WO2022094875A1 - 定位装置、遥控终端、无人飞行器及无人飞行装置 - Google Patents

定位装置、遥控终端、无人飞行器及无人飞行装置 Download PDF

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Publication number
WO2022094875A1
WO2022094875A1 PCT/CN2020/126798 CN2020126798W WO2022094875A1 WO 2022094875 A1 WO2022094875 A1 WO 2022094875A1 CN 2020126798 W CN2020126798 W CN 2020126798W WO 2022094875 A1 WO2022094875 A1 WO 2022094875A1
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WO
WIPO (PCT)
Prior art keywords
rtk module
positioning device
receiving portion
unmanned aerial
accommodating
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2020/126798
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English (en)
French (fr)
Inventor
李博
卢绰莹
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Technology Co Ltd
Original Assignee
SZ DJI Technology Co Ltd
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 SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Priority to PCT/CN2020/126798 priority Critical patent/WO2022094875A1/zh
Priority to CN202080073083.0A priority patent/CN114710964A/zh
Publication of WO2022094875A1 publication Critical patent/WO2022094875A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • 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
    • B64D43/00—Arrangements or adaptations of instruments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position

Definitions

  • the present application relates to the field of positioning technology, and in particular, to a positioning device, a remote control terminal, an unmanned aerial vehicle and an unmanned aerial device.
  • Real-time kinematic (RTK) positioning technology is a real-time dynamic positioning technology based on carrier phase observations. It can provide real-time three-dimensional positioning results of stations in a specified coordinate system and achieve centimeter-level accuracy.
  • the drone RTK positioning device can enable the drone to map areas or buildings very accurately by using a high-precision GNSS satellite positioning system.
  • the traditional RTK positioning device usually adopts a modular fixed structure. In order to ensure the detection performance, the field of view of the RTK positioning device cannot be blocked by other specific materials. Therefore, the entire RTK positioning device is assembled on the remote control or UAV. Behind them will be relatively prominent, which will have a certain impact on the appearance of the product.
  • the present application provides a positioning device, a remote control terminal, an unmanned aerial vehicle and an unmanned aerial device.
  • an embodiment of the present application provides a positioning device, comprising: a housing and an RTK module, the housing is provided with a receiving portion, and the RTK module is movably arranged in the receiving portion;
  • the positioning device includes a working state and a storage state; when the positioning device is in the working state, the RTK module is at least partially located outside the receiving portion and protrudes from the surface of the casing; the positioning device is in the storage state In the state, the RTK module is accommodated and arranged in the accommodating portion.
  • an embodiment of the present application provides a remote control terminal, including a remote control and a positioning device, wherein the positioning device includes: a housing and an RTK module, the housing is provided with a receiving portion, and the RTK module is movably arranged in the the housing is detachably assembled on the remote controller, and the RTK module is electrically connected to the remote controller;
  • the positioning device includes a working state and a storage state; when the positioning device is in the working state, the RTK module is at least partially located outside the receiving portion and protrudes from the surface of the casing; the positioning device is in the storage state In the state, the RTK module is accommodated and arranged in the accommodating portion.
  • the embodiments of the present application provide an unmanned aerial vehicle, including a body and a positioning device, the positioning device including: a casing and an RTK module, the casing is provided with a receiving portion, and the RTK module is movably arranged on the In the receiving portion, the casing is detachably assembled on the body; the body is provided with a flight control system, and the RTK module is electrically connected to the flight control system;
  • the positioning device includes a working state and a storage state; when the positioning device is in the working state, the RTK module is at least partially located outside the receiving portion and protrudes from the surface of the casing; the positioning device is in the storage state In the state, the RTK module is accommodated and arranged in the accommodating portion.
  • the embodiments of the present application provide an unmanned aerial device, including a positioning device, an unmanned aerial vehicle, and a remote controller electrically connected to the unmanned aerial vehicle, the positioning device including: a housing and an RTK module, the The housing is provided with a receiving portion, and the RTK module is movably arranged in the receiving portion, and the housing is detachably assembled to the unmanned aerial vehicle or the remote controller; the unmanned aerial vehicle is provided with a flight control system, The RTK module is electrically connected to the flight control system;
  • the positioning device includes a working state and a storage state; when the positioning device is in the working state, the RTK module is at least partially located outside the receiving portion and protrudes from the surface of the casing; the positioning device is in the storage state In the state, the RTK module is accommodated and arranged in the accommodating portion.
  • the RTK module when the positioning device is in a working state, the RTK module is at least partially located outside the receiving portion and protrudes from the surface of the casing, so as to ensure that the RTK module has a sufficient field of view during operation and meets the detection performance.
  • the RTK module When the positioning device is in the storage state, the RTK module is accommodated and arranged in the accommodation portion of the housing, and the RTK module is hidden, so that the appearance of the product is flat and the appearance effect of the product is improved.
  • FIG. 1 is a schematic structural diagram of a positioning device in a storage state according to an embodiment of the present application.
  • FIG. 2 is a schematic structural diagram of a positioning device in an embodiment of the present application when it is in a working state.
  • FIG 3 is an exploded schematic view of a locking structure and a housing of a positioning device in an embodiment of the present application.
  • FIGS. 4 and 5 are schematic diagrams of a moving process of an RTK module of a positioning device in an embodiment of the present application.
  • FIGS. 6 and 7 are schematic structural diagrams of a remote control terminal in an embodiment of the present application when the positioning device is in a working state.
  • FIGS. 8 and 9 are schematic structural diagrams of a remote control terminal in an embodiment of the present application when the positioning device is in a stored state.
  • FIG. 10 is a partial enlarged schematic view of the connection between the positioning device and the remote controller in an embodiment of the present application.
  • the present application provides a positioning device, a remote control terminal, an unmanned aerial vehicle and an unmanned aerial device.
  • the positioning device, remote control terminal, unmanned aerial vehicle and unmanned aerial device of the present application will be described in detail below with reference to the accompanying drawings. The features of the embodiments and implementations described below may be combined with each other without conflict.
  • an embodiment of the present application provides a positioning device 100 that can be mounted on a drone, a remote controller of an agricultural plant protection machine, or a drone body.
  • the positioning device 100 includes a housing 10 and an RTK module 20 , the housing 10 is provided with a receiving portion 11 , and the RTK module 20 is movably arranged in the receiving portion 11 .
  • the RTK module 20 can be used as a transmitter for signal and data transmission with the aircraft as a receiver.
  • the receiving portion 11 is provided on the top of the casing 10 .
  • the positioning device 100 includes a working state and a storage state.
  • the RTK module 20 when the positioning device 100 is in a working state, the RTK module 20 is at least partially located outside the receiving portion 11 and protrudes from the surface of the housing 10 , and the RTK module 20 is shown in the figure at least partially The part is located outside the receiving portion 11 and protrudes from the upper surface of the casing 10 , so as to ensure that the RTK module 20 has a sufficient field of view when it is working, and meets the detection performance.
  • FIG. 1 when the positioning device 100 is in the storage state, the RTK module 20 is accommodated and disposed in the accommodation portion 11 . As shown in the figure, the RTK module 20 is flush with the upper surface of the housing 10 , so that The RTK module 20 is hidden, so that the appearance of the product is flat and the appearance effect of the product is improved.
  • the positioning device 100 may further include a lifting structure 30 for driving the RTK module 20 to switch between a working state and a storage state, and a lifting structure 30 for connecting the RTK module 20 to the housing 10 Interlocking locking structures.
  • the surface of the housing 10 is provided with an opening 12 that communicates with the receiving portion 11 .
  • the lifting structure 30 drives the RTK module 20 to move relative to the accommodating portion 11 along the direction of the opening 12 , so that the RTK module 20 is switched between the working state and the accommodating state.
  • the locking structure locks the RTK module 20 and the housing 10 to each other, so that the position of the RTK module 20 is fixed and the stability of the product is improved.
  • the locking structure unlocks the RTK module 20 and the housing 10 from each other, and drives the RTK module 20 to move to the working position relative to the housing 10 in the receiving portion 11 through the lifting structure 30 , thereby removing the RTK module 20 from the housing 10 .
  • the storage state is switched to the working state.
  • the RTK module 20 includes a body 21 and a movable portion 22 disposed at the bottom of the body 21 , the size of the body 21 is not larger than the size of the opening 12 , and the size of the movable portion 22 is larger than the opening 12 size.
  • the body 21 can move from the opening 12 to the outside of the accommodating portion 11 and protrude from the upper surface of the housing 10 .
  • the movable portion 22 is in contact with the inner wall of the surface of the casing 10 provided with the opening 12 due to the size of the opening 12 , so that the movable portion 22 cannot move out of the receiving portion 11 , and can limit the RTK module 20 .
  • the shape of the opening 12 is adapted to the outer contour shape of the body 21 of the RTK module 20 , so that the body 21 of the RTK module 20 can be moved into or out of the receiving portion 11 from the opening 12 .
  • the RTK module 20 may be a square column or cylinder, and the shape of the opening 12 may be a corresponding square or circle.
  • the working position of the RTK module 20 is such that the body 21 is located outside the receiving portion 11 and protrudes from the surface of the casing 10 from the opening 12 .
  • the movable part 22 abuts against the inner wall of the surface of the casing 10 on which the opening 12 is formed, and plays a limiting role for the RTK module 20 , as shown in FIG. 2 .
