WO2021120659A1 - 自驾控制装置及具有其的无人驾驶装置 - Google Patents

自驾控制装置及具有其的无人驾驶装置 Download PDF

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Publication number
WO2021120659A1
WO2021120659A1 PCT/CN2020/110335 CN2020110335W WO2021120659A1 WO 2021120659 A1 WO2021120659 A1 WO 2021120659A1 CN 2020110335 W CN2020110335 W CN 2020110335W WO 2021120659 A1 WO2021120659 A1 WO 2021120659A1
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WO
WIPO (PCT)
Prior art keywords
antenna
control device
communication device
support
mounting
Prior art date
Application number
PCT/CN2020/110335
Other languages
English (en)
French (fr)
Inventor
温海军
Original Assignee
广州极飞科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 广州极飞科技有限公司 filed Critical 广州极飞科技有限公司
Priority to JP2021567016A priority Critical patent/JP7269375B2/ja
Priority to EP20902759.8A priority patent/EP3950491B1/en
Priority to AU2020408484A priority patent/AU2020408484B2/en
Priority to CA3139326A priority patent/CA3139326A1/en
Priority to KR1020217035893A priority patent/KR20210151867A/ko
Publication of WO2021120659A1 publication Critical patent/WO2021120659A1/zh
Priority to US17/524,131 priority patent/US12009569B2/en

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Classifications

    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/12—Supports; Mounting means
    • H01Q1/1207—Supports; Mounting means for fastening a rigid aerial element
    • H01Q1/1214—Supports; Mounting means for fastening a rigid aerial element through a wall
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0016—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the operator's input device
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
    • B64C1/36—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like adapted to receive antennas or radomes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/12—Supports; Mounting means
    • H01Q1/1207—Supports; Mounting means for fastening a rigid aerial element
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/12—Supports; Mounting means
    • H01Q1/22—Supports; Mounting means by structural association with other equipment or articles
    • H01Q1/2283—Supports; Mounting means by structural association with other equipment or articles mounted in or on the surface of a semiconductor substrate as a chip-type antenna or integrated with other components into an IC package
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/27—Adaptation for use in or on movable bodies
    • H01Q1/28—Adaptation for use in or on aircraft, missiles, satellites, or balloons
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/27—Adaptation for use in or on movable bodies
    • H01Q1/32—Adaptation for use in or on road or rail vehicles
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q9/00—Electrically-short antennas having dimensions not more than twice the operating wavelength and consisting of conductive active radiating elements
    • H01Q9/04—Resonant antennas
    • H01Q9/0407—Substantially flat resonant element parallel to ground plane, e.g. patch antenna
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
    • B63B2035/008—Unmanned surface vessels, e.g. remotely controlled remotely controlled
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q21/00—Antenna arrays or systems
    • H01Q21/28—Combinations of substantially independent non-interacting antenna units or systems

Definitions

  • This application relates to the technical field of unmanned driving devices, and in particular to a self-driving control device and an unmanned driving device having the same.
  • Unmanned driving devices are widely used in many fields due to their flexibility, fast response, low operating requirements, etc. Among them, the driving of the unmanned device is controlled by the self-driving control device. Therefore, in order to ensure that the unmanned device If the driving reliability is high, it is necessary to ensure the high stability of the signal received by the self-driving control device. However, the current self-driving control device has an unreasonable structural design, poor communication quality, and poor signal receiving ability, which cannot guarantee the reliability of the unmanned driving device. Sex.
  • This application aims to solve one of the above-mentioned technical problems in the prior art at least to a certain extent. For this reason, this application proposes a self-driving control device, which has a reasonable structural design to ensure good communication quality and stable signal reception.
  • This application also proposes an unmanned driving device with the above-mentioned self-driving control device.
  • the self-driving control device includes: a mounting seat, a control device, a communication device, and an antenna assembly.
  • the mounting seat has a receiving cavity
  • the control device is arranged in the receiving cavity
  • the communication device is arranged in the receiving cavity.
  • the accommodating cavity is electrically connected to the control device
  • the antenna assembly is installed on the mounting seat and electrically connected to the communication device.
  • the control device and the communication device are both located in the accommodating cavity of the mounting seat, so the mounting seat can support and protect the control device and the communication device, and prevent the outside from interfering with the operation of the control device and the communication device. Ensure the high reliability of the control device and the communication device.
  • the antenna assembly is installed on the outside of the mounting seat, which can provide installation support for the antenna assembly, and ensure that the antenna assembly can receive signals better and prevent interference. Therefore, the structure design of the self-driving control device is reasonable and the communication quality is good. , And the signal reception stability is high.
