WO2021031129A1

WO2021031129A1 - Relay communication device, hangar, control system and relay communication method

Info

Publication number: WO2021031129A1
Application number: PCT/CN2019/101654
Authority: WO
Inventors: 饶雄斌; 尹小俊; 王乃博
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2019-08-20
Filing date: 2019-08-20
Publication date: 2021-02-25
Also published as: CN112219359A

Abstract

Provided are a relay communication device, an unmanned aerial vehicle hangar, a control system and a relay communication method. The relay communication device comprises: a first antenna (1), a second antenna (2) and a radio receiver (3), wherein the first antenna (1) is arranged in a first space (10), the second antenna (2) is arranged in a second space (20), and the first space (10) is located in the second space (20); and under a control instruction, the radio receiver (3) can establish a communication connection with the first antenna (1) or the second antenna (2), and receive a radio signal from the first space (10) through the first antenna (1) or receive a radio signal from the second space (20) through the second antenna (2).

Description

Relay communication equipment, machine nest, control system and relay communication method

Technical field

This application relates to the field of communication technology, and in particular to a relay communication device, an unmanned aerial vehicle nest, an unmanned aerial vehicle control system and a relay communication method.

Background technique

UAVs and other unmanned aerial vehicles have gradually been used in industrial line inspection applications in recent years, such as border line inspection, power line inspection, and oil line inspection. Compared with manual line patrol, the use of unmanned aerial vehicle such as UAV to patrol the line can greatly improve operation efficiency and productivity.

The way the drone patrols the line using the drone nest (referred to as the drone nest) is: when not operating, the drone is parked in the nest and enclosed. During operation, the control center remotely controls or manually controls the top cover of the aircraft nest to open, command the drone to take off automatically and perform line inspection tasks. At the end of the operation, the drone returns, the top cover of the aircraft nest is automatically opened or is manually controlled to open, the drone lands in the aircraft nest, and the top cover is closed. In the above-mentioned links, the drone has wireless connection requirements in and outside the aircraft nest. There are two possible installation methods: 1) Install the drone's radio receiver and antenna in the aircraft nest. The drone is in the nest, the wireless signal is very good, and it is very efficient to obtain offline data. 2) Install the radio receiver and antenna of the drone outside the machine nest. When the drone is outside the nest, the unobstructed wireless signal is very good.

However, in the first installation method mentioned above, when the drone is outside the aircraft nest, the wireless signal is weak due to the cover of the aircraft nest wall. In the second installation method mentioned above, when the drone is in the aircraft nest, the wireless signal is severely reduced due to the shelter of the aircraft nest wall.

Summary of the invention

Based on this, this application provides a relay communication device, an unmanned aerial vehicle nest, an unmanned aerial vehicle control system, and a relay communication method, aiming to solve the problem that the existing radio receiver and antenna installation methods cannot take into account the internal and external aspects of the unmanned aerial vehicle's nest Technical issues with wireless signals.

In the first aspect, this application provides a relay communication device, including:

The first antenna is arranged in a first space, and the first space can be closed into a closed state or unclosed state;

The second antenna is arranged in a second space, and the first space is located in the second space;

A radio receiver, under a control instruction, the radio receiver can establish a communication connection with the first antenna or the second antenna, and can receive the radio in the first space in the closed state through the first antenna Signal, or receive a wireless signal in the second space through the second antenna.

In a second aspect, the present application provides an unmanned aerial vehicle nacelle, the unmanned aerial vehicle nacelle is located in a first space of a transfer communication device, and the transfer communication device includes:

The first antenna is arranged in the first space, and the first space can be closed into a closed state or unclosed state;

In the third aspect, this application provides an unmanned aerial vehicle control system, the system includes: a relay communication device, an unmanned aerial vehicle nest, an unmanned aerial vehicle, and a control center;

The unmanned aerial vehicle nest is located in the first space of the transfer communication device, and is used to park the unmanned aerial vehicle;

The control center can establish a communication connection with the relay communication device, the unmanned aerial vehicle nest and the unmanned aerial vehicle, and can issue control instructions;

The relay communication equipment includes:

A radio receiver, under the control instruction, the radio receiver can establish a communication connection with the first antenna or the second antenna, and can receive all the unmanned aerial vehicle in a closed state through the first antenna The wireless signal in the first space, or the wireless signal of the UAV in the second space is received through the second antenna.

In a fourth aspect, this application provides a relay communication method, which is suitable for the above-mentioned UAV control system, and the method includes:

When the control center determines that the unmanned aerial vehicle is in the first space or the second space, sending a control instruction;

Under the control instruction, the radio receiver establishes a communication connection with the first antenna or the second antenna, so as to receive the unmanned aerial vehicle at the first antenna or the second antenna. Wireless signals in the first space or in the second space.

The embodiments of the application provide a relay communication device, an unmanned aerial vehicle nest, an unmanned aerial vehicle control system, and a relay communication method. The relay communication device includes a radio receiver and a first antenna, and also includes a second antenna. The antenna and the second antenna are respectively installed in the first space and the second space (that is, outside the first space). According to the control command, the radio receiver can establish a communication connection with the first antenna or the second antenna, thereby being able to pass the first antenna Receive wireless signals in the first space in a closed state, or receive wireless signals in the second space (that is, outside the first space) through the second antenna. In this way, technical support can be provided for the wireless signals in the first space; in actual applications, according to the actual situation, the radio receiver is connected to the first antenna (installed in the first space) or the second The antenna (installed outside the first space) establishes a communication connection, so that wireless signals inside and outside the first space can be taken into consideration, so that both the wireless signals inside and outside the first space can meet the requirements.

It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the application.

Description of the drawings

In order to explain the technical solutions of the embodiments of the present application more clearly, the following will briefly introduce the drawings needed in the description of the embodiments. Obviously, the drawings in the following description are some embodiments of the present application. Ordinary technicians can obtain other drawings based on these drawings without creative work.

FIG. 1 is a schematic structural diagram of an embodiment of a relay communication device of the present application;

Figure 2 is a schematic structural diagram of another embodiment of a transit communication device according to the present application;

FIG. 3 is a schematic structural diagram of another embodiment of a relay communication device according to this application;

FIG. 4 is a schematic structural diagram of another embodiment of a relay communication device according to this application;

FIG. 5 is a schematic structural diagram of an embodiment of an unmanned aerial vehicle control system of the present application;

FIG. 6 is a schematic flowchart of an embodiment of a relay communication method according to the present application;

FIG. 7 is a schematic flowchart of another embodiment of the relay communication method according to the present application;

FIG. 8 is a schematic flowchart of another embodiment of the relay communication method according to the present application;

FIG. 9 is a schematic flowchart of another embodiment of the relay communication method according to the present application.

Description of main components and symbols:

100. Transit communication equipment;

1. The first antenna; 2. The second antenna; 3. Radio receiver; 31. Waterproof device;

4. Wireless switching module; 10. The first space; 20. The second space;

200. Control center; 300. Unmanned aerial vehicle nest; 301. Top cover;

400. Unmanned aerial vehicles.

detailed description

The technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of them. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of this application.

The flowchart shown in the drawings is merely an illustration, and does not necessarily include all contents and operations/steps, nor does it have to be executed in the described order. For example, some operations/steps can also be decomposed, combined or partially combined, so the actual execution order may be changed according to actual conditions.