  • the positioning device 100 is in the storage state, the main body 21 and the movable portion 22 are both accommodated and arranged in the accommodation portion 11 , as shown in FIG. 1 .
  • the lifting structure 30 includes an elastic member 31 , and the elastic member 31 is disposed between the RTK module 20 and the receiving portion 11 along the direction of the opening 12 .
  • the first end (shown as the top end in the figure) of 31 abuts against the bottom of the RTK module 20
  • the second end (shown as the bottom end in the figure) of the elastic member 31 abuts against the receiving portion 11 the bottom surface.
  • the side wall of the receiving portion 11 is provided with a through hole 15
  • the side portion of the RTK module 20 is provided with a latch slot 26
  • the locking structure includes a latch member 41 disposed on the side portion of the housing 10 .
  • the first end of the elastic member 31 abuts against the bottom of the movable portion 22 of the RTK module 20
  • the card slot 26 is disposed on the side of the movable portion 22 .
  • the clip 41 passes through the through hole 15 of the side wall of the receiving portion 11 and is clipped into the slot 26 of the movable portion 22 of the RTK module 20 .
  • the RTK module 20 and the housing 10 are locked to each other, so that the position of the RTK module 20 is fixed and the stability of the product is improved.
  • the elastic member 31 of the lifting structure 30 is in a compressed state.
  • the operation clip 41 is separated from the through hole 15 of the side wall of the receiving portion 11 and the slot 26 of the movable portion 22 of the RTK module 20, thereby unlocking the RTK module 20 and the housing 10. shown in Figure 4.
  • the elastic member 31 provides an upward elastic force to the movable portion 22 of the RTK module 20 , and drives the RTK module 20 to move upward relative to the housing 10 in the receiving portion 11 to the working position, as shown in FIG. 5 , thereby removing the RTK module 20 Switch from the storage state to the working state.
  • the clip 41 can be operated to be clipped into the through hole 15 of the side wall of the receiving portion 11 .
  • the RTK module 20 can be operated to overcome the elastic force of the elastic member 31 to move downward into the receiving portion 11 by, for example, pressing.
  • the operation clip 41 is separated from the through hole 15 of the side wall of the accommodating portion 11 .
  • the operation clip 41 passes through the through hole 15 of the side wall of the receiving portion 11 and is clamped to the side wall of the RTK module 20 . into the slot 26 of the movable part 22 , thereby locking the RTK module 20 and the housing 10 with each other again.
  • the number of the clips 41 is multiple, and the plurality of clips 41 are evenly arranged on the side of the casing 10 .
  • the numbers and positions of the through holes 15 on the side wall of the accommodating portion 11 and the card slots 26 on the side portion of the movable portion 22 of the RTK module 20 correspond to the plurality of engaging members 41 .
  • the plurality of clips 41 respectively pass through the through holes 15 corresponding to the side walls of the receiving portion 11 and are clipped into the slots 26 corresponding to the sides of the movable portion 22 of the RTK module 20 , thereby The RTK module 20 and the casing 10 are mutually locked from multiple directions to improve the stability between the RTK module 20 and the casing 10 .
  • the number of the elastic members 31 is one, and the elastic member 31 is disposed between the RTK module 20 and the receiving portion 11 at the center of the RTK module 20 .
  • the RTK module 20 exerts an elastic force
  • the RTK module 20 can be force-balanced.
  • the number of the elastic members 31 may also be multiple, and the multiple elastic members 31 are evenly arranged between the RTK module 20 and the receiving portion 11 , for example, the central axis of the RTK module 20 The center is evenly arranged along the circumference, so that the RTK module 20 can be uniformly stressed.
  • a rotating shaft is provided on the side of the casing 10 , and the engaging member 41 is pivotally connected to the rotating shaft 16 so as to be rotatably disposed on the side of the casing 10 .
  • the clip 41 is rotated to the first position, and the clip 41 is clipped in the through hole 15 , as shown by the position of the clip 41 shown by the dotted line in FIG. 4 .
  • the clip 41 is rotated to the second position, and the clip 41 is separated from the through hole 15 , that is, the clip 41 is separated from the through hole 15 , as shown by the solid line in FIG. 4 .
  • the location of the connector 41 is shown.
  • the engaging member 41 includes a rotating portion 42 and a engaging portion 43 connected to the rotating portion 42 .
  • the rotating portion 42 is pivotally connected to the rotating shaft 16 so as to be rotatably disposed on the side of the housing 10 .
  • the rotating portion 42 is rotated to the first position, and the engaging portion 43 is engaged in the through hole 15 , as shown by the position of the engaging member 41 shown by the dotted line in FIG. 4 .
  • the rotating portion 42 is rotated to the second position, and the engaging portion 43 is separated from the through hole 15 , as shown by the position of the engaging member 41 shown by the solid line in FIG. 4 .
  • the rotating part 42 and the clamping part 43 are integrally formed, which is convenient for processing and forming. It can be understood that the combination of the rotating part 42 and the clamping part 43 forms a clamping structure, and the end of the rotating part 42 can protrude outward to form a handle part 45 to facilitate the rotation operation of the clamping part 41 .
  • the locking structure further includes a return spring
  • the latching member 41 is rotatably disposed on the side of the housing 10 through the return spring
  • the return spring is connected to the latching
  • the member 41 provides an elastic force to rotate in the direction of the through hole 15 . It can be understood that the clip 41 always tends to rotate toward the through hole 15 under normal conditions, and the elastic force of the return spring needs to be overcome to operate the clip 41 to escape from the through hole 15 of the side wall of the receiving portion 11 .
  • the return spring can be a torsion spring.
  • the clip 41 is in the position of the elastic force of the return spring. Under the action, it can be rotated in the direction of the through hole 15 to pass through the through hole 15 of the side wall of the receiving portion 11 and be clamped into the slot 26 of the movable portion 22 of the RTK module 20 , so that the RTK module 20 and the housing 10 are mutually connected again. locking.
  • the distance between the through hole 15 and the bottom surface of the receiving portion 11 is greater than the distance between the card slot 26 and the bottom surface of the RTK module 20 , so that the positioning device 100 is in the receiving position. In the state, a gap is formed between the RTK module 20 and the bottom surface of the receiving portion 11 .
  • the RTK module 20 can be pressed down to move the top-opening clip 41 to open the latch 41 .
  • the clip 41 is separated from the through hole 15 of the side wall of the receiving portion 11 and the slot 26 of the movable portion 22 of the RTK module 20 .
  • a side of the latching member 41 away from the bottom surface of the receiving portion 11 includes an abutting surface 44 . As shown in FIGS.
  • the abutting surface 44 is an inclined surface or an arc-shaped surface, which is more convenient for pushing up the engaging member 41 when the RTK module 20 moves downward.
  • the clip 41 passes through the through hole 15 of the side wall of the receiving portion 11 and is clipped into the slot 26 of the movable portion 22 of the RTK module 20 .
  • the RTK module 20 and the housing 10 are locked to each other, so that the position of the RTK module 20 is fixed and the stability of the product is improved.
  • the elastic member 31 of the lifting structure 30 is in a compressed state.
  • the positioning device 100 When the positioning device 100 needs to work, press the RTK module 20 to move the clip 41 downward so that the clip 41 is separated from the through hole 15 of the side wall of the receiving portion 11 and the slot 26 of the movable portion 22 of the RTK module 20 . , thereby unlocking the RTK module 20 and the housing 10 from each other, as shown in FIG. 4 .
  • the elastic member 31 provides an upward elastic force to the movable portion 22 of the RTK module 20 , and drives the RTK module 20 to move upward relative to the housing 10 in the receiving portion 11 to the working position, as shown in FIG. 5 , thereby removing the RTK module 20 Switch from the storage state to the working state.
  • the clamping member 41 Under the action of the elastic force of the return spring, the clamping member 41 can be rotated in the direction of the through hole 15 to be clamped into the through hole 15 of the side wall of the receiving portion 11 .
  • the RTK module 20 is pressed to move downward into the receiving portion 11 against the elastic force of the elastic member 31 .
  • the clip 41 can move towards the direction of the through hole 15 under the action of the elastic force of the return spring. Rotate to pass through the through hole 15 of the side wall of the accommodating portion 11 and be snapped into the slot 26 of the movable portion 22 of the RTK module 20 , thereby locking the RTK module 20 and the housing 10 to each other again.
  • the bottom of the RTK module 20 is provided with a first receiving groove 23 , and the first end of the elastic member 31 is clamped in the first receiving groove 23 and abuts against the first receiving groove 23 .
  • the bottom surface of the first receiving groove 23 is in contact with the bottom of the RTK module 20 .
  • the first receiving groove 23 is disposed at the bottom of the movable portion 22 .
  • the bottom of the RTK module 20 may be provided with a first positioning post, and the first end of the elastic member 31 is sleeved on the first positioning post and abuts against the bottom surface of the RTK module 20 , thereby abutting against the first positioning post.
  • the first positioning column is arranged at the bottom of the movable part 22 .
  • the bottom surface of the accommodating portion 11 is provided with a second accommodating groove, and the second end of the elastic member 31 is clamped in the second accommodating groove, and abuts against the bottom surface of the second accommodating groove, thereby abutting on the bottom surface of the receiving portion 11 .