  • the antenna assembly includes: an antenna support, a first antenna, and a second antenna, the antenna support is fixed on the mounting base, the first antenna is mounted on the antenna support, and The first antenna is electrically connected to the communication device, the second antenna is installed on the antenna support, and the second antenna is electrically connected to the communication device.
  • the antenna bracket includes a bracket body, a first mounting portion, and a second mounting portion.
  • the first mounting portion is located at one end of the bracket body, and the second mounting portion is located at the end of the bracket body.
  • the first antenna and the second antenna are both provided at the first mounting portion and the second mounting portion.
  • the antenna bracket is provided with a wiring groove on a side facing the mounting seat, and the first antenna and the first antenna located at the first mounting portion and the second mounting portion The second antennas are all routed from the wiring trough to electrically connect with the communication device.
  • the mounting seat includes: a mounting shell and a fixing bracket, the receiving cavity is formed in the mounting shell, and the fixing bracket is placed in the receiving cavity and is connected to the mounting shell.
  • the inner wall is fixed, and the fixing bracket divides the receiving cavity into a control device installation cavity suitable for placing the control device and a communication device installation cavity suitable for placing the communication device.
  • the fixing bracket includes: a support plate and a support foot, one end of the support foot is fixed to the support plate, and the other end is suitable for being fixed to the inner wall of the mounting housing, so as to be fixed on the inner wall of the mounting housing.
  • the control device installation cavity is formed between the support board and the inner wall of the installation housing, and the communication device installation cavity is formed on the side of the support board facing away from the control device installation cavity.
  • the communication device includes: a first communication device and a second communication device
  • the fixing bracket further includes: a connecting plate, the connecting plate is located in the communication device installation cavity, the The first communication device and the second communication device are located on both sides of the connecting board, and the first communication device is adapted to be connected to the first antenna and the second antenna located in the first mounting portion , The second communication device is adapted to be connected to the first antenna and the second antenna located in the second mounting portion.
  • the fixing bracket further includes: a fixing plate, the fixing plate is arranged at an end of the connecting plate away from the supporting plate;
  • the antenna assembly further includes: a third antenna, which is fixed on the fixing board and electrically connected to the communication device.
  • the fixed plate includes: a fixed connecting plate, a first supporting plate and a second supporting plate, the fixed connecting plate is connected to the connecting plate, and the first supporting plate is located on the One end of the fixing plate, the second supporting plate is located at the other end of the fixing plate, and the free ends of the first supporting plate and the second supporting plate both extend toward the supporting plate, the first supporting plate
  • the angle between the first support board and the second support board is greater than 90° and less than 180°
  • the third antenna is a chip antenna and is attached to the first support board and the second support board.
  • An unmanned driving device includes the above-mentioned self-driving control device.
  • the unmanned driving device has the same advantages as the aforementioned self-driving control device over the prior art, and will not be repeated here.
  • Figure 1 is a three-dimensional schematic diagram of a self-driving control device
  • Figure 2 is a schematic diagram of the disassembly of the self-driving control device
  • Fig. 3 is a schematic diagram of the cooperation between the fixed bracket and the communication device
  • Figure 4 is a schematic view of the structure of the fixing bracket
  • Fig. 5 is a schematic diagram of the structure of the antenna support.
  • the terms “installed”, “connected”, “connected”, “fixed” and other terms should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection , Or integrated; it can be mechanically connected, or electrically connected, or can communicate with each other; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal communication of two components or the interaction between two components.
  • installed can be a fixed connection or a detachable connection , Or integrated; it can be mechanically connected, or electrically connected, or can communicate with each other; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal communication of two components or the interaction between two components.
  • the self-driving control device 100 according to an embodiment of the present application will be described in detail below with reference to FIGS. 1 to 5.
  • the self-driving control device 100 may include: a mounting base 120, a control device 30, a communication device, and an antenna assembly 60.
  • the antenna assembly 60 is used to receive signals sent by the console and the communication device It is used to get in touch with the console, and the control device 30 is used to control the unmanned driving device to perform actions.
  • the mounting seat 120 has a receiving cavity 21, the control device 30 is disposed in the receiving cavity 21, the communication device is disposed in the receiving cavity 21 and is electrically connected to the control device 30, and the antenna assembly 60 is installed on the mounting seat. 120 and electrically connected with the communication device.
  • the control device 30 and the communication device are both located in the accommodating cavity 21 of the mounting seat 120, so that the mounting seat 120 can support and protect the control device 30 and the communication device, and prevent the outside from interfering with the operation of the control device 30 and the communication device. Therefore, the reliability of the operation of the control device 30 and the communication device is high.
  • the antenna assembly 60 is installed on the mounting base 120, so as to provide mounting support for the antenna assembly 60. In a specific embodiment, the antenna assembly 60 is located outside the mounting base 120, so as to ensure that the antenna assembly 60 can receive better. Signal to prevent interference.