The existing radio receiver and antenna installation method, or the radio receiver and antenna of the unmanned aerial vehicle are installed in the unmanned aerial vehicle's nest; when the unmanned aerial vehicle is outside the unmanned aerial vehicle's nest, due to the unmanned aerial vehicle's nest wall The occlusion and weak wireless signal make the UAV unable to fly too far. Or install the radio receiver and antenna of the unmanned aerial vehicle outside the unmanned aerial vehicle's nest; when the unmanned aerial vehicle is in the unmanned aerial vehicle's nest, the wireless signal drops seriously due to the shelter of the unmanned aerial vehicle's nest wall; When the radio receiver obtains the raw sensor data taken by the unmanned aerial vehicle, the air interface rate is very low due to the severe drop of the wireless signal, which takes a lot of time to obtain the raw sensor data, which seriously affects the efficiency of the system. Therefore, the above two installation methods cannot take into account the wireless signals inside and outside the drone's nest. In addition to the radio receiver and the first antenna, the embodiments of this application also include a second antenna. The first antenna and the second antenna are respectively installed in the first space and the second space (that is, outside the first space). The control command radio receiver can establish a communication connection with the first antenna or the second antenna, so that it can receive wireless signals in the first space in a closed state through the first antenna, or receive in the second space through the second antenna (ie, the second antenna). One space outside) wireless signal. In this way, technical support can be provided for the wireless signals in the first space; in actual applications, according to the actual situation, the radio receiver is connected to the first antenna (installed in the first space) or the second The antenna (installed outside the first space) establishes a communication connection, so that wireless signals inside and outside the first space can be taken into consideration, so that both the wireless signals inside and outside the first space can meet the requirements. When the installation method of this application is applied to the scenario of the above-mentioned unmanned aerial vehicle automatic line patrol and equipped with an unmanned aerial vehicle aircraft nest, it can meet two important requirements of the unmanned aerial vehicle automatic line patrol at the same time: 1) Ability to be compatible with the operation The human aircraft maintains a wireless connection to maximize the operating radius; 2) After the unmanned aircraft returns to the unmanned aircraft nest, it can establish a high-quality wireless connection with the unmanned aircraft to obtain the original sensor data of the unmanned aircraft.

Hereinafter, some embodiments of the present application will be described in detail with reference to the accompanying drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

Referring to FIG. 1, FIG. 1 is a schematic structural diagram of an embodiment of a relay communication device of the present application. The relay communication device includes: a first antenna 1, a second antenna 2 and a radio receiver 3.

The embodiment of the application includes a first antenna 1 and a second antenna 2. The first antenna 1 is arranged in the first space 10, and the second antenna 2 is arranged in the second space 20 (the first space 10 is located in the second space 20, That is, the second antenna 2 is arranged outside the first space 10). Among them, the first space 10 can be closed into a closed state or unclosed state.

The antenna is a kind of converter that transforms the guided wave propagating on the transmission line into an electromagnetic wave propagating in an unbounded medium (usually free space), or vice versa. In radio equipment, the antenna is a component used to transmit or receive electromagnetic waves. Engineering systems such as radio communications, broadcasting, television, radar, navigation, electronic countermeasures, remote sensing, and radio astronomy, which use electromagnetic waves to transmit information, rely on antennas to work. In addition, in the use of electromagnetic waves to transmit energy, non-signal energy radiation also requires an antenna. Generally, antennas are reversible, that is, the same antenna can be used as both a transmitting antenna and a receiving antenna. The basic characteristic parameters of the same antenna as transmitting or receiving are the same.

In this embodiment, the structure of the first antenna 1 and the second antenna 2 is not limited, and the first antenna 1 and the second antenna 2 adopt active antennas and/or adopt passive antennas. In this way, it is possible to expand the scope of antenna selection in the embodiments of the present application and expand the scope of applicability. Specifically, the first antenna 1 includes an active antenna or a passive antenna; and/or, the second antenna 2 includes an active antenna or a passive antenna. Active antennas are composed of active components (such as electron tubes, transistors, integrated circuits, etc.), which are complex in structure and require external power supply to work; and a built-in low noise amplifier is installed in the active antenna to reduce subsequent cable losses. The influence of noise ratio can increase sensitivity and reduce signal-to-noise ratio. Passive antennas are only composed of passive components (such as wires, inductors, capacitors, resistors, etc.), with simple structure and can work without external power supply; passive antennas do not contain low noise amplifiers, cables from passive antennas to radio receivers The length generally does not exceed 1m.

Under the control command, the radio receiver 3 either establishes a communication connection with the first antenna 1, and receives wireless signals in the first space 10 in a closed state through the first antenna 1; the radio receiver 3 or establishes communication with the second antenna 2 Connect, receive wireless signals in the second space 20 (that is, outside the first space) through the second antenna 2. The radio receiver 3 either establishes a communication connection with the first antenna 1 or establishes a communication connection with the second antenna 2 in many ways, which can be the simplest and original manual method or an automatic control method. For example: when the radio receiver 3 is required to establish a communication connection with the first antenna 1, the power of the second antenna 2 can be turned off manually or automatically, so that the second antenna 2 cannot work normally; when the radio receiver 3 and the second antenna are required 2 When a communication connection is established, the power of the first antenna 1 can be turned off manually or automatically, so that the first antenna 1 cannot work normally. Or, when the radio receiver 3 is required to establish a communication connection with the first antenna 1, the communication connection between the radio receiver 3 and the second antenna 1 can be closed manually or automatically; when the radio receiver 3 and the second antenna 2 are required When a communication connection is established, the communication connection between the radio receiver 3 and the first antenna 1 can be closed manually or automatically.

In this embodiment, the sending body of the control instruction is not limited. The control instruction refers to an instruction used to make the radio receiver 3 establish a communication connection with the first antenna 1 or establish a communication connection with the second antenna 2. The control instruction may be sent by a third party (for example, a control center, etc.) other than the relay communication device in the embodiment of this application, or sent by the relay communication device itself (for example, the radio receiver 3 actively sends) in the embodiment of this application. In this way, the relay communication device can be made to function as an independent device, and the relay communication device can also be used as a controlled device to function together with other devices.

In addition to the radio receiver 3 and the first antenna 1, the embodiment of the present application also includes a second antenna 2. The first antenna 1 and the second antenna 2 are respectively installed in the first space 10 and the second space 20 (ie Outside the first space 10), according to the control command, the radio receiver 3 can establish a communication connection with the first antenna 1 or the second antenna 2, thereby being able to receive wireless signals in the closed first space 10 through the first antenna 1, Or the second antenna 2 receives wireless signals in the second space 20 (that is, outside the first space 10). In this way, it is possible to provide technical support for the wireless signals in and outside the first space 10; in practical applications, according to the actual situation, the radio receiver 3 and the first antenna 1 (installed in the first space 10 ) Or the second antenna 2 (installed outside the first space 10) to establish a communication connection, so that wireless signals inside and outside the first space 10 can be taken into account, so that both the wireless signals inside and outside the first space 10 can meet the requirements.

It should be noted that the location of the radio receiver 3 is not limited. In this way, the setting of the radio receiver 3 can be made more flexible, and the radio receiver 3 can be specifically set according to specific practical applications and needs. The radio receiver 3 may be installed in the first space 10 or in the second space 20.

In an actual application, the second space 20 may be an exposed space, such as outdoors, where it will rain due to changes in weather; or the second space 20 may be sprayed with water due to artificial reasons, etc.; at this time, see FIG. 2, when When the radio receiver 3 is installed in the second space 20, in order to prevent the radio receiver 3 from malfunctioning due to rain, usually the radio receiver 3 also includes a waterproof device 31. In this embodiment, the structure of the waterproof device 31 and the connection relationship between the waterproof device 31 and the radio receiver 3 are not limited, as long as it does not affect the normal function of the radio receiver 3 and can prevent the radio receiver 3 from being exposed to rain. Just cause a failure. For example, the waterproof device 31 may be a simple waterproof cover, and the material of the waterproof cover may be plastic; the waterproof cover may cover the entire radio receiver 3 or only the part of the radio receiver 3 that cannot be exposed to rain.

Referring to FIG. 3, in an actual application, the radio receiver 3 can be connected to the control center 200 in a wired or wireless manner. In this way, the relay communication device 100 of the embodiment of the present application can assist the control center 200 to play a role that the single relay communication device 100 cannot perform, thereby expanding the application scope of the relay communication device 100 of the embodiment of the present application. Further, the control command includes a control command issued by the control center 200; in this way, the control center 200 can control the radio receiver 3 or establish a communication connection with the first antenna 1 or establish a communication connection with the second antenna 2 according to actual applications. . It should be noted that the installation location of the control center 200 is not limited.