  • the bottom surface of the receiving portion 11 is provided with a second positioning column 13 , and the second end of the elastic member 31 is sleeved on the second positioning column 13 and abuts against the bottom surface of the receiving portion 11 , thereby Abuts against the bottom surface of the accommodating portion 11 .
  • the bottom of the RTK module 20 is provided with a first accommodating groove 23 or a first positioning post, and the first end of the elastic member 31 is clamped in the first accommodating groove 23 and Abutting on the bottom surface of the first receiving slot 23 or the first end of the elastic member 31 is sleeved on the first positioning post and abutting on the bottom surface of the RTK module 20 so as to abut on the RTK Bottom of module 20.
  • the bottom surface of the accommodating portion 11 is provided with a second accommodating groove or a second locating post 13 corresponding to the position of the first accommodating groove 23 or the first locating post, and the second end of the elastic member 31 is clamped to the
  • the second accommodating groove is in contact with the bottom surface of the second accommodating groove or the second end of the elastic member 31 is sleeved on the second positioning post 13 and abuts on the bottom surface of the accommodating portion 11 , thereby Abuts against the bottom surface of the accommodating portion 11 .
  • the bottom of the RTK module 20 is provided with a first accommodating groove 23 , and the first end of the elastic member 31 is clamped in the first accommodating groove 23 and abuts against the The bottom surface of the first receiving groove 23 is in contact with the bottom of the RTK module 20 .
  • the bottom surface of the receiving portion 11 is provided with a second positioning column 13 corresponding to the position of the first receiving groove 23 , and the second end of the elastic member 31 is sleeved on the second positioning column 13 and abuts against the second positioning column 13 .
  • the bottom surface of the accommodating portion 11 is in contact with the bottom surface of the accommodating portion 11 .
  • the first receiving groove 23 is provided with a first convex portion 24
  • the first convex portion 24 is provided with a first positioning corresponding to the position of the second positioning column 13 .
  • Slot 25 Alternatively, a second protruding portion is provided in the second accommodating groove, and a second positioning groove corresponding to the position of the first positioning post is formed on the second protruding portion.
  • the first accommodating groove 23 is provided with a first protruding portion 24
  • the first protruding portion 24 is provided with the second positioning post 13 .
  • the first positioning groove 25 corresponding to the position.
  • the inner side wall of the receiving portion 11 is provided with a limit chute 14 extending along the direction of the opening 12
  • the side portion of the RTK module 20 is provided with the limit chute 14 corresponds to the sliding portion, the sliding portion is slidably arranged in the limiting chute 14 .
  • an embodiment of the present application further provides a remote control terminal 200 , including a remote control 90 and a positioning device 100 .
  • the housing 10 of the positioning device 100 is detachably assembled to the remote controller 90 , and the RTK module 20 is electrically connected to the remote controller 90 .
  • the remote controller can be used to control the aircraft, and the RTK module 20 can be used as a transmitter to transmit signals and data to the aircraft as a receiver.
  • the RTK module 20 when the positioning device 100 is in the working state, the RTK module 20 is at least partially located outside the receiving portion 11 and protrudes from the surface of the housing 10 to ensure that the RTK module 20 is in operation. It has enough field of view to meet the detection performance.
  • FIG. 8 and FIG. 9 when the positioning device 100 is in the storage state, the RTK module 20 is accommodated and arranged in the accommodation portion 11 , so that the RTK module 20 is hidden, the appearance of the product is flat, and the product is improved. Appearance effect.
  • the remote control 90 is provided with a first electrical interface
  • the housing 10 of the positioning device 100 is provided with a first electrical interface adapted to the first electrical interface.
  • Two electrical interfaces 16 are provided.
  • the second electrical interface 16 is electrically connected to the first electrical interface, thereby realizing electrical connection between the RTK module 20 and the remote controller 90 .