  • the control device 30 and the communication device are both located in the accommodating cavity 21 of the mounting seat 120, so the mounting seat 120 can support and protect the control device 30 and the communication device and prevent the outside from interfering with the control device
  • the operation of 30 and the communication device ensures that the reliability of the operation of the control device 30 and the communication device is high.
  • the antenna assembly 60 is installed on the outside of the mounting base 120, which can provide installation support for the antenna assembly 60, and ensure that the antenna assembly 60 can receive signals well and prevent interference. Therefore, the structure design of the self-driving control device 100 is reasonable. , The communication quality is good, and the signal reception stability is high.
  • the antenna assembly 60 may include: an antenna support 61, a first antenna 62, the antenna support 61 is fixed on the mounting base 120, and the first antenna 62 is mounted on the antenna
  • the support 61, and the first antenna 62 is electrically connected to the communication device, that is, the antenna support 61 provides support for the first antenna 62 to be installed on the mounting base 120, so as to ensure that the signal received by the first antenna 62 can be smoothly transmitted to the communication device in.
  • the antenna assembly 60 may further include: a second antenna 63, the second antenna 63 is installed on the antenna support 61, and the second antenna 63 is electrically connected to the communication device .
  • the second antenna 63 is also fixed on the antenna support 61 and is electrically connected to the communication device.
  • the first antenna 62 and the second antenna 63 it can be ensured that the antenna assembly 60 has a wide signal reception range and strong reception capability. Furthermore, it is ensured that the quality of the received signal of the self-driving control device 100 is good, which provides a basis for the high working stability of the self-driving control device 100.
  • the antenna bracket 61 may include: a bracket body 65, a first mounting portion 66, and a second mounting portion 67.
  • the first mounting portion 66 is located on the bracket.
  • One end of the body 65, the second mounting portion 67 is located at the other end of the bracket body 65, the first mounting portion 66 and the second mounting portion 67 are both provided with a first antenna 62 and a second antenna 63, that is, the first mounting portion 66 and
  • the second mounting portion 67 is located at both ends of the bracket body 65, and the first mounting portion 66 and the second mounting portion 67 are both provided with a first antenna 62 and a second antenna 63, thereby further increasing the signal receiving range and receiving capacity , To ensure that the self-driving control device 100 has a strong signal receiving capability.
  • first and second are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, the features defined with “first” and “second” may explicitly or implicitly include one or more of these features. In the description of the present application, "a plurality of” means at least two, such as two, three, etc., unless specifically defined otherwise.
  • the antenna bracket 61 is provided with a wiring groove 68, and the first antenna 62 and the second antenna 63 located in the first mounting portion 66 and the second mounting portion 67 can be removed from the wiring groove 68
  • the wires are routed to be electrically connected with the communication device located on the mounting base 120.
  • the mounting seat 120 may include: a mounting housing 10 and a fixing bracket 20, a receiving cavity 21 is formed in the mounting housing 10, and the fixing bracket 20 is placed in the receiving cavity 21 And fixed with the inner wall of the mounting housing 10, the fixing bracket 20 divides the receiving cavity 21 into a control device installation cavity suitable for placing the control device 30 and a communication device installation cavity suitable for placing the communication device, and the control device 30 is placed in the control device installation cavity
  • the communication device is placed in the installation cavity of the communication device, and the mounting housing 10 can surround the fixed bracket 20 to protect the control device 30 and the communication device.
  • the mounting housing 10 may include: a first housing 11, a second housing 12, a third housing 13, and a fourth housing 14.
  • the first housing 11 is a hollow cavity with a closed upper end.
  • the second housing 12 is fixed at the lower end of the first housing 11, and the third housing 13 and the fourth housing 14 are respectively fixed at opposite ends of the first housing 11 to form a fully enclosed cavity.
  • the structure can further protect the control device 30 and the communication device.
  • the antenna bracket 61 can be fixed on the upper end of the mounting shell 10, and the upper end of the mounting shell 10 is provided with a wire hole 15 suitable for the connection line of the antenna bracket 61 to pass through, thereby facilitating the first antenna 62, the second antenna 63 and the communication device Make electrical connections.
  • the fixing bracket 20 may include: a support plate 22 and a support foot 23, one end of the support foot 23 is fixed to the support plate 22, and the other end is suitable for mounting the housing
  • the inner wall of 10 is fixed to form a control device installation cavity between the support plate 22 and the inner wall of the mounting housing 10.