As described above, the radio receiver 3 can either establish a communication connection with the first antenna 1 or establish a communication connection with the second antenna 2 in many ways, which can be the simplest and original manual method or an automatic control method. In the following, implementations that are more commonly used in practical applications will be used to specifically describe whether the radio receiver 3 establishes a communication connection with the first antenna 1 or establishes a communication connection with the second antenna 2.

4, in an embodiment, the device 100 further includes an antenna switching module 4. The first antenna 1 and the second antenna 2 can be connected to the antenna switching module 4, and the first antenna is switched by the antenna switching module 4. Switching the working status of antenna 1 and second antenna 2. In this embodiment, the structure and working principle of the antenna switching module 4 are not limited, as long as the switching of the antenna switching module 4 can realize the switching of the working states of the first antenna 1 and the second antenna 2. For example, the antenna switching module 4 may be a circuit for antenna switching, or an antenna switching switch, or an antenna switching chip, or other antenna switching devices. In one embodiment, the antenna switching module 4 includes a single-pole double-throw switch, which has a simple structure, is cheap, and is widely used.

Furthermore, the first antenna 1 and the second antenna 2 are connected to the radio receiver 3 through the antenna switching module 4. In this way, a technical basis is provided for subsequent automatic control. For example, in one embodiment, the antenna switching module 4 performs switching under a control instruction to enable the first antenna 1 or the second antenna 2 to establish a communication connection with the radio receiver 3.

5, in an application scenario, the unmanned aerial vehicle nest 300 is located in the first space 10, the unmanned aerial vehicle nest 300 is used to park the unmanned aerial vehicle 400, and the unmanned aerial vehicle nest 300 is provided with a top cover 301. The cover 301 can be closed or opened so that the first space 10 is closed into a closed state or an unclosed state. The control center 200 can establish a communication connection with the relay communication device, the unmanned aerial vehicle nest 300 and the unmanned aerial vehicle 400, and can issue control commands.

In the above application scenario, there are many ways to control the switching of the antenna switching module 4. The control center 200 can participate in controlling the switching of the antenna switching module 4, or it may not participate in controlling the switching of the antenna switching module 4. The aircraft nest 300 and/or the UAV 400 participates in controlling the switching of the antenna switching module 4. Examples are as follows:

The first type is that the drone nest 300 directly controls the switching of the antenna switching module 4. Specifically, the UAV nacelle 300 includes a pressure sensor and/or the first UAV proximity sensor; directly (for example, including the relay communication device 100, the UAV nacelle 300, a system that cooperates with the control center through the pressure sensor) 200 does not participate in matching) Control the switching of the antenna switching module 4, or directly control the switching of the antenna switching module 4 through the first UAV proximity sensor, or directly control the antenna switching through the pressure sensor and the first UAV proximity sensor Switching of module 4.

Wherein, the unmanned aerial vehicle nest 300 includes a pressure sensor and/or a first unmanned aerial vehicle proximity sensor (not shown in the figure), and the pressure sensor and/or the first unmanned aerial vehicle proximity sensor can control the switching of the antenna switching module 4 . In this way, the pressure sensor and/or the first UAV proximity sensor can directly control the switching of the antenna switching module 4, which can realize the joint cooperation and cooperation between the relay communication device 100 and the UAV aircraft nest 300.

The second type is that the UAV 400 directly controls the switching of the antenna switching module 4. Specifically, the UAV 400 includes a height sensor, and the switching of the antenna switching module 4 is directly controlled by the height sensor (for example, a system that includes the relay communication device 100 and the UAV 400, and the control center 200 does not participate in matching).

Among them, the UAV 400 includes a height sensor (not shown in the figure), and the height sensor can control the switching of the antenna switching module 4. In this way, the height sensor can directly control the switching of the antenna switching module 4, and the joint cooperation and cooperation between the relay communication device 100 and the UAV 400 can be realized.

Third, in the application scenario of FIG. 5, the control center 200 may not control the radio receiver 3 to establish a communication connection with the first antenna 1 or the second antenna 2 through the antenna switching module 4, or may control the antenna switching module 4 switch to control the radio receiver 3 to establish a communication connection with the first antenna 1 or the second antenna 2.

At this time, when the control center 200 determines that the UAV 400 is in the first space 10 or the second space 20, it sends a control instruction; under the control instruction, the radio receiver 3 is established with the first antenna 1 or the second antenna 2 The communication connection is used to receive the wireless signal of the UAV 400 in the first space 10 or the second space 20 through the first antenna 1 or the second antenna 2. For example, the control center 200 monitors whether the UAV 400 is in the first space 10 or the second space 20 through a special monitoring device, and sends a control command accordingly to make the radio receiver 3 interact with the first antenna 1 or the second antenna 2 Establish a communication connection.

The control center 200 controls the radio receiver 3 to establish a communication connection with the first antenna 1 or the second antenna 2 by controlling the switching of the antenna switching module 4, and this implementation has a relatively wide range of applications. That is, when the control center 200 determines that the UAV 400 is in the first space 10 or the second space 20, it sends a control instruction to control the antenna switching module 4 to switch so that the radio receiver 3 passes through the first antenna 1 or the second space. The two antennas 2 receive the wireless signal of the UAV 400 in the first space 10 or the second space 20.

The following takes the control center 200 to control the switching of the antenna switching module 4 through the signal detected by the unmanned aerial vehicle nest 300 and/or the unmanned aerial vehicle 400 itself as an example for detailed description. These implementations directly utilize the signals detected by the unmanned aerial vehicle nest 300 and/or the unmanned aerial vehicle 400 itself and do not require other special monitoring equipment, which can save deployment costs.

(1) The control center 200 can receive signals from the pressure sensor and/or the first UAV proximity sensor in the unmanned aerial vehicle nest 300, and then issue control instructions to switch the antenna switching module 4. In this embodiment, the control center 200 can establish a communication connection with the UAV nacelle 300 and the relay communication device 100 respectively. For example, in a specific application, the radio receiver 3 is arranged in the UAV nacelle 300, and the control center 200 establishes a communication connection with the UAV nacelle 300 and the relay communication device 100 through a wired private network.

The above-mentioned process is: the control center 200 receives the signals of the pressure sensor and/or the first UAV proximity sensor in the unmanned aerial vehicle nest 300; and determines that the unmanned aircraft is determined by the pressure sensor and/or the first UAV proximity sensor signal. When the aircraft 400 is in the first space 10 or the second space 20, a control instruction is sent.

Specifically, when the pressure measurement value of the pressure sensor in the drone aircraft nest 300 is higher than the first pressure setting value, the control center 200 receives the signal of the pressure sensor, and then sends a control instruction to switch the antenna switching module 4 To the first antenna 1; when the pressure measurement value of the pressure sensor in the UAV aircraft nest 300 is lower than the second pressure setting value, the control center 200 receives the signal from the pressure sensor, and then sends a control command to the antenna switch module 4 Switch to the second antenna 2. When the unmanned aerial vehicle 400 is parked in the unmanned aerial vehicle nest 300, the gravity of the unmanned aerial vehicle 400 is applied to the pressure sensor, and the pressure measurement value of the pressure sensor increases; the unmanned aerial vehicle 400 is not parked in the unmanned aerial vehicle nest 300 When no external gravity is exerted on the pressure sensor, the pressure measurement value of the pressure sensor decreases. The first pressure setting value and the second pressure setting value are determined according to the detection range of the specific pressure sensor combined with the self-weight of the UAV and the aircraft nest. Generally, the first pressure setting value does not exceed the maximum detection of the pressure sensor The upper limit, the second pressure setting value is not lower than the minimum detection lower limit of the pressure sensor; the first pressure setting value may be greater than the second pressure setting value, or may be equal to the second pressure setting value.