  • the remote control 90 is provided with one of the quick release interface and the quick release connector 17
  • the housing 10 is provided with the other of the quick release interface and the quick release connector 17 .
  • the quick release connector 17 is connected with the quick release interface, so that the casing 10 can be detachably assembled on the remote controller 90 .
  • the remote controller 90 is provided with a quick-release plug interface
  • the housing 10 is provided with a quick-release plug connector 17 adapted to the quick-release plug interface.
  • Embodiments of the present application also provide an unmanned aerial vehicle, including a body and a positioning device. It should be noted that, the descriptions about the positioning device in the above embodiments and implementation manners are also applicable to the unmanned aerial vehicle of the present application.
  • the housing of the positioning device is detachably assembled to the body.
  • the body is provided with a flight control system, and the RTK module is electrically connected with the flight control system.
  • the RTK module can be used as the transmitter and the flight control system of the aircraft as the receiver to transmit signals and data.
  • Embodiments of the present application further provide an unmanned aerial vehicle, including a positioning device, an unmanned aerial vehicle, and a remote controller electrically connected to the unmanned aerial vehicle.
  • the housing of the positioning device is detachably assembled to the unmanned aerial vehicle or the remote controller.
  • the UAV is provided with a flight control system, and the RTK module is electrically connected to the flight control system.
  • the remote controller can be used to control the aircraft, and the RTK module can be used as the transmitter to transmit signals and data to the flight control system of the UAV as the receiver.
  • the remote controller or the UAV is provided with a first electrical interface
  • the housing of the positioning device is provided with a second electrical interface adapted to the first electrical interface interface.
  • the second electrical interface is electrically connected with the first electrical interface, thereby realizing electrical connection between the RTK module and the remote controller or the unmanned aerial vehicle.
  • the remote controller or the UAV is provided with one of a quick-release interface and a quick-release connector
  • the housing is provided with the other of the quick-release interface and the quick-release connector .
  • pan-tilt handle provided by the embodiments of the present application and the pan-tilt head provided with the pan-tilt handle provided by the embodiments of the present application have been described in detail above.
  • the principles and implementations of the present application are described with specific examples in this paper.
  • the descriptions of the above embodiments are only used to help understanding The method of the present application and its core idea; at the same time, for those skilled in the art, according to the idea of the present application, there will be changes in the specific implementation and application scope.
  • the content of this specification should not be It is construed as a limitation of this application.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Selective Calling Equipment (AREA)
  • Casings For Electric Apparatus (AREA)

Abstract

提供一种定位装置（100）、遥控终端、无人飞行器及无人飞行装置。定位装置（100）包括壳体（10）和RTK模块（20），壳体（10）设有收容部（11），RTK模块（20）活动设置于收容部（11）内。定位装置（100）包括工作状态和收纳状态，定位装置（100）处于工作状态时，RTK模块（20）至少部分位于收容部外并凸出于壳体（10）表面，以保证RTK模块（20）工作时具有足够的视场角，满足检测性能；定位装置（100）处于收纳状态时，RTK模块（20）收容设置于收容部（11）内，将RTK模块（20）隐藏起来，使产品外观平整，提升产品的外观效果。

Description

定位装置、遥控终端、无人飞行器及无人飞行装置 技术领域
本申请涉及定位技术领域，尤其涉及一种定位装置、遥控终端、无人飞行器及无人飞行装置。
背景技术
实时动态(Real-time kinematic，RTK)定位技术是基于载波相位观测值的实时动态定位技术，它能够实时地提供测站点在指定坐标系中的三维定位结果，并达到厘米级精度。
将RTK定位技术应用于无人机领域，无人机RTK定位装置可以通过使用高精度GNSS卫星定位系统，使无人机能够非常准确地绘制区域或建筑物。但是，传统的RTK定位装置通常采用模块化的固定结构，为保证检测性能RTK定位装置的视场角中不能有其他特定材料的结构遮挡，因此整个RTK定位装置装配在遥控器或无人机机身后均会相对突出，对产品的外观造成一定影响。
发明内容
本申请提供一种定位装置、遥控终端、无人飞行器及无人飞行装置。
具体地，本申请是通过如下技术方案实现的：
第一方面，本申请实施例提供一种定位装置，包括：壳体和RTK模块，所述壳体设有收容部，所述RTK模块活动设置于所述收容部内；
其中，所述定位装置包括工作状态和收纳状态；所述定位装置处于工作状态时，所述RTK模块至少部分位于所述收容部外并凸出于所述壳体表面；所述定位装置处于收纳状态时，所述RTK模块收容设置于所述收容部内。
第二方面，本申请实施例提供一种遥控终端，包括遥控器和定位装置，所述定位装置包括：壳体和RTK模块，所述壳体设有收容部，所述RTK模块活动设置于所述收容部内；所述壳体可拆卸地装配于所述遥控器，所述RTK模块与所述遥控器电连接；
其中，所述定位装置包括工作状态和收纳状态；所述定位装置处于工作状态时，所述RTK模块至少部分位于所述收容部外并凸出于所述壳体表面；所述定位装置处于收纳状态时，所述RTK模块收容设置于所述收容部内。