  • the support plate 22 and the support feet 23 can be formed into an approximate “table and stool” shape, and a plurality of support feet 23 are located on the support plate 22, and the other end of the supporting foot 23 is fixed to the inner wall of the mounting housing 10, so as to support the fixing bracket 20, and there is a gap between the support plate 22 and the inner wall of the mounting housing 10 to form a control device mounting cavity , So as to ensure that the mounting seat 120 can fix the control device 30, and because the control device 30 is located between the support plate 22 and the inner wall of the mounting housing 10, it is also conducive to the shock absorption of the control device 30 and ensures the working environment of the control device 30 It is better to ensure the reliable operation of the control device 30.
  • the number of supporting legs 23 is four, the supporting plate 22 is a quadrilateral plate, and the four supporting legs 23 are respectively located around the supporting plate 22, and the supporting plate 22 and the second shell
  • the body 12 defines a control device installation cavity.
  • the side of the support plate 22 facing away from the control device installation cavity forms a communication device installation cavity, so as to ensure that the installation base 120 can fix the communication device.
  • the communication device includes: a first communication device 40 and a second communication device 50, that is, the communication device is composed of a first communication device 40 and a second communication device 50
  • the first communication device 40 may be connected to the first antenna 62 and the second antenna 63 located in the first mounting portion 66
  • the second communication device 50 may be connected to the first antenna 62 located in the second mounting portion 67. Connected to the second antenna 63.
  • the fixing bracket 20 further includes: a connecting plate 24, which is located in the communication device installation cavity, and the first communication device 40 and the second communication device 50 are located on both sides of the connecting plate 24 separately That is to say, the connecting plate 24 divides the communication device installation cavity into a first installation cavity suitable for placing the first communication device 40 and a second installation cavity suitable for placing the second communication device 50, the first communication device 40 and the second communication device 40.
  • the communication device 50 is respectively located in the first installation cavity and the second installation cavity, and both the first communication device 40 and the second communication device 50 can be fixedly connected to the connecting plate 24, thereby providing support for the fixing of the communication device.
  • the fixing bracket 20 further includes: a fixing plate 25.
  • the fixing plate 25 is arranged on an end of the connecting plate 24 away from the supporting plate 22, and the fixing plate 25 is located on the connecting plate.
  • a communication device installation cavity is defined between the fixing plate 25 and the support plate 22, so that the fixing plate 25 can protect the communication device located in the communication device installation cavity.
  • the fixing plate 25 is formed as an integral piece with the connecting plate 24 and the connecting legs. Therefore, the self-driving control device 100 only needs to fix the mounting housing 10 and the fixing bracket 20, and then connect the control device 30, the communication device and the antenna bracket 61. Installation, the self-driving control device 100 can be assembled, the assembly is simple, and the connection is firm.
  • the antenna assembly 60 may further include: a third antenna 64.
  • the third antenna 64 is fixed on the fixed plate 25 and electrically connected to the communication device. By providing the third antenna 64, the self-driving can be further enhanced. Control the signal receiving capability of the device 100.
  • the fixing plate 25 may include: a fixing plate 26, a first supporting plate 27 and a second supporting plate 28, and the fixing plate 26 is connected to the connecting plate 24 ,
  • the first supporting plate 27 is located at one end of the fixing plate 26
  • the second supporting plate 28 is located at the other end of the fixing plate 26, and the free ends of the first supporting plate 27 and the second supporting plate 28 both extend toward the supporting plate 22,
  • the angle between the first support board 27 and the second support board 28 is greater than 90° and less than 180°.
  • the third antenna 64 is a chip antenna and is attached to the first support board 27 and the second support board 28.
  • the first supporting plate 27 and the second supporting plate 28 of the fixed plate 25 are arranged obliquely, which is beneficial to increase the signal receiving range of the antenna, thereby ensuring a wide signal receiving range of the self-driving control device 100.
  • the first antenna 62 may be a positioning antenna (rtk), and the second antenna 63 or the third antenna 64 may be a communication antenna (4g), so as to ensure that the self-driving control device 100 can receive positioning signals and communication signals at the same time. It is ensured that the self-driving control device 100 can timely feedback its own location and take the next step to the unmanned device in time, so as to ensure that the self-driving control device 100 has high working reliability.
  • An unmanned driving device includes the above-mentioned self-driving control device 100.