When the pressure measurement value of the pressure sensor is higher than the first pressure setting value, it means that the UAV 400 is parked in the UAV nest 300, the UAV 400 is located in the first space 10, and the control center 200 receives the signal from the pressure sensor. , Issue a control command to switch the antenna switching module 4 to the first antenna 1 to ensure that the wireless signal of the UAV 400 can be received by the radio receiver 3 through the first antenna 1 in the first space 10. When the pressure measurement value of the pressure sensor is lower than the second pressure setting value, it means that the UAV 400 is not parked in the UAV nest 300, and the UAV 400 is located in the second space, and the control center 200 receives the signal from the pressure sensor. , Issue a control command to switch the antenna switching module 4 to the second antenna 2 to ensure that the wireless signal of the UAV 400 can be received by the radio receiver 3 through the second antenna 2 in the second space 20.

And/or, when the first UAV proximity sensor in the UAV nacelle 300 detects the position of the UAV 400, the control center 200 receives the signal from the first UAV proximity sensor, and then sends a control command to make The antenna switching module 4 switches to the first antenna 1; when the first UAV proximity sensor in the UAV nest 300 cannot detect the position of the UAV 400, the control center 200 receives the first UAV proximity sensor , And then issue a control command to switch the antenna switching module 4 to the second antenna 2. When the unmanned aerial vehicle 400 is parked in the unmanned aerial vehicle nest 300, the first UAV proximity sensor can detect the position of the unmanned aerial vehicle 400; when the unmanned aerial vehicle 400 is not parked in the unmanned aerial vehicle nest 300, the first The UAV proximity sensor cannot detect the position of UAV 400.

When the first unmanned aerial vehicle proximity sensor detects the position of the unmanned aerial vehicle 400, it means that the unmanned aerial vehicle 400 is parked in the unmanned aerial vehicle nest 300, the unmanned aerial vehicle 400 is located in the first space 10, and the control center 200 receives the first unmanned aerial vehicle 400. The signal from the proximity sensor of the human aircraft sends a control command to switch the antenna switching module 4 to the first antenna 1 to ensure that the wireless signal of the UAV 400 can be passed through the first antenna 1 in the first space 10 by the radio receiver 3 receive. When the first UAV proximity sensor cannot detect the position of the UAV 400, it means that the UAV 400 is not parked in the UAV nest 300, and the UAV 400 is located in the second space, and the control center 200 receives the first The signal from the UAV proximity sensor sends a control command to switch the antenna switching module 4 to the second antenna 2 to ensure that the wireless signal of the UAV 400 can be passed through the second antenna in the second space 20 by the radio receiver 3 2 receive.

The above process is: when the pressure measurement value of the pressure sensor is higher than the first pressure setting value and/or when the first UAV proximity sensor detects the position of the UAV 400, the control center 200 receives the pressure sensor and/or The signal from the first UAV proximity sensor determines that the UAV 400 is in the first space 10 and sends a control instruction to switch the antenna switching module 4 to the first antenna 1. When the pressure measurement value of the pressure sensor is lower than the first antenna 1 The second pressure setting value and/or when the first UAV proximity sensor cannot detect the position of the UAV 400, the control center 200 receives the pressure sensor and/or the first UAV proximity sensor signal to determine The aircraft 400 sends a control command in the second space 20 to switch the antenna switching module 4 to the second antenna 2.

(2) The control center 200 can receive the signal of the height sensor of the UAV 400, and then issue a control command to switch the antenna switching module 4. In this embodiment, the control center 200 can establish a communication connection with the UAV 400 and the relay communication device 100 respectively. For example, in a specific application, the radio receiver 3 is set in the second space, and the control center 200 establishes a communication connection with the transit communication device 100 in the form of a wired private network, and establishes a communication connection with the UAV 400 in a wireless manner.

The above process is: the control center 200 receives the signal of the altitude sensor of the unmanned aerial vehicle 400; through the signal of the altitude sensor, it is determined that the unmanned aerial vehicle 400 is in the first space 10 or the second space 20, and then sends a control instruction.

Specifically, when the height measurement value of the height sensor is higher than the first height setting value, the control center 200 receives the signal of the height sensor, and then sends a control instruction to switch the antenna switching module 4 to the second antenna 2; When the height measurement value of the sensor is lower than the second height setting value, the control center 200 receives the signal of the height sensor, and then sends a control command to switch the antenna switching module 4 to the first antenna 1.

The above process is: when the height measurement value of the height sensor is higher than the first height setting value, the control center 200 receives the signal from the height sensor, determines that the UAV 400 is in the second space 20, and sends a control command to switch the antenna mode. Group 4 switches to the second antenna 2; when the height measurement value of the height sensor is lower than the second height setting value, the control center 200 receives the signal from the height sensor, determines that the UAV 400 is in the first space 10, and issues a control command , The antenna switching module 4 is switched to the first antenna 1.

(3) The control center 200 can receive signals from the pressure sensor in the drone nest 300 and/or the first UAV proximity sensor, and can also receive signals from the height sensor of the UAV 400 in parallel, and issue control commands accordingly , To switch the antenna switching module 4. In this embodiment, the control center 200 can establish a communication connection with the UAV nacelle 300, the UAV 400, and the relay communication device 100 respectively.

The above process is: the control center 200 receives the current altitude information of the unmanned aerial vehicle 400 sent by the altitude sensor of the unmanned aerial vehicle 400; when the control center 200 determines that the unmanned aerial vehicle 400 is in the second space 20 through the current altitude information of the unmanned aerial vehicle 400 When, send a control instruction to switch the antenna switching module 4 to the second antenna 2; the control center 200 receives the pressure measurement value sent by the pressure sensor in the UAV aircraft nest 300 and/or the first UAV proximity sensor Whether the position information of the unmanned aerial vehicle 400 is detected; when the control center 200 determines that the unmanned aerial vehicle 400 is in the first space 10 through pressure measurement and/or detection of the position of the unmanned aerial vehicle 400, it sends a control instruction to switch the antenna Module 4 switches to the first antenna 1.

It should be noted that in practical applications, the switching of the antenna switching module 4 can also be manually controlled.

In the above-mentioned application scenario of FIG. 5, there are also multiple implementation manners for closing or opening the top cover 301. For example, the top cover 301 is manually controlled to close or open, and it can also be closed or opened through automatic control. The following examples illustrate the automatic control method in detail.

(1) The drone nest 300 directly controls the top cover 301 to close or open.

In an embodiment, the pressure sensor and/or the first UAV proximity sensor can control the automatic closing or opening of the top cover 301.

And/or, a second UAV proximity sensor is included outside the unmanned aerial vehicle nacelle 300, and the second UAV proximity sensor can control the automatic closing or opening of the top cover 301.

(2) The UAV 400 directly controls the top cover 301 to close or open.

In an embodiment, the height sensor can control the automatic closing or opening of the top cover 301.

(3) The control center 200 directly controls the top cover 301 to close or open.

In one embodiment, the control center 200 can receive signals from one or more of the pressure sensor, the proximity sensor of the first UAV, and the proximity sensor of the second UAV, and then issue a control instruction to make the top cover 301 Automatically close or open.

In another embodiment, the control center 200 can receive a signal from the height sensor, and then issue a control instruction to automatically close or open the top cover.

The following takes the deployment of the application scenario of FIG. 5 in an actual application as an example for illustration. It should be noted that the specific deployment of the application scenario in FIG. 5 in actual applications can be flexibly arranged according to actual conditions, which is not limited here.

The first possible deployment method:

The radio receiver 3 is arranged inside the unmanned aerial vehicle aircraft nest 300. At this time, the radio receiver 3 may not need the waterproof device 31.

The second antenna 2 is arranged outside of the drone nest 300 and uses an active antenna. Since there is a distance of several meters between the radio receiver 3 and the external second antenna 2, generally the RF wire on the market will have a large signal attenuation (for example: 5-10dB) at a distance of several meters. If a passive antenna is used, two problems will arise: A) The signal received at the port of the second antenna 2 outside the drone nest 300 has been attenuated a lot when it is transmitted to the radio receiver 3. The sensitivity of UAV 400 will be affected, and the maximum distance of the actual flight operation of UAV 500 will be affected. B) The control signal sent by the radio receiver 3 to the UAV 400 will be attenuated by the cable before being transmitted through the second antenna 2 outside the UAV's nest 300, so it actually reaches the uplink air port of the UAV 400 The signal strength will be weaker than the original, which will also affect the UAV 400's upward control radius.