第三方面，本申请实施例提供一种无人飞行器，包括机体和定位装置，所述定位装置包括：壳体和RTK模块，所述壳体设有收容部，所述RTK模块活动设置于所 述收容部内，所述壳体可拆卸地装配于所述机体；所述机体设有飞行控制系统，所述RTK模块与所述飞行控制系统电连接；
其中，所述定位装置包括工作状态和收纳状态；所述定位装置处于工作状态时，所述RTK模块至少部分位于所述收容部外并凸出于所述壳体表面；所述定位装置处于收纳状态时，所述RTK模块收容设置于所述收容部内。
第四方面，本申请实施例提供一种无人飞行装置，包括定位装置、无人飞行器以及与所述无人飞行器电连接的遥控器，所述定位装置包括：壳体和RTK模块，所述壳体设有收容部，所述RTK模块活动设置于所述收容部内，所述壳体可拆卸地装配于所述无人飞行器或所述遥控器；所述无人飞行器设有飞行控制系统，所述RTK模块与所述飞行控制系统电连接；
其中，所述定位装置包括工作状态和收纳状态；所述定位装置处于工作状态时，所述RTK模块至少部分位于所述收容部外并凸出于所述壳体表面；所述定位装置处于收纳状态时，所述RTK模块收容设置于所述收容部内。
本申请在定位装置处于工作状态时，RTK模块至少部分位于收容部外并凸出于壳体的表面，保证RTK模块工作时具有足够的视场角，满足检测性能。在定位装置处于收纳状态时，将RTK模块收容设置于壳体的收容部内，将RTK模块隐藏起来，使产品外观平整，提升产品的外观效果。
附图说明
图1是本申请一实施例中的定位装置处于收纳状态时的结构示意图。
图2是本申请一实施例中的定位装置处于工作状态时的结构示意图。
图3是本申请一实施例中的定位装置的锁定结构与壳体的分解示意图。
图4和图5是本申请一实施例中的定位装置的RTK模块的移动过程示意图。
图6和图7是本申请一实施例中的遥控终端在定位装置处于工作状态时的结构示意图。
图8和图9是本申请一实施例中的遥控终端在定位装置处于收纳状态时的结构示意图。
图10是本申请一实施例中的定位装置与遥控器连接处的局部放大示意图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述。
本申请提供一种定位装置、遥控终端、无人飞行器及无人飞行装置。下面结合 附图，对本申请的定位装置、遥控终端、无人飞行器及无人飞行装置进行详细说明。在不冲突的情况下，下述的实施例及实施方式中的特征可以相互组合。
参见图1和图2，本申请实施例提供一种定位装置100，可装配于无人机、农业植保机的遥控器或无人机机身上。定位装置100包括壳体10和RTK模块20，所述壳体10设有收容部11，所述RTK模块20活动设置于所述收容部11内。RTK模块20可作为发射端用于与作为接收端的飞行器进行信号及数据传输。可选地，收容部11设于壳体10的顶部。
其中，所述定位装置100包括工作状态和收纳状态。如图2所示，所述定位装置100处于工作状态时，所述RTK模块20至少部分位于所述收容部11外并凸出于所述壳体10表面，图中所示为RTK模块20至少部分位于收容部11外并凸出于壳体10的上表面，保证RTK模块20工作时具有足够的视场角，满足检测性能。如图1所示，所述定位装置100处于收纳状态时，所述RTK模块20收容设置于所述收容部11内，图中所示为RTK模块20与壳体10的上表面齐平，从而将RTK模块20隐藏起来，使产品外观平整，提升产品的外观效果。
在一些可选的实施例中，定位装置100还可以包括用于驱动所述RTK模块20在工作状态和收纳状态之间切换的升降结构30和用于将所述RTK模块20与所述壳体10相互锁定的锁定结构。可选地，所述壳体10的表面设有与所述收容部11相连通的开口12。所述升降结构30驱动所述RTK模块20沿所述开口12方向相对所述收容部11移动，以使所述RTK模块20在工作状态和收纳状态之间切换。
可以理解的，所述定位装置100处于收纳状态时，锁定结构将RTK模块20与壳体10相互锁定，以使RTK模块20的位置固定，提高产品的稳定性。所述定位装置100需要工作时，锁定结构将RTK模块20与壳体10相互解锁，通过升降结构30驱动RTK模块20在收容部11内相对壳体10移动至工作位置，从而将RTK模块20从收纳状态切换到工作状态。
进一步地，所述RTK模块20包括本体21和设置于所述本体21底部的活动部22，所述本体21的尺寸不大于所述开口12的尺寸，所述活动部22的尺寸大于所述开口12的尺寸。通过上述设置，RTK模块20在收容部11内移动时本体21能够自开口12移动至收容部11外并凸出于壳体10的上表面。活动部22受开口12的尺寸限制与壳体10设有开口12的表面的内壁相抵接，使活动部22无法移出收容部11，能够对RTK模块20起到限位作用。需要说明的是，开口12的形状与RTK模块20的本体21的外轮廓形状相适配，以使得RTK模块20的本体21能够自开口12移入或移出收容部11。例如，RTK模块20可以是方形柱或圆柱，开口12的形状可以是对应的方形或圆形。
可以理解的，所述定位装置100处于工作状态时，RTK模块20的工作位置使 得所述本体21位于所述收容部11外并自所述开口12凸出于所述壳体10表面，所述活动部22抵接于所述壳体10开设有所述开口12的表面的内壁，对RTK模块20起到限位作用，如图2所示。所述定位装置100处于收纳状态时，所述本体21和所述活动部22均收容设置于所述收容部11内，如图1所示。
下面结合附图，对升降结构30及锁定结构进行介绍。参见图1至图5所示，所述升降结构30包括弹性件31，所述弹性件31沿所述开口12方向设置于所述RTK模块20和所述收容部11之间，所述弹性件31的第一端(图中所示为顶端)抵接于所述RTK模块20的底部，所述弹性件31的第二端(图中所示为底端)抵接于所述收容部11的底面。所述收容部11的侧壁开设有通孔15，所述RTK模块20的侧部设有卡槽26，所述锁定结构包括设置于所述壳体10侧部的卡接件41。可选地，所述弹性件31的第一端抵接于所述RTK模块20的活动部22的底部，卡槽26设置于活动部22的侧部。
如图1所示，所述定位装置100处于收纳状态时，所述卡接件41穿过收容部11侧壁的通孔15并卡接于RTK模块20的活动部22的卡槽26内，从而将RTK模块20与壳体10相互锁定，以使RTK模块20的位置固定，提高产品的稳定性。此时，升降结构30的弹性件31处于压缩状态。
所述定位装置100需要工作时，操作卡接件41脱离收容部11侧壁的通孔15以及RTK模块20的活动部22的卡槽26，从而将RTK模块20与壳体10相互解锁，如图4所示。此时弹性件31对RTK模块20的活动部22提供向上的弹性作用力，驱动RTK模块20在收容部11内相对壳体10向上移动至工作位置，如图5所示，从而将RTK模块20从收纳状态切换到工作状态。同时，可以操作卡接件41卡接于收容部11侧壁的通孔15内。
所述定位装置100工作完毕后，可以通过例如按压的方式操作RTK模块20克服弹性件31的弹性作用力向下移动至收容部11内。同时，操作卡接件41脱离收容部11侧壁的通孔15。当RTK模块20移动至侧部的卡槽26与收容部11侧壁的通孔15位置对应时，操作卡接件41穿过收容部11侧壁的通孔15并卡接于RTK模块20的活动部22的卡槽26内，从而将RTK模块20与壳体10再次相互锁定。
在一些可选的实施例中，所述卡接件41的数量为多个，多个所述卡接件41均匀布设于所述壳体10的侧部。相应地，收容部11侧壁的通孔15及RTK模块20的活动部22侧部的卡槽26的数量及位置与多个卡接件41相对应。所述定位装置100处于收纳状态时，多个卡接件41各自穿过收容部11侧壁对应的通孔15并卡接于RTK模块20的活动部22侧部对应的卡槽26内，从而从多方位将RTK模块20与壳体10相互锁定，提高RTK模块20与壳体10之间的稳定性。
在图中所示的例子中，所述弹性件31的数量为一个，所述弹性件31于所述 RTK模块20的中心位置设置于所述RTK模块20与所述收容部11之间，对RTK模块20施加弹性作用力时可以使RTK模块20受力平衡。在其他例子中，所述弹性件31的数量也可以是多个，多个所述弹性件31均匀布设于所述RTK模块20与所述收容部11之间，例如以RTK模块20的中轴线为中心沿圆周均匀布置，可以使RTK模块20受力均匀。
在一些可选的实施例中，壳体10的侧部设有转轴，所述卡接件41枢接于该转轴16，从而转动设置于所述壳体10的侧部。所述卡接件41转动至第一位置，所述卡接件41卡接于所述通孔15内，如图4中虚线所示的卡接件41所在的位置所示。所述卡接件41转动至第二位置，所述卡接件41与所述通孔15相分离，也即卡接件41脱离所述通孔15，如图4中实线所示的卡接件41所在的位置所示。通过上述设置，操作卡接件41脱离通孔15或操作卡接件41卡接在通孔15及卡槽26内，均可以通过转动卡接件41实现。
所述卡接件41包括转动部42和与所述转动部42连接的卡接部43，所述转动部42枢接于转轴16，从而转动设置于所述壳体10的侧部。所述转动部42转动至第一位置，所述卡接部43卡接于所述通孔15内，如图4中虚线所示的卡接件41所在的位置所示。所述转动部42转动至第二位置，所述卡接部43与所述通孔15相分离，如图4中实线所示的卡接件41所在的位置所示。可选地，转动部42和卡接部43一体成型设置，便于加工成型。可以理解的，转动部42和卡接部43组合形成卡扣结构，转动部42的端部可以向外凸出形成把手部45，便于对卡接件41进行转动操作。
在一些可选的实施例中，所述锁定结构还包括复位弹簧，所述卡接件41通过所述复位弹簧转动设置于所述壳体10的侧部，所述复位弹簧向所述卡接件41提供朝向所述通孔15的方向转动的弹性力。可以理解的，卡接件41通常状态下始终有朝向通孔15的方向转动的趋势，操作卡接件41脱离收容部11侧壁的通孔15需要克服该复位弹簧的弹性力。可选地，该复位弹簧可以采用扭簧。
所述定位装置100工作完毕后，当RTK模块20移动至活动部22侧部的卡槽26与收容部11侧壁的通孔15位置对应时，卡接件41在该复位弹簧的弹性力的作用下能够朝通孔15的方向转动至穿过收容部11侧壁的通孔15并卡接于RTK模块20的活动部22的卡槽26内，从而将RTK模块20与壳体10再次相互锁定。
在一些可选的实施例中，所述通孔15距离所述收容部11的底面的距离大于所述卡槽26距离所述RTK模块20的底面的距离，以使所述定位装置100处于收纳状态时，所述RTK模块20与所述收容部11的底面之间形成间隙。通过上述设置，定位装置100处于收纳状态时RTK模块20与收容部11的底面之间具有一定的移动空间，定位装置100需要工作时可以通过按压RTK模块20向下移动顶开卡接件41以使卡接件41脱离收容部11侧壁的通孔15及RTK模块20的活动部22的卡槽26。