  • the self-driving control device 100 may be an unmanned vehicle, an unmanned aerial vehicle, or an unmanned boat or the like.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Remote Sensing (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Computing Systems (AREA)
  • Mathematical Physics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Automation & Control Theory (AREA)
  • Astronomy & Astrophysics (AREA)
  • Toys (AREA)
  • Support Of Aerials (AREA)
  • Details Of Aerials (AREA)
  • Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)
  • Variable-Direction Aerials And Aerial Arrays (AREA)
  • Vehicle Body Suspensions (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Hydraulic Clutches, Magnetic Clutches, Fluid Clutches, And Fluid Joints (AREA)
  • Selective Calling Equipment (AREA)

Abstract

一种自驾控制装置(100)及具有其的无人驾驶装置，自驾控制装置(100)包括：安装座(120)、控制装置(30)、通信装置以及天线组件(60)，安装座(120)具有收容腔(21)，控制装置(30)设置于收容腔(21)内，通信装置设置于收容腔(21)内且与控制装置(30)电连接，天线组件(60)安装于安装座(120)且与通信装置电连接。

Description

自驾控制装置及具有其的无人驾驶装置
相关申请的交叉引用
本申请基于申请号为201922302280.2，申请日为2019年12月19日的中国专利申请提出，并要求该中国专利申请的优先权，该中国专利申请的全部内容在此引入本申请作为参考。
技术领域
本申请涉及无人驾驶装置技术领域，尤其是涉及一种自驾控制装置及具有其的无人驾驶装置。
背景技术
无人驾驶装置由于具有机动灵活、反应快速、操作要求低等优点而被广泛应用在多个领域中，其中，无人驾驶装置的行驶由自驾控制装置进行控制，因此，为了保证无人驾驶装置的行驶可靠性高，则需要保证自驾控制装置的接收信号的稳定性高，而目前的自驾控制装置的结构设计不合理，通讯质量差，信号接收能力差，无法保证无人驾驶装置的工作可靠性。
发明内容
本申请旨在至少在一定程度上解决现有技术中的上述技术问题之一。为此，本申请提出一种自驾控制装置，该自驾控制装置的结构设计合理，保证通讯质量较好，且信号接收稳定。
本申请还提出了一种具有上述自驾控制装置的无人驾驶装置。
根据本申请实施例的自驾控制装置包括：安装座、控制装置、通信装置以及天线组件，所述安装座具有收容腔，所述控制装置设置于所述收容腔内，所述通信装置设置于所述收容腔内且与所述控制装置电连接，所述天线组件安装于所述安装座且与所述通信装置电连接。
根据本申请实施例的自驾控制装置，控制装置与通信装置均位于安装座的收容腔内，因此安装座可以对控制装置以及通信装置进行支撑、保护，防止外界干涉控制装置与通信装置的工作，保证控制装置与通信装置工作的可靠性高。并且，天线组件安装在安装座的外侧，从而可以为天线组件提供了安装支撑，且保证天线组件可以较好地接收信号，防止发生干涉，因此，自驾控制装置的结构设计合理，通讯质量较好，且信号接收稳定性高。
根据本申请的一些实施例，所述天线组件包括：天线支架、第一天线以及第二天线，所述天线支架固定在所述安装座上，所述第一天线安装于所述天线支架，且所述第一天线与所 述通信装置电连接，所述第二天线安装于所述天线支架，且所述第二天线与所述通信装置电连接。
在本申请的一些实施例中，所述天线支架包括：支架本体、第一安装部、第二安装部，所述第一安装部位于所述支架本体的一端，所述第二安装部位于所述支架本体的另一端，所述第一安装部和所述第二安装部处均设置有所述第一天线和所述第二天线。
在本申请的一些实施例中，所述天线支架朝向所述安装座的一侧开设有走线槽，位于所述第一安装部与所述第二安装部的所述第一天线与所述第二天线均从所述走线槽中进行走线，以与所述通信装置进行电连接。
根据本申请的一些实施例，所述安装座包括：安装外壳与固定支架，所述安装外壳内形成有所述收容腔，所述固定支架置于所述收容腔中且与所述安装外壳的内壁固定，所述固定支架将所述收容腔分成适于放置所述控制装置的控制装置安装腔以及适于放置所述通信装置的通信装置安装腔。
