时回传。
  8. 如权利要求7所述的飞行器，其特征在于，所述机身设置一控制模块，所述控制模块控制将所述飞行器的位置信息与高度信息实时传送给所述数据回传装置。
  9. 如权利要求1所述的飞行器，其特征在于，所述云台拍摄装置设置于所述飞行器前端以获取影像数据。
  10. 一种地面站，其特征在于，包括：
    遥控单元，所述遥控单元遥控一飞行器执行任务并接收所述飞行器拍摄的影像数据；
    实时监控单元，所述实时监控单元实时接收所述飞行器回传的频域分析图谱并实时显示；及
    数据存档单元，所述数据存档单元将所述飞行器回传的频域分析图谱与影像数据存档。
  11. 如权利要求10所述的地面站，其特征在于，所述遥控单元通过所述飞行器的飞行器天线与所述飞行器通信、遥控所述飞行器飞行与拍摄并接收飞行器拍摄的影像数据。
  12. 如权利要求11所述的地面站，其特征在于，所述实时监控单元通过所述飞行器的数据回传天线与所述飞行器通信，所述实时监控单元还实时接收所述飞行器回传的飞行器位置信息与高度信息、并实时显示所述位置信息与高度信息。
  13. 如权利要求12所述的地面站，其特征在于，所述数据存档单元通过所述实时监控单元与遥控单元获取所述飞行器回传的频域分析图谱、飞行器位置信息与高度信息以及影像数据并存档。
  14. 如权利要求12所述的地面站，其特征在于，所述遥控单元整合于所述实时监控单元中，所述遥控单元接收的影像数据通过所述实时监控单元实时显示。
  15. 一种射频检测系统，其特征在于，包括飞行器和地面站；
    所述飞行器包括机身、由机身延伸的机臂以及搭载于机身的云台拍摄装置，所述机臂连接驱动所述飞行器的动力装置，其特征在于，所述飞行器还包括频谱仪与数据回传装置，所述频谱仪提供频域分析图谱，所述数据回传装置实时回传所述频域分析图谱至一地面站；
    所述地面站包括：
    遥控单元，所述遥控单元遥控一飞行器执行任务并接收所述飞行器拍摄的影像数据；
    实时监控单元，所述实时监控单元实时接收所述飞行器回传的频域分析图谱并实时显示；
    数据存档单元，所述数据存档单元将所述飞行器回传的频域分析图谱与影像数据存档。
  16. 如权利要求15所述的射频检测系统，其特征在于，还包括飞行器天线、频谱仪天线与数据回传天线，所述飞行器天线供所述飞行器与所述地面站之间建立通信连接以便所述飞行器能根据所述地面站的控制指令执行任务，所述频谱仪天线接收射频信号数据以供所述频谱仪分析并提供频域分析图谱，所述数据回传天线与所述地面站建立通信连接，所述数据回传装置通过所述数据回传天线向所述地面站回传所述频域分析图谱。
  17. 如权利要求16所述的射频检测系统，其特征在于，所述频谱仪天线、数据回传天线与飞行器天线分别设置于所述飞行器的底部位置、顶部位置与中部位置；或者，所述频谱仪天线、数据回传天线与飞行器天线分别设置于所述飞行器的底部位置、中部位置与顶部位置。
  18. 如权利要求16所述的射频检测系统，其特征在于，所述频谱仪与数据回传装置之间固定连接并挂载于所述飞行器的底部位置。
  19. 如权利要求18所述的射频检测系统，其特征在于，所述频谱仪天线设置于所述频谱仪下侧、连接于所述频谱仪上。
  20. 如权利要求15所述的射频检测系统，其特征在于，还包括设置于所述机身的位置传感模块与高度传感模块，所述位置传感模块感测所述飞行器的位置信息，所述高度传感模块感测所述飞行器的高度信息，所述位置信息与高度信息实时回传至所述地面站。
  21. 如权利要求20所述的射频检测系统，其特征在于，所述飞行器的位置信息与高度信息通过所述数据回传装置实时回传。
  22. 如权利要求21所述的射频检测系统，其特征在于，所述机身设置一控制模块，所述控制模块控制将所述飞行器的位置信息与高度信息实时传送给所述数据回传装置。
  23. 如权利要求15所述的射频检测系统，其特征在于，所述云台拍摄装置设置于所述飞行器前端以获取影像数据。
  24. 如权利要求15所述的射频检测系统，其特征在于，所述遥控单元通过所述飞行器的飞行器天线与所述飞行器通信、遥控所述飞行器飞行与拍摄并接收飞行器拍摄的影像数据。
  25. 如权利要求24所述的射频检测系统，其特征在于，所述实时监控单元通过所述飞行器的数据回传天线与所述飞行器通信，所述实时监控单元还实时接收所述飞行器回传的飞行器位置信息与高度信息、并实时显示所述位置信息与高度信息。
  26. 如权利要求25所述的射频检测系统，其特征在于，所述数据存档单元通过所述实时监控单元与遥控单元获取所述飞行器回传的频域分析图谱、飞行器位置信息与高度信息以及影像数据并存档。
  27. 如权利要求25所述的射频检测系统，其特征在于，所述遥控单元整合于所述实时监控单元中，所述遥控单元接收的影像数据通过所述实时监控单元实时显示。
  28. 如权利要求15-27任意一项所述的射频检测系统，其特征在于，所述实时监控单元通过所述数据回传装置控制所述频谱仪。
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