参见图3所示，为了使RTK模块20向下移动时能够顶开卡接件41，所述卡接件41远离所述收容部11的底面的一侧包括抵接面44。结合图4和图5所示，所述卡接件41处于第一位置且所述RTK模块20向靠近所述收容部11的底面的方向移动时(可理解为是向下移动)，所述卡槽26或所述RTK模块20的底面(可理解为是活动部22的底面)与所述抵接面44相抵接并带动所述卡接件41自第一位置转动至第二位置，从而实现将卡接件41顶开，以使卡接件41脱离收容部11侧壁的通孔15及RTK模块20的活动部22的卡槽26。可选地，所述抵接面44呈斜面或弧形面，更便于RTK模块20向下移动时顶开卡接件41。
如图1所示，所述定位装置100处于收纳状态时，所述卡接件41穿过收容部11侧壁的通孔15并卡接于RTK模块20的活动部22的卡槽26内，从而将RTK模块20与壳体10相互锁定，以使RTK模块20的位置固定，提高产品的稳定性。此时，升降结构30的弹性件31处于压缩状态。
所述定位装置100需要工作时，按压RTK模块20向下移动顶开卡接件41以使卡接件41脱离收容部11侧壁的通孔15及RTK模块20的活动部22的卡槽26，从而将RTK模块20与壳体10相互解锁，如图4所示。此时弹性件31对RTK模块20的活动部22提供向上的弹性作用力，驱动RTK模块20在收容部11内相对壳体10向上移动至工作位置，如图5所示，从而将RTK模块20从收纳状态切换到工作状态。同时，卡接件41在复位弹簧的弹性力的作用下能够朝通孔15的方向转动至卡接于收容部11侧壁的通孔15内。
所述定位装置100工作完毕后，按压RTK模块20克服弹性件31的弹性作用力向下移动至收容部11内。当RTK模块20移动至活动部22侧部的卡槽26与收容部11侧壁的通孔15位置对应时，卡接件41在该复位弹簧的弹性力的作用下能够朝通孔15的方向转动至穿过收容部11侧壁的通孔15并卡接于RTK模块20的活动部22的卡槽26内，从而将RTK模块20与壳体10再次相互锁定。
在一些可选的实施例中，所述RTK模块20的底部设有第一收容槽23，所述弹性件31的第一端卡接于所述第一收容槽23内，并抵接于所述第一收容槽23的底面，从而抵接于所述RTK模块20的底部。可选地，第一收容槽23设置于活动部22的底部。或者，所述RTK模块20的底部可以设有第一定位柱，所述弹性件31的第一端套接于所述第一定位柱，并抵接于所述RTK模块20的底面，从而抵接于所述RTK模块20的底部。可选地，第一定位柱设置于活动部22的底部。
所述收容部11的底面设有第二收容槽，所述弹性件31的第二端卡接于所述第二收容槽内，并抵接于所述第二收容槽的底面，从而抵接于所述收容部11的底面。或者，所述收容部11的底面设有第二定位柱13，所述弹性件31的第二端套接于所述第二定位柱13，并抵接于所述收容部11的底面，从而抵接于所述收容部11的底面。
在一些可选的实施例中，所述RTK模块20的底部设有第一收容槽23或第一定位柱，所述弹性件31的第一端卡接于所述第一收容槽23内并抵接于所述第一收容槽23的底面或所述弹性件31的第一端套接于所述第一定位柱并抵接于所述RTK模块20的底面，从而抵接于所述RTK模块20的底部。所述收容部11的底面设有与所述第一收容槽23或第一定位柱位置对应的第二收容槽或第二定位柱13，所述弹性件31的第二端卡接于所述第二收容槽内并抵接于所述第二收容槽的底面或所述弹性件31的第二端套接于所述第二定位柱13并抵接于所述收容部11的底面，从而抵接于所述收容部11的底面。
在图中所示的例子中，所述RTK模块20的底部设有第一收容槽23，所述弹性件31的第一端卡接于所述第一收容槽23内并抵接于所述第一收容槽23的底面，从而抵接于所述RTK模块20的底部。所述收容部11的底面设有与所述第一收容槽23位置对应的第二定位柱13，所述弹性件31的第二端套接于所述第二定位柱13并抵接于所述收容部11的底面，从而抵接于所述收容部11的底面。
在一些可选的实施例中，所述第一收容槽23内设有第一凸起部24，所述第一凸起部24开设有与所述第二定位柱13位置对应的第一定位槽25。或者，所述第二收容槽内设有第二凸起部，所述第二凸起部开设有与所述第一定位柱位置对应的第二定位槽。
结合图1所示，在图中所示的例子中，所述第一收容槽23内设有第一凸起部24，所述第一凸起部24开设有与所述第二定位柱13位置对应的第一定位槽25。当定位装置100处于收纳状态时，第二定位柱13插设在第一凸起部24内，一方面可以节省RTK模块20移动时所需的空间，另一方面可以对RTK模块20起到导向定位作用，RTK模块20移动至使第二定位柱13插设在第一凸起部24内，表示RTK模块20移动到位处于收纳状态。
在一些可选的实施例中，所述收容部11的内侧壁设有沿所述开口12方向延伸的限位滑槽14，所述RTK模块20的侧部设有与所述限位滑槽14相对应的滑动部，所述滑动部滑动设置于所述限位滑槽14内。RTK模块20在收容部11内移动时，通过滑动部与限位滑槽14的滑动配合，可以在RTK模块20的移动过程中对RTK模块20起到导向及限位作用，以提高RTK模块20的移动精度。
参见图6至图9所示，本申请实施例还提供一种遥控终端200，包括遥控器90和定位装置100。需要说明的是，上述实施例和实施方式中关于定位装置100的描述，同样适用于本申请的遥控终端200。所述定位装置100的壳体10可拆卸地装配于所述遥控器90，所述RTK模块20与所述遥控器90电连接。遥控器可用于控制飞行器，RTK模块20可作为发射端与作为接收端的飞行器进行信号及数据传输。
如图6和图7所示，所述定位装置100处于工作状态时，所述RTK模块20至 少部分位于所述收容部11外并凸出于所述壳体10表面，保证RTK模块20工作时具有足够的视场角，满足检测性能。如图8和图9所示，所述定位装置100处于收纳状态时，所述RTK模块20收容设置于所述收容部11内，从而将RTK模块20隐藏起来，使产品外观平整，提升产品的外观效果。
参见图10，在一些可选的实施例中，所述遥控器90设有第一电性接口，所述定位装置100的壳体10设有与所述第一电性接口相适配的第二电性接口16。所述壳体10与所述遥控器90装配时，所述第二电性接口16与所述第一电性接口电连接，从而实现RTK模块20与遥控器90之间电连接。
所述遥控器90设有相适配的快拆插接口和快拆插接件17中的一者，所述壳体10设有快拆插接口和快拆插接件17中的另一者。所述壳体10与所述遥控器90装配时，所述快拆插接件17与所述快拆插接口相连接，从而实现壳体10可拆卸地装配于所述遥控器90。在本实施例中，所述遥控器90设有快拆插接口，所述壳体10设有与所述快拆插接口相适配的快拆插接件17。
本申请实施例还提供一种无人飞行器，包括机体和定位装置。需要说明的是，上述实施例和实施方式中关于定位装置的描述，同样适用于本申请的无人飞行器。所述定位装置的壳体可拆卸地装配于所述机体。所述机体设有飞行控制系统，所述RTK模块与所述飞行控制系统电连接。RTK模块可作为发射端与作为接收端的飞行器的飞行控制系统进行信号及数据传输。
本申请实施例还提供一种无人飞行装置，包括定位装置、无人飞行器以及与所述无人飞行器电连接的遥控器。需要说明的是，上述实施例和实施方式中关于定位装置的描述，同样适用于本申请的无人飞行装置。所述定位装置的壳体可拆卸地装配于所述无人飞行器或所述遥控器。所述无人飞行器设有飞行控制系统，所述RTK模块与所述飞行控制系统电连接。遥控器可用于控制飞行器，RTK模块可作为发射端与作为接收端的无人飞行器的飞行控制系统进行信号及数据传输。
在一些可选的实施例中，所述遥控器或无人飞行器设有第一电性接口，所述定位装置的壳体设有与所述第一电性接口相适配的第二电性接口。所述壳体与所述遥控器或无人飞行器装配时，所述第二电性接口与所述第一电性接口电连接，从而实现RTK模块与遥控器或无人飞行器之间电连接。
所述遥控器或无人飞行器设有相适配的快拆插接口和快拆插接件中的一者，所述壳体设有快拆插接口和快拆插接件中的另一者。所述壳体与所述遥控器或无人飞行器装配时，所述快拆插接件与所述快拆插接口相连接，从而实现壳体可拆卸地装配于所述遥控器或无人飞行器。
需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作 之间存在任何这种实际的关系或者顺序。术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
以上对本申请实施例所提供的云台手柄和具有其的云台进行了详细介绍，本文中应用了具体个例对本申请的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本申请的方法及其核心思想；同时，对于本领域的一般技术人员，依据本申请的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本申请的限制。

Claims (80)

  1. 一种定位装置，其特征在于，包括：壳体和RTK模块，所述壳体设有收容部，所述RTK模块活动设置于所述收容部内；
    其中，所述定位装置包括工作状态和收纳状态；所述定位装置处于工作状态时，所述RTK模块至少部分位于所述收容部外并凸出于所述壳体表面；所述定位装置处于收纳状态时，所述RTK模块收容设置于所述收容部内。
  2. 根据权利要求1所述的定位装置，其特征在于，还包括用于驱动所述RTK模块在工作状态和收纳状态之间切换的升降结构和用于将所述RTK模块与所述壳体相互锁定的锁定结构。
  3. 根据权利要求2所述的定位装置，其特征在于，所述壳体的表面设有与所述收容部相连通的开口；所述升降结构驱动所述RTK模块沿所述开口方向相对所述收容部移动，以使所述RTK模块在工作状态和收纳状态之间切换。
  4. 根据权利要求3所述的定位装置，其特征在于，所述RTK模块包括本体和设置于所述本体底部的活动部，所述本体的尺寸不大于所述开口的尺寸，所述活动部的尺寸大于所述开口的尺寸；
    所述定位装置处于工作状态时，所述本体位于所述收容部外并自所述开口凸出于所述壳体表面，所述活动部抵接于所述壳体开设有所述开口的表面的内壁；所述定位装置处于收纳状态时，所述本体和所述活动部收容设置于所述收容部内。
  5. 根据权利要求3所述的定位装置，其特征在于，所述升降结构包括弹性件，所述弹性件沿所述开口方向设置于所述RTK模块和所述收容部之间，所述弹性件的第一端抵接于所述RTK模块的底部，所述弹性件的第二端抵接于所述收容部的底面。
  6. 根据权利要求5所述的定位装置，其特征在于，所述RTK模块的底部设有第一收容槽，所述弹性件的第一端卡接于所述第一收容槽内，并抵接于所述第一收容槽的底面；或
    所述RTK模块的底部设有第一定位柱，所述弹性件的第一端套接于所述第一定位柱，并抵接于所述RTK模块的底面。
  7. 根据权利要求5所述的定位装置，其特征在于，所述收容部的底面设有第二收容槽，所述弹性件的第二端卡接于所述第二收容槽内，并抵接于所述第二收容槽的底面；或
    所述收容部的底面设有第二定位柱，所述弹性件的第二端套接于所述第二定位柱，并抵接于所述收容部的底面。