在本申请的一些实施例中，所述固定支架包括：支撑板与支撑脚，所述支撑脚的一端与所述支撑板固定，另一端适于与所述安装外壳的内壁固定，以在所述支撑板与所述安装外壳的内壁之间形成所述控制装置安装腔，所述支撑板的背离所述控制装置安装腔的一侧形成所述通信装置安装腔。
在本申请的一些实施例中，所述通信装置包括：第一通信装置、第二通信装置，所述固定支架还包括：连接板，所述连接板位于所述通信装置安装腔中，所述第一通信装置和所述第二通信装置分居所述连接板的两侧，且所述第一通信装置适于与位于所述第一安装部的所述第一天线以及所述第二天线相连，所述第二通信装置适于与位于所述第二安装部的所述第一天线以及所述第二天线相连。
在本申请的一些实施例中，所述固定支架还包括：固定板，所述固定板设置在所述连接板的远离所述支撑板的一端；
所述天线组件还包括：第三天线，所述第三天线固定在所述固定板上且与所述通信装置电连接。
在本申请的一些实施例中，所述固定板包括：固连板、第一支板和第二支板，所述固连板与所述连接板相连，所述第一支板位于所述固连板的一端，所述第二支板位于所述固连板的另一端，且所述第一支板和所述第二支板的自由端均朝向所述支撑板延伸，所述第一支板和所述第二支板之间的夹角大于90°且小于180°，所述第三天线为片状天线且贴在所述第一支板和所述第二支板上。
根据本申请另一方面实施例的无人驾驶装置，包括上述的自驾控制装置。
所述无人驾驶装置与上述的自驾控制装置相对于现有技术所具有的优势相同，在此不再赘述。
本申请的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本申请的实践了解到。
附图说明
本申请的上述和/或附加的方面和优点从结合下面附图对实施例的描述中将变得明显和容易理解，其中：
图1是自驾控制装置的立体示意图；
图2是自驾控制装置的拆解示意图；
图3是固定支架与通信装置配合的示意图；
图4是固定支架的结构示意图；
图5是天线支架的结构示意图。
附图标记：
自驾控制装置100、安装座120、安装外壳10、第一壳体11、第二壳体12、第三壳体13、第四壳体14、过线孔15、固定支架20、收容腔21、支撑板22、支撑脚23、连接板24、固定板25、固连板26、第一支板27、第二支板28、控制装置30、第一通信装置40、第二通信装置50、天线组件60、天线支架61、第一天线62、第二天线63、第三天线64、支架本体65、第一安装部66、第二安装部67、走线槽68。
具体实施方式
下面详细描述本申请的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，仅用于解释本申请，而不能理解为对本申请的限制。
在本申请的描述中，需要理解的是，术语“纵向”、“横向”、“长度”、“宽度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。
在本申请中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一 体；可以是机械连接，也可以是电连接或可以互相通讯；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请中的具体含义。
下面结合图1-图5详细描述根据本申请实施例的自驾控制装置100。
参照图1-图2所示，根据本申请实施例的自驾控制装置100可以包括：安装座120、控制装置30、通信装置以及天线组件60，天线组件60用于接收控制台所发信号，通信装置用于与控制台取得联系，控制装置30用于控制无人驾驶装置进行动作。
具体地，如图2所示，安装座120具有收容腔21，控制装置30设置于收容腔21内，通信装置设置于收容腔21内且与控制装置30电连接，天线组件60安装于安装座120且与通信装置电连接。
也就是说，控制装置30与通信装置均位于安装座120的收容腔21内，从而安装座120可以对控制装置30以及通信装置进行支撑、保护，防止外界干涉控制装置30与通信装置的工作，从而保证控制装置30与通信装置工作的可靠性高。并且，天线组件60安装在安装座120上，从而可以为天线组件60提供了安装支撑，在具体实施例中，天线组件60位于安装座120的外侧，从而可以保证天线组件60可以较好地接收信号，防止发生干涉。
根据本申请实施例的自驾控制装置100，控制装置30与通信装置均位于安装座120的收容腔21内，因此安装座120可以对控制装置30以及通信装置进行支撑、保护，防止外界干涉控制装置30与通信装置的工作，保证控制装置30与通信装置工作的可靠性高。并且，天线组件60安装在安装座120的外侧，从而可以为天线组件60提供了安装支撑，且保证天线组件60可以较好地接收信号，防止发生干涉，因此，自驾控制装置100的结构设计合理，通讯质量较好，且信号接收稳定性高。
在本申请的一些实施例中，如图1-图2所示，天线组件60可以包括：天线支架61、第一天线62，天线支架61固定在安装座120上，第一天线62安装于天线支架61，且第一天线62与通信装置电连接，即天线支架61为第一天线62可安装在安装座120上提供了支撑，从而保证第一天线62所接收的信号可以顺利传递到通信装置中。
在本申请的一些实施例中，如图1-图2所示，天线组件60还可以包括：第二天线63，第二天线63安装于天线支架61，且第二天线63与通信装置电连接。
