WO2019242014A1 - Rtk定位装置及无人机 - Google Patents

Rtk定位装置及无人机 Download PDF

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Publication number
WO2019242014A1
WO2019242014A1 PCT/CN2018/092470 CN2018092470W WO2019242014A1 WO 2019242014 A1 WO2019242014 A1 WO 2019242014A1 CN 2018092470 W CN2018092470 W CN 2018092470W WO 2019242014 A1 WO2019242014 A1 WO 2019242014A1
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WO
WIPO (PCT)
Prior art keywords
positioning device
rtk positioning
housing
module
rtk
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/CN2018/092470
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English (en)
French (fr)
Inventor
邓磊
尹小俊
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 CN201880042048.5A priority Critical patent/CN110892290A/zh
Priority to PCT/CN2018/092470 priority patent/WO2019242014A1/zh
Publication of WO2019242014A1 publication Critical patent/WO2019242014A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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
    • G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
    • 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
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • 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

Definitions

  • the invention relates to the technical field of UAV positioning, in particular to an RTK positioning device and an UAV.
  • the RTK real-time (KINEMATIC) positioning technology is a real-time dynamic positioning technology based on carrier phase observations. It can provide real-time 3D positioning results of the station in a specified coordinate system and achieve centimeter-level accuracy.
  • RTK positioning technology is applied in the field of drones.
  • RTK positioning devices for drones can use high-precision GNSS satellite positioning systems to enable drones to map areas or buildings very accurately.
  • a multi-layer circuit board is usually required.
  • the multi-layer circuit board causes the RTK positioning device to have a large volume and a heavy weight.
  • the multi-layer circuit boards all generate heat, and the multi-layer circuit boards are arranged in layers, which is not conducive to the heat dissipation of the circuit boards. Therefore, a larger and heavier RTK positioning device will result in a larger and heavier drone, which is not conducive to the miniaturization of the drone.
  • the object of the present invention is to provide a drone and its RTK positioning device that are small in size and capable of better heat dissipation.
  • An RTK positioning device includes a housing and a circuit board housed in the housing.
  • the circuit board includes a board body.
  • a GPS module and a radio frequency antenna module are provided on one surface of the board body.
  • An RTK control module is provided on one side surface, and an antenna plug for connecting an antenna feeder is provided at an end of the board near the radio frequency antenna module.
  • a drone that includes:
  • a plurality of power devices are respectively provided on the plurality of arms;
  • the RTK positioning device is communicatively connected with the flight control system
  • the RTK positioning device sends the current position information of the drone obtained by it to the flight control system, and the flight control system performs flight control according to the current position information.
  • the above UAV uses the RTK positioning device to design the layout of the circuit board, so that the GPS board, RF antenna module, and RTK control module are arranged on the two surfaces of the circuit board, and an antenna plug is provided at one end of the circuit board.
  • Multiple circuit boards are stacked to save the space required to arrange the circuit boards, thereby reducing the size of the entire RTK positioning device.
  • the two surfaces of the circuit board of the present application do not affect other electronic modules, thereby avoiding the problem of mutual influence caused by the relative arrangement of the two circuit boards in the conventional technology.
  • the GPS module, the RF antenna module and the RTK control module of the circuit board can uniformly dissipate heat, so that the heat generated by the circuit board can be quickly dissipated, which is beneficial to the overall heat dissipation of the entire RTK positioning device.
  • FIG. 1 is a schematic perspective view of a drone according to this embodiment
  • FIG. 2 is a schematic diagram of an RTK positioning device and an electrical module of a flight control system according to this embodiment
  • FIG. 3 is a schematic perspective view of an RTK positioning device according to this embodiment.
  • FIG. 4 is an exploded view of the RTK positioning device shown in FIG. 3;
  • FIG. 5 is a bottom view of the circuit board shown in FIG. 4;
  • FIG. 6 is a bottom view of the first casing shown in FIG. 4;
  • FIG. 7 is a bottom view of the RTK positioning device shown in FIG. 3;
  • FIG. 8 is a schematic diagram of an electrical module of the RTK positioning device shown in FIG. 2.