  8. 根据权利要求5所述的定位装置，其特征在于，所述RTK模块的底部设有第一收容槽或第一定位柱，所述弹性件的第一端卡接于所述第一收容槽内并抵接于所述第一收容槽的底面或所述弹性件的第一端套接于所述第一定位柱并抵接于所述RTK模块的底面；所述收容部的底面设有与所述第一收容槽或第一定位柱位置对应的第二收容槽或第二定位柱，所述弹性件的第二端卡接于所述第二收容槽内并抵接于所述第 二收容槽的底面或所述弹性件的第二端套接于所述第二定位柱并抵接于所述收容部的底面。
  9. 根据权利要求8所述的定位装置，其特征在于，所述第一收容槽内设有第一凸起部，所述第一凸起部开设有与所述第二定位柱位置对应的第一定位槽；或
    所述第二收容槽内设有第二凸起部，所述第二凸起部开设有与所述第一定位柱位置对应的第二定位槽。
  10. 根据权利要求5所述的定位装置，其特征在于，所述弹性件的数量为一个，所述弹性件于所述RTK模块的中心位置设置于所述RTK模块与所述收容部之间；或
    所述弹性件的数量为多个，多个所述弹性件均匀布设于所述RTK模块与所述收容部之间。
  11. 根据权利要求5所述的定位装置，其特征在于，所述收容部的内侧壁设有沿所述开口方向延伸的限位滑槽，所述RTK模块的侧部设有与所述限位滑槽相对应的滑动部，所述滑动部滑动设置于所述限位滑槽内。
  12. 根据权利要求2所述的定位装置，其特征在于，所述收容部的侧壁开设有通孔，所述RTK模块的侧部设有卡槽，所述锁定结构包括设置于所述壳体侧部的卡接件；
    所述定位装置处于工作状态时，所述卡接件卡接于所述通孔内；所述定位装置处于收纳状态时，所述卡接件穿过所述通孔并卡接于所述卡槽内。
  13. 根据权利要求12所述的定位装置，其特征在于，所述通孔距离所述收容部的底面的距离大于所述卡槽距离所述RTK模块的底面的距离，以使所述定位装置处于收纳状态时，所述RTK模块与所述收容部的底面之间形成间隙。
  14. 根据权利要求12所述的定位装置，其特征在于，所述卡接件转动设置于所述壳体的侧部；所述卡接件转动至第一位置，所述卡接件卡接于所述通孔内；所述卡接件转动至第二位置，所述卡接件与所述通孔相分离。
  15. 根据权利要求14所述的定位装置，其特征在于，所述卡接件包括转动部和与所述转动部连接的卡接部，所述转动部转动设置于所述壳体的侧部；所述转动部转动至第一位置，所述卡接部卡接于所述通孔内；所述转动部转动至第二位置，所述卡接部与所述通孔相分离。
  16. 根据权利要求14所述的定位装置，其特征在于，所述卡接件远离所述收容部的底面的一侧包括抵接面，所述卡接件处于第一位置且所述RTK模块向靠近所述收容部的底面的方向移动时，所述卡槽或所述RTK模块的底面与所述抵接面相抵接并带动所述卡接件自第一位置转动至第二位置。
  17. 根据权利要求16所述的定位装置，其特征在于，所述抵接面呈斜面或弧形面。
  18. 根据权利要求14所述的定位装置，其特征在于，所述锁定结构还包括复位弹簧，所述卡接件通过所述复位弹簧转动设置于所述壳体的侧部，所述复位弹簧向所述卡接件提供朝向所述通孔的方向转动的弹性力。
  19. 根据权利要求12所述的定位装置，其特征在于，所述卡接件的数量为多个， 多个所述卡接件均匀布设于所述壳体的侧部。
  20. 一种遥控终端，其特征在于，包括遥控器和定位装置，所述定位装置包括：壳体和RTK模块，所述壳体设有收容部，所述RTK模块活动设置于所述收容部内；所述壳体可拆卸地装配于所述遥控器，所述RTK模块与所述遥控器电连接；
    其中，所述定位装置包括工作状态和收纳状态；所述定位装置处于工作状态时，所述RTK模块至少部分位于所述收容部外并凸出于所述壳体表面；所述定位装置处于收纳状态时，所述RTK模块收容设置于所述收容部内。
  21. 根据权利要求20所述的遥控终端，其特征在于，还包括用于驱动所述RTK模块在工作状态和收纳状态之间切换的升降结构和用于将所述RTK模块与所述壳体相互锁定的锁定结构。
  22. 根据权利要求21所述的遥控终端，其特征在于，所述壳体的表面设有与所述收容部相连通的开口；所述升降结构驱动所述RTK模块沿所述开口方向相对所述收容部移动，以使所述RTK模块在工作状态和收纳状态之间切换。
  23. 根据权利要求22所述的遥控终端，其特征在于，所述RTK模块包括本体和设置于所述本体底部的活动部，所述本体的尺寸不大于所述开口的尺寸，所述活动部的尺寸大于所述开口的尺寸；
    所述定位装置处于工作状态时，所述本体位于所述收容部外并自所述开口凸出于所述壳体表面，所述活动部抵接于所述壳体开设有所述开口的表面的内壁；所述定位装置处于收纳状态时，所述本体和所述活动部收容设置于所述收容部内。
  24. 根据权利要求22所述的遥控终端，其特征在于，所述升降结构包括弹性件，所述弹性件沿所述开口方向设置于所述RTK模块和所述收容部之间，所述弹性件的第一端抵接于所述RTK模块的底部，所述弹性件的第二端抵接于所述收容部的底面。
  25. 根据权利要求24所述的遥控终端，其特征在于，所述RTK模块的底部设有第一收容槽，所述弹性件的第一端卡接于所述第一收容槽内，并抵接于所述第一收容槽的底面；或
    所述RTK模块的底部设有第一定位柱，所述弹性件的第一端套接于所述第一定位柱，并抵接于所述RTK模块的底面。
  26. 根据权利要求24所述的遥控终端，其特征在于，所述收容部的底面设有第二收容槽，所述弹性件的第二端卡接于所述第二收容槽内，并抵接于所述第二收容槽的底面；或
    所述收容部的底面设有第二定位柱，所述弹性件的第二端套接于所述第二定位柱，并抵接于所述收容部的底面。
  27. 根据权利要求24所述的遥控终端，其特征在于，所述RTK模块的底部设有第一收容槽或第一定位柱，所述弹性件的第一端卡接于所述第一收容槽内并抵接于所述第一收容槽的底面或所述弹性件的第一端套接于所述第一定位柱并抵接于所述RTK模块的底面；所述收容部的底面设有与所述第一收容槽或第一定位柱位置对应的第二 收容槽或第二定位柱，所述弹性件的第二端卡接于所述第二收容槽内并抵接于所述第二收容槽的底面或所述弹性件的第二端套接于所述第二定位柱并抵接于所述收容部的底面。
  28. 根据权利要求27所述的遥控终端，其特征在于，所述第一收容槽内设有第一凸起部，所述第一凸起部开设有与所述第二定位柱位置对应的第一定位槽；或
    所述第二收容槽内设有第二凸起部，所述第二凸起部开设有与所述第一定位柱位置对应的第二定位槽。
  29. 根据权利要求24所述的遥控终端，其特征在于，所述弹性件的数量为一个，所述弹性件于所述RTK模块的中心位置设置于所述RTK模块与所述收容部之间；或
    所述弹性件的数量为多个，多个所述弹性件均匀布设于所述RTK模块与所述收容部之间。
  30. 根据权利要求24所述的遥控终端，其特征在于，所述收容部的内侧壁设有沿所述开口方向延伸的限位滑槽，所述RTK模块的侧部设有与所述限位滑槽相对应的滑动部，所述滑动部滑动设置于所述限位滑槽内。
  31. 根据权利要求21所述的遥控终端，其特征在于，所述收容部的侧壁开设有通孔，所述RTK模块的侧部设有卡槽，所述锁定结构包括设置于所述壳体侧部的卡接件；
    所述定位装置处于工作状态时，所述卡接件卡接于所述通孔内；所述定位装置处于收纳状态时，所述卡接件穿过所述通孔并卡接于所述卡槽内。
  32. 根据权利要求31所述的遥控终端，其特征在于，所述通孔距离所述收容部的底面的距离大于所述卡槽距离所述RTK模块的底面的距离，以使所述定位装置处于收纳状态时，所述RTK模块与所述收容部的底面之间形成间隙。
  33. 根据权利要求31所述的遥控终端，其特征在于，所述卡接件转动设置于所述壳体的侧部；所述卡接件转动至第一位置，所述卡接件卡接于所述通孔内；所述卡接件转动至第二位置，所述卡接件与所述通孔相分离。
  34. 根据权利要求33所述的遥控终端，其特征在于，所述卡接件包括转动部和与所述转动部连接的卡接部，所述转动部转动设置于所述壳体的侧部；所述转动部转动至第一位置，所述卡接部卡接于所述通孔内；所述转动部转动至第二位置，所述卡接部与所述通孔相分离。
  35. 根据权利要求33所述的遥控终端，其特征在于，所述卡接件远离所述收容部的底面的一侧包括抵接面，所述卡接件处于第一位置且所述RTK模块向靠近所述收容部的底面的方向移动时，所述卡槽或所述RTK模块的底面与所述抵接面相抵接并带动所述卡接件自第一位置转动至第二位置。
  36. 根据权利要求35所述的遥控终端，其特征在于，所述抵接面呈斜面或弧形面。
  37. 根据权利要求33所述的遥控终端，其特征在于，所述锁定结构还包括复位弹簧，所述卡接件通过所述复位弹簧转动设置于所述壳体的侧部，所述复位弹簧向所述卡接件提供朝向所述通孔的方向转动的弹性力。
  38. 根据权利要求31所述的遥控终端，其特征在于，所述卡接件的数量为多个，多个所述卡接件均匀布设于所述壳体的侧部。
  39. 根据权利要求20所述的遥控终端，其特征在于，所述遥控器设有第一电性接口，所述壳体设有与所述第一电性接口相适配的第二电性接口；所述壳体与所述遥控器装配时，所述第二电性接口与所述第一电性接口电连接。
  40. 根据权利要求20所述的遥控终端，其特征在于，所述遥控器设有相适配的快拆插接口和快拆插接件中的一者，所述壳体设有快拆插接口和快拆插接件中的另一者；所述壳体与所述遥控器装配时，所述快拆插接件与所述快拆插接口相连接。
  41. 一种无人飞行器，其特征在于，包括机体和定位装置，所述定位装置包括：壳体和RTK模块，所述壳体设有收容部，所述RTK模块活动设置于所述收容部内，所述壳体可拆卸地装配于所述机体；所述机体设有飞行控制系统，所述RTK模块与所述飞行控制系统电连接；
    其中，所述定位装置包括工作状态和收纳状态；所述定位装置处于工作状态时，所述RTK模块至少部分位于所述收容部外并凸出于所述壳体表面；所述定位装置处于收纳状态时，所述RTK模块收容设置于所述收容部内。
  42. 根据权利要求41所述的无人飞行器，其特征在于，还包括用于驱动所述RTK模块在工作状态和收纳状态之间切换的升降结构和用于将所述RTK模块与所述壳体相互锁定的锁定结构。
  43. 根据权利要求42所述的无人飞行器，其特征在于，所述壳体的表面设有与所述收容部相连通的开口；所述升降结构驱动所述RTK模块沿所述开口方向相对所述收容部移动，以使所述RTK模块在工作状态和收纳状态之间切换。
  44. 根据权利要求43所述的无人飞行器，其特征在于，所述RTK模块包括本体和设置于所述本体底部的活动部，所述本体的尺寸不大于所述开口的尺寸，所述活动部的尺寸大于所述开口的尺寸；
    所述定位装置处于工作状态时，所述本体位于所述收容部外并自所述开口凸出于所述壳体表面，所述活动部抵接于所述壳体开设有所述开口的表面的内壁；所述定位装置处于收纳状态时，所述本体和所述活动部收容设置于所述收容部内。