Using the active antenna method, A) The signal received by the second antenna 2 outside the drone nest 300 is first amplified by the active antenna, then attenuated by the cable, and then reaches the radio receiver 3 signal demodulation module , Then the sensitivity of UAV 400 downlink reception will not be affected. Similarly, B) After the control signal sent by the radio receiver 3 to the UAV 400 is attenuated by the cable, it can be re-amplified to its original strength through the active antenna, so the strength of the uplink control signal of the UAV 400 will not be affected.

The first antenna 1 is arranged inside the unmanned aerial vehicle nacelle 300 and adopts a passive antenna. Inside the drone nest 300, the distance between the radio receiver 3 and the first antenna 1 is relatively short, so the attenuation of the cable is relatively small. Secondly, inside the UAV nest 300, the UAV 400 and the radio receiver 3 are relatively close, and the air interface attenuation is small (the air interface signal attenuation is related to the distance, the greater the distance, the greater the attenuation). Therefore, it is sufficient to use passive antenna signal strength inside the drone nest 300. On the other hand, the use of passive antennas can save the cost of the entire set of equipment to a certain extent.

Another possible deployment method:

The radio receiver 3 is installed outside the drone nest 300. At this time, the radio receiver 3 needs a waterproof device 31.

The second antenna 2 is arranged outside the UAV nacelle 300, and the radio receiver 3 outside the UAV nacelle 300 and the second antenna 2 are connected by a short cable. Since the cable between the second antenna 2 and the radio receiver 3 is short and the attenuation is small, a passive antenna is used.

The first antenna 1 is arranged inside the UAV nacelle 300, and the radio receiver 3 outside the UAV nacelle 300 and the first antenna 1 inside the UAV nacelle 300 are connected by a long cable. . At this time, depending on the specific signal strength, it can be determined that the first antenna 1 inside the UAV aircraft nest 300 adopts an active antenna or a passive antenna.

Through the above method, two important requirements of the automated line patrol of the UAV 400 can be met at the same time: 1) It can maintain a wireless connection with the UAV 400 in operation to maximize the operating radius; 2) The UAV 400 returns to the unmanned After the aircraft nest 300, a high-quality wireless connection can be established with the unmanned aerial vehicle 400 to quickly obtain the original sensor data of the unmanned aerial vehicle 400. At the same time, it can save costs as much as possible.

The present application also provides an unmanned aerial vehicle nacelle, which is located in the first space of the transfer communication device. It should be noted that the relay communication device may be any of the aforementioned relay communication devices. For detailed descriptions of related content, please refer to the above-mentioned relay communication device section, which will not be repeated here.

The relay communication device includes: a first antenna, which is arranged in a first space, and the first space can be closed into a closed state or unclosed state; a second antenna, which is arranged in a second space, and the first space is located in the second space ; Radio receiver, under the control command, the radio receiver can establish a communication connection with the first antenna or the second antenna, and can receive wireless signals in the first space in a closed state through the first antenna, or receive the first antenna through the second antenna 2. Wireless signals in space.

In addition to the radio receiver and the first antenna, the embodiments of this application also include a second antenna. The first antenna and the second antenna are respectively installed in the first space and the second space (that is, outside the first space). The control command radio receiver can establish a communication connection with the first antenna or the second antenna, so that it can receive wireless signals in the first space in a closed state through the first antenna, or receive in the second space through the second antenna (ie, the second antenna). A wireless signal outside the space. In this way, technical support can be provided for the wireless signals in the first space; in actual applications, according to the actual situation, the radio receiver is connected to the first antenna (installed in the first space) or the second The antenna (installed outside the first space) establishes a communication connection, so that wireless signals inside and outside the first space can be taken into consideration, so that both the wireless signals inside and outside the first space can meet the requirements. Since the drone nest is located in the first space of the transfer communication device, in this way, the wireless signals inside and outside the drone nest can be taken into consideration, so that the wireless signals inside and outside the drone nest can meet the demand.

Referring to Figure 5, this application also provides an unmanned aerial vehicle control system, which includes: a relay communication device, an unmanned aerial vehicle nest 300, an unmanned aerial vehicle 400, and a control center 200; the unmanned aerial vehicle nest 300 is located in the relay communication device The first space 10 is used to park the unmanned aerial vehicle 400; the control center 200 can establish a communication connection with the relay communication equipment, the unmanned aerial vehicle nest 300 and the unmanned aerial vehicle 400, and can issue control commands. It should be noted that the relay communication device may be any of the aforementioned relay communication devices. For detailed descriptions of related content, please refer to the above-mentioned relay communication device section, which will not be repeated here.

The relay communication device includes: a first antenna 1 arranged in a first space 10, the first space 10 can be enclosed into a closed state or unsealed state; a second antenna 2 arranged in the second space 20, the first space 10 Located in the second space 20; the radio receiver 3, under the control command, the radio receiver 3 can establish a communication connection with the first antenna 1 or the second antenna 2, and can receive the unmanned aerial vehicle 400 in the closed state through the first antenna 1. The wireless signal in the first space 10 or the wireless signal of the UAV 400 in the second space 20 is received through the second antenna 2.

In addition to the radio receiver and the first antenna, the embodiments of this application also include a second antenna. The first antenna and the second antenna are respectively installed in the first space and the second space (that is, outside the first space). The control command radio receiver can establish a communication connection with the first antenna or the second antenna, so that it can receive wireless signals in the first space in a closed state through the first antenna, or receive in the second space through the second antenna (ie, the second antenna). One space outside) wireless signal. In practical applications, according to actual conditions, control commands are used to establish a communication connection between the radio receiver and the first antenna (installed in the first space) or the second antenna (installed outside the first space), so that the first space can be taken into account. The wireless signals inside and outside enable the wireless signals inside and outside the first space to meet the demand. Since the drone nest is located in the first space of the transfer communication device, in this way, the wireless signals inside and outside the drone nest can be taken into consideration, so that the wireless signals inside and outside the drone nest can meet the demand.

This application also provides a relay communication method, which is applicable to the unmanned aerial vehicle control system as in any one of the above items. For detailed description of related content, please refer to the above-mentioned unmanned aerial vehicle control system, which will not be repeated here. Referring to Figure 6, the method includes:

Step S101: When the control center determines that the UAV is in the first space or the second space, it sends a control instruction.

Step S102: Under the control instruction, the radio receiver establishes a communication connection with the first antenna or the second antenna to receive the wireless signal of the UAV in the first space or the second space through the first antenna or the second antenna.

In addition to the radio receiver and the first antenna, the embodiments of this application also include a second antenna. The first antenna and the second antenna are installed in the first space and the second space (that is, outside the first space), respectively. When the control center determines that the UAV is in the first space or the second space, it sends a control instruction. Under the control instruction, the radio receiver establishes a communication connection with the first antenna or the second antenna to pass the first antenna or the second antenna. The antenna receives wireless signals from the unmanned aerial vehicle in the first space or the second space. In this way, technical support can be provided for the wireless signals in the first space; in actual applications, according to the actual situation, the radio receiver is connected to the first antenna (installed in the first space) or the second The antenna (installed outside the first space) establishes a communication connection, so that wireless signals inside and outside the first space can be taken into consideration, so that both the wireless signals inside and outside the first space can meet the requirements. Since the drone nest is located in the first space of the transfer communication device, in this way, the wireless signals inside and outside the drone nest can be taken into consideration, so that the wireless signals inside and outside the drone nest can meet the demand.