也就是说，第二天线63同样固定在天线支架61上，且与通信装置电连接，通过设置第一天线62与第二天线63，可以保证天线组件60接收信号的范围广，接收能力强，进而保证自驾控制装置100的接收信号的质量较好，为自驾控制装置100的工作稳定性 高提供了基础。
在本申请的一些实施例中，如图1-图2、图5所示，天线支架61可以包括：支架本体65、第一安装部66、第二安装部67，第一安装部66位于支架本体65的一端，第二安装部67位于支架本体65的另一端，第一安装部66和第二安装部67处均设置有第一天线62和第二天线63，即第一安装部66与第二安装部67位于支架本体65的两端，且第一安装部66与第二安装部67均设有第一天线62与第二天线63，从而进一步地增大了信号接收范围以及接收能力，保证自驾控制装置100的接收信号能力强。
需要说明的是，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本申请的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。
具体地，如图5所示，天线支架61上开设有走线槽68，位于第一安装部66与第二安装部67的第一天线62与第二天线63，可以从走线槽68中进行走线，从而与位于安装座120上的通信装置进行电连接。
在本申请的一些实施例中，如图3-图4所示，安装座120可以包括：安装外壳10与固定支架20，安装外壳10内形成有收容腔21，固定支架20置于收容腔21中且与安装外壳10的内壁固定，固定支架20将收容腔21分成适于放置控制装置30的控制装置安装腔以及适于放置通信装置的通信装置安装腔，控制装置30放置在控制装置安装腔中，通信装置放置在通信装置安装腔中，安装外壳10可以对固定支架20进行包围，从而对控制装置30与通信装置进行保护。
具体地，如图2所示，安装外壳10可以包括：第一壳体11、第二壳体12、第三壳体13和第四壳体14，第一壳体11为上端封闭的中空腔体，且第二壳体12固定在第一壳体11的下端，第三壳体13与第四壳体14分别固定在第一壳体11的相对两端，从而组成一个全封闭的腔体结构，进而可以对控制装置30与通信装置进行保护。天线支架61可以固定在安装外壳10的上端，且安装外壳10的上端设有适于天线支架61的连接线穿设的过线孔15，从而方便第一天线62、第二天线63与通信装置进行电连接。
在本申请的一些实施例中，如图3-图4所示，固定支架20可以包括：支撑板22与支撑脚23，支撑脚23的一端与支撑板22固定，另一端适于与安装外壳10的内壁固定，以在支撑板22与安装外壳10的内壁之间形成控制装置安装腔，支撑板22与支撑脚23可以组成为近似“桌凳”状，其多个支撑脚23位于支撑板22的周边，且支撑脚23的另一端与安装外壳10的内壁固定，从而实现对固定支架20的支撑，并且，支撑板22 与安装外壳10的内壁之间具有间隙，以形成控制装置安装腔，从而保证安装座120可以对控制装置30进行固定，并且，由于控制装置30位于支撑板22与安装外壳10的内壁之间，还有利于控制装置30的减震，确保控制装置30的工作环境较好，保证控制装置30的工作可靠。
在图3-图4所示的实施例中，支撑脚23的数量为四个，支撑板22为四边形板，四个支撑脚23分别位于支撑板22的四周，并且支撑板22与第二壳体12之间限定出控制装置安装腔。
并且，支撑板22的背离控制装置安装腔的一侧形成通信装置安装腔，从而保证安装座120可以对通信装置进行固定。
在本申请的一些实施例中，如图2-图3所示，通信装置包括：第一通信装置40、第二通信装置50，即通信装置由第一通信装置40与第二通信装置50组成，在具体实施例中，第一通信装置40可以与位于第一安装部66的第一天线62与第二天线63相连，第二通信装置50可以与位于第二安装部67的第一天线62与第二天线63相连。
具体地，如图3-图4所示，固定支架20还包括：连接板24，连接板24位于通信装置安装腔中，第一通信装置40和第二通信装置50分居连接板24的两侧，也就是说，连接板24将通信装置安装腔分成适于放置第一通信装置40的第一安装腔以及适于放置第二通信装置50的第二安装腔，第一通信装置40和第二通信装置50分别位于第一安装腔与第二安装腔中，且第一通信装置40和第二通信装置50可以均与连接板24进行固定连接，从而为通信装置的固定提供了支撑。
在本申请的一些实施例中，如图3-图4所示，固定支架20还包括：固定板25，固定板25设置在连接板24的远离支撑板22的一端，固定板25位于连接板24的上方，且固定板25与支撑板22之间限定出通信装置安装腔，从而固定板25可以对位于通信装置安装腔的通信装置提供上方的保护。
并且，固定板25与连接板24以及连接脚形成为一体件，因此，自驾控制装置100仅需将安装外壳10与固定支架20固定连接后，再将控制装置30、通信装置以及天线支架61进行安装，便可将自驾控制装置100组装完毕，装配简单，且连接牢靠。
在本申请的一些实施例中，天线组件60还可以包括：第三天线64，第三天线64固定在固定板25上且与通信装置电连接，通过设置第三天线64，可以进一步地增强自驾控制装置100的信号接收能力。