  45. 根据权利要求43所述的无人飞行器，其特征在于，所述升降结构包括弹性件，所述弹性件沿所述开口方向设置于所述RTK模块和所述收容部之间，所述弹性件的第一端抵接于所述RTK模块的底部，所述弹性件的第二端抵接于所述收容部的底面。
  46. 根据权利要求45所述的无人飞行器，其特征在于，所述RTK模块的底部设有第一收容槽，所述弹性件的第一端卡接于所述第一收容槽内，并抵接于所述第一收容槽的底面；或
    所述RTK模块的底部设有第一定位柱，所述弹性件的第一端套接于所述第一定位柱，并抵接于所述RTK模块的底面。
  47. 根据权利要求45所述的无人飞行器，其特征在于，所述收容部的底面设有第 二收容槽，所述弹性件的第二端卡接于所述第二收容槽内，并抵接于所述第二收容槽的底面；或
    所述收容部的底面设有第二定位柱，所述弹性件的第二端套接于所述第二定位柱，并抵接于所述收容部的底面。
  48. 根据权利要求45所述的无人飞行器，其特征在于，所述RTK模块的底部设有第一收容槽或第一定位柱，所述弹性件的第一端卡接于所述第一收容槽内并抵接于所述第一收容槽的底面或所述弹性件的第一端套接于所述第一定位柱并抵接于所述RTK模块的底面；所述收容部的底面设有与所述第一收容槽或第一定位柱位置对应的第二收容槽或第二定位柱，所述弹性件的第二端卡接于所述第二收容槽内并抵接于所述第二收容槽的底面或所述弹性件的第二端套接于所述第二定位柱并抵接于所述收容部的底面。
  49. 根据权利要求48所述的无人飞行器，其特征在于，所述第一收容槽内设有第一凸起部，所述第一凸起部开设有与所述第二定位柱位置对应的第一定位槽；或
    所述第二收容槽内设有第二凸起部，所述第二凸起部开设有与所述第一定位柱位置对应的第二定位槽。
  50. 根据权利要求45所述的无人飞行器，其特征在于，所述弹性件的数量为一个，所述弹性件于所述RTK模块的中心位置设置于所述RTK模块与所述收容部之间；或
    所述弹性件的数量为多个，多个所述弹性件均匀布设于所述RTK模块与所述收容部之间。
  51. 根据权利要求45所述的无人飞行器，其特征在于，所述收容部的内侧壁设有沿所述开口方向延伸的限位滑槽，所述RTK模块的侧部设有与所述限位滑槽相对应的滑动部，所述滑动部滑动设置于所述限位滑槽内。
  52. 根据权利要求42所述的无人飞行器，其特征在于，所述收容部的侧壁开设有通孔，所述RTK模块的侧部设有卡槽，所述锁定结构包括设置于所述壳体侧部的卡接件；
    所述定位装置处于工作状态时，所述卡接件卡接于所述通孔内；所述定位装置处于收纳状态时，所述卡接件穿过所述通孔并卡接于所述卡槽内。
  53. 根据权利要求52所述的无人飞行器，其特征在于，所述通孔距离所述收容部的底面的距离大于所述卡槽距离所述RTK模块的底面的距离，以使所述定位装置处于收纳状态时，所述RTK模块与所述收容部的底面之间形成间隙。
  54. 根据权利要求52所述的无人飞行器，其特征在于，所述卡接件转动设置于所述壳体的侧部；所述卡接件转动至第一位置，所述卡接件卡接于所述通孔内；所述卡接件转动至第二位置，所述卡接件与所述通孔相分离。
  55. 根据权利要求54所述的无人飞行器，其特征在于，所述卡接件包括转动部和与所述转动部连接的卡接部，所述转动部转动设置于所述壳体的侧部；所述转动部转动至第一位置，所述卡接部卡接于所述通孔内；所述转动部转动至第二位置，所述卡 接部与所述通孔相分离。
  56. 根据权利要求54所述的无人飞行器，其特征在于，所述卡接件远离所述收容部的底面的一侧包括抵接面，所述卡接件处于第一位置且所述RTK模块向靠近所述收容部的底面的方向移动时，所述卡槽或所述RTK模块的底面与所述抵接面相抵接并带动所述卡接件自第一位置转动至第二位置。
  57. 根据权利要求56所述的无人飞行器，其特征在于，所述抵接面呈斜面或弧形面。
  58. 根据权利要求54所述的无人飞行器，其特征在于，所述锁定结构还包括复位弹簧，所述卡接件通过所述复位弹簧转动设置于所述壳体的侧部，所述复位弹簧向所述卡接件提供朝向所述通孔的方向转动的弹性力。
  59. 根据权利要求52所述的无人飞行器，其特征在于，所述卡接件的数量为多个，多个所述卡接件均匀布设于所述壳体的侧部。
  60. 一种无人飞行装置，其特征在于，包括定位装置、无人飞行器以及与所述无人飞行器电连接的遥控器，所述定位装置包括：壳体和RTK模块，所述壳体设有收容部，所述RTK模块活动设置于所述收容部内，所述壳体可拆卸地装配于所述无人飞行器或所述遥控器；所述无人飞行器设有飞行控制系统，所述RTK模块与所述飞行控制系统电连接；
    其中，所述定位装置包括工作状态和收纳状态；所述定位装置处于工作状态时，所述RTK模块至少部分位于所述收容部外并凸出于所述壳体表面；所述定位装置处于收纳状态时，所述RTK模块收容设置于所述收容部内。
  61. 根据权利要求60所述的无人飞行装置，其特征在于，还包括用于驱动所述RTK模块在工作状态和收纳状态之间切换的升降结构和用于将所述RTK模块与所述壳体相互锁定的锁定结构。
  62. 根据权利要求61所述的无人飞行装置，其特征在于，所述壳体的表面设有与所述收容部相连通的开口；所述升降结构驱动所述RTK模块沿所述开口方向相对所述收容部移动，以使所述RTK模块在工作状态和收纳状态之间切换。
  63. 根据权利要求62所述的无人飞行装置，其特征在于，所述RTK模块包括本体和设置于所述本体底部的活动部，所述本体的尺寸不大于所述开口的尺寸，所述活动部的尺寸大于所述开口的尺寸；
    所述定位装置处于工作状态时，所述本体位于所述收容部外并自所述开口凸出于所述壳体表面，所述活动部抵接于所述壳体开设有所述开口的表面的内壁；所述定位装置处于收纳状态时，所述本体和所述活动部收容设置于所述收容部内。
  64. 根据权利要求62所述的无人飞行装置，其特征在于，所述升降结构包括弹性件，所述弹性件沿所述开口方向设置于所述RTK模块和所述收容部之间，所述弹性件的第一端抵接于所述RTK模块的底部，所述弹性件的第二端抵接于所述收容部的底面。
  65. 根据权利要求64所述的无人飞行装置，其特征在于，所述RTK模块的底部设有第一收容槽，所述弹性件的第一端卡接于所述第一收容槽内，并抵接于所述第一收容槽的底面；或
    所述RTK模块的底部设有第一定位柱，所述弹性件的第一端套接于所述第一定位柱，并抵接于所述RTK模块的底面。
  66. 根据权利要求64所述的无人飞行装置，其特征在于，所述收容部设有第二收容槽，所述弹性件的第二端卡接于所述第二收容槽内，并抵接于所述第二收容槽的底面；或
    所述收容部设有第二定位柱，所述弹性件的第二端套接于所述第二定位柱，并抵接于所述收容部的底面。
  67. 根据权利要求64所述的无人飞行装置，其特征在于，所述RTK模块的底部设有第一收容槽或第一定位柱，所述弹性件的第一端卡接于所述第一收容槽内并抵接于所述第一收容槽的底面或所述弹性件的第一端套接于所述第一定位柱并抵接于所述RTK模块的底面；所述收容部设有与所述第一收容槽或第一定位柱位置对应的第二收容槽或第二定位柱，所述弹性件的第二端卡接于所述第二收容槽内并抵接于所述第二收容槽的底面或所述弹性件的第二端套接于所述第二定位柱并抵接于所述收容部的底面。
  68. 根据权利要求67所述的无人飞行装置，其特征在于，所述第一收容槽内设有第一凸起部，所述第一凸起部开设有与所述第二定位柱位置对应的第一定位槽；或
    所述第二收容槽内设有第二凸起部，所述第二凸起部开设有与所述第一定位柱位置对应的第二定位槽。
  69. 根据权利要求64所述的无人飞行装置，其特征在于，所述弹性件的数量为一个，所述弹性件于所述RTK模块的中心位置设置于所述RTK模块与所述收容部之间；或
    所述弹性件的数量为多个，多个所述弹性件均匀布设于所述RTK模块与所述收容部之间。
  70. 根据权利要求64所述的无人飞行装置，其特征在于，所述收容部的内侧壁设有沿所述开口方向延伸的限位滑槽，所述RTK模块的侧部设有与所述限位滑槽相对应的滑动部，所述滑动部滑动设置于所述限位滑槽内。
  71. 根据权利要求61所述的无人飞行装置，其特征在于，所述收容部的侧壁开设有通孔，所述RTK模块的侧部设有卡槽，所述锁定结构包括设置于所述壳体侧部的卡接件；
    所述定位装置处于工作状态时，所述卡接件卡接于所述通孔内；所述定位装置处于收纳状态时，所述卡接件穿过所述通孔并卡接于所述卡槽内。
  72. 根据权利要求71所述的无人飞行装置，其特征在于，所述通孔距离所述收容部的底面的距离大于所述卡槽距离所述RTK模块的底面的距离，以使所述定位装置处 于收纳状态时，所述RTK模块与所述收容部的底面之间形成间隙。
  73. 根据权利要求71所述的无人飞行装置，其特征在于，所述卡接件转动设置于所述壳体的侧部；所述卡接件转动至第一位置，所述卡接件卡接于所述通孔内；所述卡接件转动至第二位置，所述卡接件与所述通孔相分离。
  74. 根据权利要求73所述的无人飞行装置，其特征在于，所述卡接件包括转动部和与所述转动部连接的卡接部，所述转动部转动设置于所述壳体的侧部；所述转动部转动至第一位置，所述卡接部卡接于所述通孔内；所述转动部转动至第二位置，所述卡接部与所述通孔相分离。
  75. 根据权利要求73所述的无人飞行装置，其特征在于，所述卡接件远离所述收容部的底面的一侧包括抵接面，所述卡接件处于第一位置且所述RTK模块向靠近所述收容部的底面的方向移动时，所述卡槽或所述RTK模块的底面与所述抵接面相抵接并带动所述卡接件自第一位置转动至第二位置。
  76. 根据权利要求75所述的无人飞行装置，其特征在于，所述抵接面呈斜面或弧形面。
  77. 根据权利要求73所述的无人飞行装置，其特征在于，所述锁定结构还包括复位弹簧，所述卡接件通过所述复位弹簧转动设置于所述壳体的侧部，所述复位弹簧向所述卡接件提供朝向所述通孔的方向转动的弹性力。
  78. 根据权利要求71所述的无人飞行装置，其特征在于，所述卡接件的数量为多个，多个所述卡接件均匀布设于所述壳体的侧部。
  79. 根据权利要求60所述的无人飞行装置，其特征在于，所述壳体可拆卸地装配于所述遥控器；所述遥控器设有第一电性接口，所述壳体设有与所述第一电性接口相适配的第二电性接口；所述壳体与所述遥控器装配时，所述第二电性接口与所述第一电性接口电连接。
  80. 根据权利要求60所述的无人飞行装置，其特征在于，所述壳体可拆卸地装配于所述遥控器；所述遥控器设有相适配的快拆插接口和快拆插接件中的一者，所述壳体设有快拆插接口和快拆插接件中的另一者；所述壳体与所述遥控器装配时，所述快拆插接件与所述快拆插接口相连接。
PCT/CN2020/126798 2020-11-05 2020-11-05 定位装置、遥控终端、无人飞行器及无人飞行装置 Ceased WO2022094875A1 (zh)

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