In one embodiment, in step S101, when the control center determines that the unmanned aerial vehicle is in the first space or the second space, sending a control instruction may specifically include: when the control center determines that the unmanned aerial vehicle is in the first space or the second space When in the second space, a control instruction is sent to control the antenna switching module to switch, so that the radio receiver receives the wireless signal of the UAV in the first space or the second space through the first antenna or the second antenna.

Further, referring to Fig. 7, in step S101, when the control center determines that the UAV is in the first space or the second space, sending a control instruction may also include: sub-step S101a1 and sub-step S101a2.

Sub-step S101a1: the control center receives the signal of the pressure sensor in the unmanned aerial vehicle nest and/or the first unmanned aerial vehicle proximity sensor.

Sub-step S101a2: send a control instruction when it is determined that the unmanned aerial vehicle is in the first space or the second space through the signal of the pressure sensor and/or the first UAV proximity sensor.

Specifically, when the pressure measurement value of the pressure sensor is higher than the first pressure setting value and/or when the first UAV proximity sensor detects the position of the UAV, the control center receives the pressure sensor and/or the first unmanned aircraft. The signal from the proximity sensor of the human aircraft confirms that the UAV is in the first space, and sends a control command to switch the antenna switching module to the first antenna; when the pressure measurement value of the pressure sensor is lower than the second pressure setting value and/ Or when the first UAV proximity sensor cannot detect the position of the UAV, the control center receives the signal from the pressure sensor and/or the first UAV proximity sensor, determines that the UAV is in the second space, and sends a control command To switch the antenna switching module to the second antenna.

In an actual application, the method further includes: the second UAV proximity sensor is located outside the UAV's nest, when one of the pressure sensor, the first UAV proximity sensor, and the second UAV proximity sensor or When a variety of sensors send signals, control the top cover to automatically close or open.

Referring to FIG. 8, in another embodiment, in step S101, when the control center determines that the UAV is in the first space or the second space, sending a control instruction may specifically include: sub-step S101b1 and sub-step S101b2.

Sub-step S101b1: the control center receives the signal of the height sensor of the unmanned aerial vehicle.

Sub-step S101b2: When it is determined that the unmanned aerial vehicle is in the first space or the second space through the signal of the altitude sensor, a control instruction is sent.

Specifically, when the altitude measurement value of the altitude sensor is higher than the first altitude setting value, the control center receives the signal from the altitude sensor, determines that the unmanned aerial vehicle is in the second space, and issues a control instruction to switch the antenna switching module to the first altitude. Two antennas; when the height measurement value of the height sensor is lower than the second height setting value, the control center receives the signal from the height sensor, determines that the UAV is in the first space, and sends a control command to switch the antenna switching module to the first space An antenna.

In another practical application, the method further includes: controlling the top cover to automatically close or open when the height sensor of the UAV sends a signal.

Referring to FIG. 9, in another embodiment, in step S101, when the control center determines that the UAV is in the first space or the second space, it sends a control instruction, which may specifically include: sub-step S101c1, sub-step S101c2, Sub-step S101c3 and sub-step S101c4.

Sub-step S101c1: the control center receives the current altitude information of the unmanned aerial vehicle sent by the altitude sensor of the unmanned aerial vehicle.

Sub-step S101c2: When the control center determines that the unmanned aerial vehicle is in the second space through the current altitude information of the unmanned aerial vehicle, it sends a control instruction to switch the antenna switching module to the second antenna.

Sub-step S101c3: the control center receives the pressure measurement value sent by the pressure sensor in the unmanned aerial vehicle's nest and/or the position information sent by the first unmanned aerial vehicle proximity sensor whether the unmanned aerial vehicle is detected.

Sub-step S101c4: When the control center determines that the unmanned aerial vehicle is in the first space through the pressure measurement value and/or the detected position of the unmanned aerial vehicle, it sends a control instruction to switch the antenna switching module to the first antenna.

It should be noted that the sub-step S101c1 and the sub-step S101c3 have no sequence relationship, but a parallel relationship.

In another practical application, the method further includes: the control center sends a control instruction to automatically close or open the top cover.

It should be understood that the terms used in the description of this application are only for the purpose of describing specific embodiments and are not intended to limit the application.

It should also be understood that the term "and/or" used in the specification and appended claims of this application refers to any combination of one or more of the items listed in the associated and all possible combinations, and includes these combinations.

The above are only specific embodiments of this application, but the scope of protection of this application is not limited to this. Any person skilled in the art can easily think of various equivalents within the technical scope disclosed in this application. Modifications or replacements, these modifications or replacements shall be covered within the protection scope of this application. Therefore, the protection scope of this application shall be subject to the protection scope of the claims.

Claims

A relay communication device, characterized in that it comprises:

The first antenna is arranged in a first space, and the first space can be closed into a closed state or unclosed state;

The second antenna is arranged in a second space, and the first space is located in the second space;

A radio receiver, under a control instruction, the radio receiver can establish a communication connection with the first antenna or the second antenna, and can receive the radio in the first space in the closed state through the first antenna Signal, or receive a wireless signal in the second space through the second antenna.
The device according to claim 1, wherein the device further comprises an antenna switching module, the first antenna and the second antenna can be connected to the antenna switching module, and the antenna switching module The group switching realizes the switching of the working states of the first antenna and the second antenna.
3. The device according to claim 2, wherein the first antenna and the second antenna are connected to the radio receiver through the antenna switching module.
The device according to claim 3, wherein the antenna switching module performs switching under the control instruction to enable the first antenna or the second antenna to establish a communication connection with the radio receiver.
The device of claim 3, wherein the antenna switching module comprises a single pole double throw switch.
The device according to claim 3, wherein the unmanned aerial vehicle nest is located in the first space, the unmanned aerial vehicle nest is used to park the unmanned aerial vehicle, and is provided with a top cover, the top cover It can be closed or opened, so that the first space is closed into a closed state or unclosed state.
The device according to claim 6, characterized in that the unmanned aerial vehicle nest includes a pressure sensor and/or a first unmanned aerial vehicle proximity sensor, and the pressure sensor and/or the first unmanned aerial vehicle proximity sensor can control the The switching of the antenna switching module is described.
The device according to claim 7, wherein the control center is capable of receiving signals from the pressure sensor and/or the proximity sensor of the first UAV, and then issuing the control instruction to perform the control on the antenna switching module Switch.
8. The device according to claim 8, wherein the control center receives the signal from the pressure sensor when the pressure measurement value of the pressure sensor in the drone aircraft nest is higher than the first pressure setting value , And then issue the control instruction to switch the antenna switching module to the first antenna; when the pressure measurement value of the pressure sensor in the UAV aircraft nest is lower than the second pressure setting value, The control center receives the signal of the pressure sensor, and then issues the control instruction to switch the antenna switching module to the second antenna; and/or