在本申请的一些实施例中，如图3-图4所示，固定板25可以包括：固连板26、第一支板27和第二支板28，固连板26与连接板24相连，第一支板27位于固连板26的 一端，第二支板28位于固连板26的另一端，且第一支板27和第二支板28的自由端均朝向支撑板22延伸，第一支板27和第二支板28之间的夹角大于90°且小于180°，第三天线64为片状天线且贴在第一支板27和第二支板28上。也就是说，固定板25的第一支板27、第二支板28倾斜设置，从而有利于增大天线接收信号的范围，进而保证自驾控制装置100的信号接收范围广。
在具体实施例中，第一天线62可以为定位天线(rtk)，第二天线63或第三天线64可以为通讯天线(4g)，从而保证自驾控制装置100可以同时接收定位信号以及通讯信号，保证自驾控制装置100可以及时反馈自身所在位置，以及及时对无人驾驶装置采取下一步地行动，保证自驾控制装置100的工作可靠性高。
根据本申请另一方面实施例的无人驾驶装置，包括上述的自驾控制装置100。
在具体实施例中，自驾控制装置100可以为无人车、无人机或者无人艇等。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示意性实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本申请的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施例或示例中以合适的方式结合。
尽管已经示出和描述了本申请的实施例，本领域的普通技术人员可以理解：在不脱离本申请的原理和宗旨的情况下可以对这些实施例进行多种变化、修改、替换和变型，本申请的范围由权利要求及其等同物限定。

Claims (10)

  1. 一种自驾控制装置，其特征在于，包括：
    安装座，所述安装座具有收容腔；
    控制装置，所述控制装置设置于所述收容腔内；
    通信装置，所述通信装置设置于所述收容腔内且与所述控制装置电连接；
    天线组件，所述天线组件安装于所述安装座且与所述通信装置电连接。
  2. 根据权利要求1所述的自驾控制装置，其特征在于，所述天线组件包括：
    天线支架，所述天线支架固定在所述安装座上；
    第一天线，所述第一天线安装于所述天线支架，且所述第一天线与所述通信装置电连接；
    第二天线，所述第二天线安装于所述天线支架，且所述第二天线与所述通信装置电连接。
  3. 根据权利要求2所述的自驾控制装置，其特征在于，所述天线支架包括：支架本体、第一安装部、第二安装部，所述第一安装部位于所述支架本体的一端，所述第二安装部位于所述支架本体的另一端，所述第一安装部和所述第二安装部处均设置有所述第一天线和所述第二天线。
  4. 根据权利要求3所述的自驾控制装置，其特征在于，所述天线支架朝向所述安装座的一侧开设有走线槽，位于所述第一安装部与所述第二安装部的所述第一天线与所述第二天线均从所述走线槽中进行走线，以与所述通信装置进行电连接。
  5. 根据权利要求3所述的自驾控制装置，其特征在于，所述安装座包括：
    安装外壳，所述安装外壳内形成有所述收容腔；
    固定支架，所述固定支架置于所述收容腔中且与所述安装外壳的内壁固定，所述固定支架将所述收容腔分成适于放置所述控制装置的控制装置安装腔以及适于放置所述通信装置的通信装置安装腔。
  6. 根据权利要求5所述的自驾控制装置，其特征在于，所述固定支架包括：
    支撑板；
    支撑脚，所述支撑脚的一端与所述支撑板固定，另一端适于与所述安装外壳的内壁固定，以在所述支撑板与所述安装外壳的内壁之间形成所述控制装置安装腔，所述支撑板的背离所述控制装置安装腔的一侧形成所述通信装置安装腔。
  7. 根据权利要求6所述的自驾控制装置，其特征在于，所述通信装置包括：第一通信装置、第二通信装置，所述固定支架还包括：连接板，所述连接板位于所述通信装置安装腔中，所述第一通信装置和所述第二通信装置分居所述连接板的两侧，且所述第一通信装置适于与位于所述第一安装部的所述第一天线以及所述第二天线相连，所述第二通信装置适于与位于所述第二安装部的所述第一天线以及所述第二天线相连。
  8. 根据权利要求7所述的自驾控制装置，其特征在于，所述固定支架还包括：固定板，所述固定板设置在所述连接板的远离所述支撑板的一端；
    所述天线组件还包括：第三天线，所述第三天线固定在所述固定板上且与所述通信装置电连接。
  9. 根据权利要求8所述的自驾控制装置，其特征在于，所述固定板包括：固连板、第一支板和第二支板，所述固连板与所述连接板相连，所述第一支板位于所述固连板的一端，所述第二支板位于所述固连板的另一端，且所述第一支板和所述第二支板的自由端均朝向所述支撑板延伸，所述第一支板和所述第二支板之间的夹角大于90°且小于180°，所述第三天线为片状天线且贴在所述第一支板和所述第二支板上。
  10. 一种无人驾驶装置，其特征在于，包括权利要求1-9中任一项所述的自驾控制装置。
PCT/CN2020/110335 2019-12-19 2020-08-20 自驾控制装置及具有其的无人驾驶装置 WO2021120659A1 (zh)

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