When the first UAV proximity sensor in the unmanned aerial vehicle nest detects the position of the UAV, the control center receives the signal of the first UAV proximity sensor, and then sends out the control Instruction to switch the antenna switching module to the first antenna; when the first UAV proximity sensor in the unmanned aerial vehicle nest cannot detect the position of the unmanned aerial vehicle, the control center Receiving the signal of the proximity sensor of the first UAV, and then issuing the control instruction to switch the antenna switching module to the second antenna.
The device according to claim 7, wherein the pressure sensor and/or the first UAV proximity sensor can control the automatic closing or opening of the top cover; and/or, the UAV aircraft nest The exterior includes a second UAV proximity sensor, and the second UAV proximity sensor can control the automatic closing or opening of the top cover.
The device according to claim 10, wherein the control center can receive information from one or more of the pressure sensor, the first UAV proximity sensor, and the second UAV proximity sensor. Signal, and then issue the control instruction to make the top cover automatically close or open.
The device according to claim 6, wherein the UAV comprises a height sensor, and the height sensor can control the switching of the antenna switching module.
The device according to claim 12, wherein the control center can receive the signal of the height sensor, and then issue the control instruction to switch the antenna switching module.
The device according to claim 13, when the height measurement value of the height sensor is higher than the first height setting value, the control center receives the signal of the height sensor, and then sends the control instruction to make the The antenna switching module switches to the second antenna; when the height measurement value of the height sensor is lower than the second height setting value, the control center receives the signal of the height sensor, and then sends the control instruction to The antenna switching module switches to the first antenna.
The device according to claim 12, wherein the height sensor can control the automatic closing or opening of the top cover.
The device according to claim 15, wherein the control center can receive the signal of the height sensor, and then issue the control instruction to automatically close or open the top cover.
The device according to claim 6, wherein the switching of the antenna switching module is manually controlled, and/or the top cover is manually controlled to close or open.
The device according to any one of claims 1-17, wherein the first antenna is wiredly connected to the radio receiver, and/or the second antenna is wiredly connected to the radio receiver.
The device according to claim 18, wherein the radio receiver is arranged in the first space; the first antenna includes a passive antenna, and/or the second antenna includes an active antenna.
The device according to claim 18, wherein the radio receiver is arranged in the second space, the radio receiver further comprises a waterproof device; the first antenna comprises a passive antenna or an active antenna , And/or the second antenna includes a passive antenna.
The device according to any one of claims 1-20, wherein the radio receiver can be connected to a control center in a wired manner, and the control instruction is issued by the control center.
An unmanned aerial vehicle nest, characterized in that the unmanned aerial vehicle nest is located in a first space of a transfer communication device, and the transfer communication device includes:

The first antenna is arranged in the first space, and the first space can be closed into a closed state or unclosed state;

The second antenna is arranged in a second space, and the first space is located in the second space;

A radio receiver, under a control instruction, the radio receiver can establish a communication connection with the first antenna or the second antenna, and can receive the radio in the first space in the closed state through the first antenna Signal, or receive a wireless signal in the second space through the second antenna.
The unmanned aerial vehicle nest of claim 22, wherein the relay communication device further comprises an antenna switching module, and the first antenna and the second antenna can be connected to the antenna switching module, The switching of the working states of the first antenna and the second antenna is realized through the switching of the antenna switching module.
The unmanned aerial vehicle nest according to claim 23, wherein the first antenna and the second antenna are connected to the radio receiver through the antenna switching module.
The unmanned aerial vehicle nest of claim 24, wherein the antenna switching module performs switching under the control instruction, so that the first antenna or the second antenna and the radio receiver Establish a communication connection.
The unmanned aerial vehicle nest of claim 24, wherein the antenna switching module comprises a single pole double throw switch.
The unmanned aerial vehicle nest according to claim 24, wherein the first space comprises a space formed by an unmanned aerial vehicle's nest, and the unmanned aerial vehicle's nest is used for parking unmanned aerial vehicles and is provided with a roof. Cover, the top cover can be closed or opened, so that the first space is closed into a closed state or an unclosed state.
The unmanned aerial vehicle nest according to claim 27, wherein the unmanned aerial vehicle nest includes a pressure sensor and/or a first unmanned aerial vehicle proximity sensor, the pressure sensor and/or a first unmanned aerial vehicle The aircraft proximity sensor can control the switching of the antenna switching module.
The unmanned aerial vehicle nest according to claim 28, wherein the control center is capable of receiving signals from the pressure sensor and/or the first unmanned aerial vehicle proximity sensor, and then issuing the control command to the antenna Switch the module to switch.
The unmanned aerial vehicle nest according to claim 29, wherein when the pressure measurement value of the pressure sensor in the unmanned aerial vehicle nest is higher than a first pressure setting value, the control center receives the The signal of the pressure sensor, and then the control instruction is issued to make the antenna switching module switch to the first antenna; when the pressure measurement value of the pressure sensor in the UAV aircraft nest is lower than the second pressure setting Value, the control center receives the signal from the pressure sensor, and then issues the control instruction to switch the antenna switching module to the second antenna; and/or

When the first UAV proximity sensor in the unmanned aerial vehicle nest detects the position of the UAV, the control center receives the signal of the first UAV proximity sensor, and then sends out the control Instruction to switch the antenna switching module to the first antenna; when the first UAV proximity sensor in the unmanned aerial vehicle nest cannot detect the position of the unmanned aerial vehicle, the control center Receiving the signal of the proximity sensor of the first UAV, and then issuing the control instruction to switch the antenna switching module to the second antenna.
The unmanned aerial vehicle nest according to claim 28, wherein the pressure sensor and/or the first unmanned aerial vehicle proximity sensor can control the automatic closing or opening of the top cover; and/or, the A second unmanned aerial vehicle proximity sensor is included outside the aircraft nest, and the second unmanned aerial vehicle proximity sensor can control the automatic closing or opening of the top cover.
The unmanned aerial vehicle nest according to claim 31, wherein the control center can receive one of the pressure sensor, the first UAV proximity sensor, and the second UAV proximity sensor Or signals from various sensors, and then send the control instructions to make the top cover automatically close or open.
28. The unmanned aerial vehicle nest according to claim 27, wherein the unmanned aerial vehicle comprises a height sensor, and the height sensor can control the switching of the antenna switching module.
The unmanned aerial vehicle nest of claim 33, wherein the control center can receive the signal of the height sensor, and then issue the control instruction to switch the antenna switching module.
The unmanned aerial vehicle aircraft nest according to claim 34, wherein when the height measurement value of the height sensor is higher than the first height setting value, the control center receives the signal from the height sensor, and then sends The control instruction causes the antenna switching module to switch to the second antenna; when the height measurement value of the height sensor is lower than the second height setting value, the control center receives the signal from the height sensor , And then issue the control instruction to switch the antenna switching module to the first antenna.
The unmanned aerial vehicle nacelle according to claim 33, wherein the height sensor can control the automatic closing or opening of the top cover.
The unmanned aerial vehicle aircraft nest according to claim 36, wherein the control center can receive the signal of the height sensor, and then issue the control instruction to make the top cover automatically close or open.
The unmanned aerial vehicle aircraft nest according to claim 27, wherein the switching of the antenna switching module is manually controlled, and/or the top cover is manually controlled to close or open.
The unmanned aerial vehicle nest according to any one of claims 22-38, wherein the first antenna is connected to the radio receiver by wire, and/or the second antenna is connected to the radio receiver Wired connection.
The unmanned aerial vehicle nest according to claim 39, wherein the radio receiver is arranged in the first space; the first antenna includes a passive antenna, and/or the second antenna includes Active antenna.
The unmanned aerial vehicle nest according to claim 39, wherein the radio receiver is arranged in the second space, the radio receiver further includes a waterproof device; the first antenna includes a passive antenna Or an active antenna, and/or the second antenna includes a passive antenna.
The unmanned aerial vehicle nest according to any one of claims 22-41, wherein the radio receiver can be connected to a control center in a wired manner, and the control command is issued by the control center.
An unmanned aerial vehicle control system, characterized in that the system includes: a relay communication device, an unmanned aerial vehicle nest, an unmanned aerial vehicle, and a control center;

The unmanned aerial vehicle nest is located in the first space of the transfer communication device, and is used to park the unmanned aerial vehicle;

The control center can establish a communication connection with the relay communication device, the unmanned aerial vehicle nest and the unmanned aerial vehicle, and can issue control instructions;

The relay communication equipment includes:

The first antenna is arranged in a first space, and the first space can be closed into a closed state or unclosed state;

The second antenna is arranged in a second space, and the first space is located in the second space;

A radio receiver, under the control instruction, the radio receiver can establish a communication connection with the first antenna or the second antenna, and can receive all the unmanned aerial vehicle in a closed state through the first antenna The wireless signal in the first space, or the wireless signal of the UAV in the second space is received through the second antenna.
The system according to claim 43, wherein the relay communication device further comprises an antenna switching module, and the first antenna and the second antenna can be connected to the antenna switching module through the antenna switching module. The switching of the switching module realizes the switching of the working states of the first antenna and the second antenna.
The system according to claim 44, wherein the first antenna and the second antenna are connected to the radio receiver through the antenna switching module.
The system of claim 45, wherein the antenna switching module causes the first antenna or the second antenna to establish a communication connection with the radio receiver under the control instruction.
The system of claim 45, wherein the antenna switching module comprises a single pole double throw switch.
The system according to claim 45, wherein the first space comprises a space formed by an unmanned aerial vehicle nest, and the unmanned aerial vehicle nest is provided with a top cover, and the top cover can be closed or opened to The first space is closed into a closed state or unclosed state.
The system according to claim 48, wherein the unmanned aerial vehicle nest includes a pressure sensor and/or a first unmanned aerial vehicle proximity sensor, and the pressure sensor and/or the first unmanned aerial vehicle proximity sensor can Control the switching of the antenna switching module.
The system according to claim 49, wherein the control center can receive signals from the pressure sensor and/or the proximity sensor of the first UAV, and then issue the control instruction to switch the mode of the antenna Group to switch.
The system according to claim 50, wherein the control center receives the signal from the pressure sensor when the pressure measurement value of the pressure sensor in the drone aircraft nest is higher than the first pressure setting value , And then issue the control instruction to switch the antenna switching module to the first antenna; when the pressure measurement value of the pressure sensor in the UAV aircraft nest is lower than the second pressure setting value, The control center receives the signal of the pressure sensor, and then issues the control instruction to switch the antenna switching module to the second antenna; and/or

When the first UAV proximity sensor in the unmanned aerial vehicle nest detects the position of the UAV, the control center receives the signal of the first UAV proximity sensor, and then sends out the control Instruction to switch the antenna switching module to the first antenna; when the first UAV proximity sensor in the unmanned aerial vehicle nest cannot detect the position of the unmanned aerial vehicle, the control center Receiving the signal of the proximity sensor of the first UAV, and then issuing the control instruction to switch the antenna switching module to the second antenna.
The system according to claim 49, wherein the pressure sensor and/or the first UAV proximity sensor can control the automatic closing or opening of the top cover; and/or, the UAV aircraft nest The exterior includes a second UAV proximity sensor, and the second UAV proximity sensor can control the automatic closing or opening of the top cover.
The system according to claim 52, wherein the control center can receive one or more of the pressure sensor, the first UAV proximity sensor, and the second UAV proximity sensor. The signal from the sensor, and then send the control instruction to make the top cover automatically close or open.
The system according to claim 48, wherein the UAV comprises a height sensor, and the height sensor can control the switching of the antenna switching module.
The system according to claim 54, wherein the control center can receive the signal of the height sensor, and then issue the control instruction to switch the antenna switching module.
The system according to claim 55, wherein when the height measurement value of the height sensor is higher than the first height setting value, the control center receives the signal of the height sensor, and then issues the control instruction , The antenna switching module is switched to the second antenna; when the height measurement value of the height sensor is lower than the second height setting value, the control center receives the signal from the height sensor, and then sends out the The control command causes the antenna switching module to switch to the first antenna.
The system of claim 54, wherein the height sensor can control the automatic closing or opening of the top cover.
The system according to claim 57, wherein the control center can receive a signal from the height sensor, and then issue the control instruction to automatically close or open the top cover.
The system according to claim 48, wherein the switching of the antenna switching module is manually controlled, and/or the top cover is manually controlled to close or open.
The system according to any one of claims 43-59, wherein the first antenna is connected to the radio receiver by wire, and/or the second antenna is connected to the radio receiver by wire.
The system according to claim 60, wherein the radio receiver is arranged in the first space; the first antenna includes a passive antenna, and/or the second antenna includes an active antenna.
The system according to claim 60, wherein the radio receiver is arranged in the second space, and the radio receiver further comprises a waterproof device; and the first antenna comprises a passive antenna or an active antenna , And/or the second antenna includes a passive antenna.
The system according to any one of claims 43-62, wherein the radio receiver can be connected to the control center in a wired manner.
A relay communication method, characterized in that the method is applicable to the unmanned aerial vehicle control system according to any one of claims 43-63, and the method comprises:

When the control center determines that the UAV is in the first space or the second space, sending a control instruction;

Under the control instruction, the radio receiver establishes a communication connection with the first antenna or the second antenna, so as to receive the unmanned aerial vehicle at the first antenna or the second antenna. Wireless signals in the first space or in the second space.
The method according to claim 64, wherein the sending a control instruction when the control center determines that the UAV is in the first space or the second space comprises:

When the control center determines that the UAV is in the first space or the second space, it sends a control instruction to control the antenna switching module to switch so that the radio receiver can pass The first antenna or the second antenna receives wireless signals of the UAV in the first space or the second space.
The method according to claim 65, wherein the sending a control instruction when the control center determines that the UAV is in the first space or the second space comprises:

The control center receives signals from the pressure sensor in the unmanned aerial vehicle nest and/or the first unmanned aerial vehicle proximity sensor;

When it is determined that the unmanned aerial vehicle is in the first space or the second space through the signal of the pressure sensor and/or the first UAV proximity sensor, a control instruction is sent.
The method according to claim 66, wherein when the control center determines that the UAV is in the first space or the second space, sending a control instruction comprises:

When the pressure measurement value of the pressure sensor is higher than the first pressure setting value and/or when the first UAV proximity sensor detects the position of the UAV, the control center receives the pressure A signal from a sensor and/or a proximity sensor of the first unmanned aerial vehicle, determining that the unmanned aerial vehicle is in the first space, and sending a control instruction to switch the antenna switching module to the first antenna;

When the pressure measurement value of the pressure sensor is lower than the second pressure setting value and/or when the first UAV proximity sensor cannot detect the position of the UAV, the control center receives the The signal from the pressure sensor and/or the proximity sensor of the first unmanned aerial vehicle determines that the unmanned aerial vehicle is in the second space, and sends a control instruction to switch the antenna switching module to the second antenna.
The method according to claim 66, wherein the method further comprises: a second UAV proximity sensor is located outside the unmanned aerial vehicle's nest, and when the pressure sensor and the first UAV approach When the sensor and one or more sensors of the second UAV proximity sensor send signals, the top cover is controlled to automatically close or open.
The method according to claim 65, wherein when the control center determines that the UAV is in the first space or the second space, sending a control instruction comprises:

The control center receives the signal of the height sensor of the unmanned aerial vehicle;

When it is determined that the unmanned aerial vehicle is in the first space or the second space through the signal of the altitude sensor, a control instruction is sent.
The method according to claim 69, wherein when the control center determines that the UAV is in the first space or the second space, sending a control instruction comprises:

When the altitude measurement value of the altitude sensor is higher than the first altitude setting value, the control center receives the signal from the altitude sensor, determines that the UAV is in the second space, and issues the control instruction , Enabling the antenna switching module to switch to the second antenna;

When the altitude measurement value of the altitude sensor is lower than the second altitude setting value, the control center receives the signal from the altitude sensor, determines that the UAV is in the first space, and issues the control instruction To switch the antenna switching module to the first antenna.
The method of claim 69, wherein the method further comprises:

When the height sensor of the UAV sends a signal, the top cover is controlled to automatically close or open.
The method according to claim 65, wherein when the control center determines that the UAV is in the first space or the second space, sending a control instruction comprises:

The control center receives the current altitude information of the unmanned aerial vehicle sent by the altitude sensor of the unmanned aerial vehicle;

When the control center determines that the unmanned aerial vehicle is in the second space through the current altitude information of the unmanned aerial vehicle, sending a control instruction to switch the antenna switching module to the second antenna;

The control center receives the pressure measurement value sent by the pressure sensor in the unmanned aerial vehicle's nest and/or the position information sent by the first unmanned aerial vehicle proximity sensor whether the unmanned aerial vehicle is detected;

When the control center determines that the unmanned aerial vehicle is in the first space through the pressure measurement value and/or detection of the position of the unmanned aerial vehicle, it sends a control instruction to switch the antenna switching module To the first antenna.
The method according to any one of claims 64-72, wherein the method further comprises:

The control center sends the control instruction to automatically close or open the top cover.