  • the directions (such as up, down, left, right, front, and rear) are used to explain that the structure and movement of the various elements of the present invention are not absolute but relative. These descriptions are appropriate when these elements are in the positions shown in the drawings. If the description of the position of these elements changes, the indication of these directions changes accordingly.
  • a drone 10 and an RTK positioning device thereof are provided.
  • the drone 10 of this embodiment includes a center body 11, an arm 12, a power device 13, and an RTK positioning device 100.
  • the plurality of arms 12 are fixedly connected to the central body 11.
  • the plurality of power units 13 are respectively provided on the plurality of arms 12.
  • the drone 10 also includes a landing gear 15.
  • the landing gear 15 is disposed below the center body 11 and is used to support the center body 11, the arm 12, the power unit 13, and the RTK positioning device 100.
  • the center body is provided with a flight control system 14.
  • the RTK positioning device is used to provide precise positioning for the drone 10.
  • the RTK positioning device 100 is communicatively connected with the flight control system 14.
  • the RTK positioning device 100 sends the current position information of the drone obtained by it to the flight control system 14, and the flight control system 14 performs flight control according to the current position information.
  • the drone 10 of this embodiment may be an agricultural drone.
  • the RTK positioning device 100 includes a casing 101 and a circuit board 130 received in the casing 101.
  • the circuit board 130 includes a board body 131.
  • a GPS module 132 and a radio frequency antenna module 133 are disposed on one surface of the plate 131.
  • an RTK control module 134 is provided on the other surface of the plate 131.
  • An antenna plug 135 is connected to an end of the plate 131 near the radio frequency antenna module 133 for connecting the antenna feeder 20.
  • the above-mentioned RTK positioning device 100 has a layout design of the circuit board 130 such that a GPS module 132, a radio frequency antenna module 133, and an RTK control module 134 are respectively arranged on two surfaces of the circuit board 130, and an antenna is provided at one end of the circuit board 130
  • the plug 135 eliminates the need to stack multiple circuit boards 130 and saves the space required to arrange the circuit boards 130, thereby reducing the volume of the entire RTK positioning device 100.
  • two surfaces of the circuit board 130 of the present application can evenly dissipate heat, so that the heat generated by the circuit board 130 can be quickly dissipated, which is beneficial to the entire RTK positioning device 100 Overall cooling.
  • the casing 101 is a metal casing.
  • the casing 101 includes a first casing 110 and a second casing 120. That is, the first case 110 and / or the second case 120 are metal cases.
  • the heat dissipation effect of the metal case is good, and it can be ensured that the heat generated on the circuit board 130 can be quickly transmitted through the first case 110 and the second case 120.
  • the first casing 110 is provided with a receiving groove 111.
  • the circuit board 130 is accommodated in the accommodation groove 111, and the second casing 120 is covered at the opening of the accommodation groove 111 to close the circuit board 130 in the accommodation groove 111.
  • first casing 110 and the second casing 120 may also have other shapes.
  • first casing and the second casing are both provided with receiving grooves, and the like is not limited herein.
  • the first housing 110 is provided with a first boss 112.
  • the first boss 112 is disposed on the bottom of the receiving groove 111.
  • the first boss 112 is provided with a screw hole.
  • the plate body 131 is screwed with the first boss 112.
  • the first casing 110 is rectangular.
  • First bosses 112 are provided at the four top corners of the first casing 110.
  • connection holes are formed at the four top corners of the plate 131.
  • the four top corners of the plate body 131 and the four first bosses 112 are respectively fixed by screws.
  • first housing 110 and the number and positions of the first bosses 112 of the RTK positioning device 100 of this embodiment are not limited, as long as the circuit board 130 and the first housing 110 can be implemented Just click on the connection.
  • the first housing 110 is provided with a positioning post 113.
  • the positioning post 113 is disposed on the bottom of the receiving groove 111.
  • the positioning post 113 is inserted into the positioning hole 192 on the board 131 to position the circuit board 130.
  • the positioning post 113 is located at one side of the first boss 112, and the positioning holes 192 on the plate body 131 are located at two diagonal corners of the plate body 131.
  • the first casing 110 is provided with an abutting portion 114.
  • the abutting portion 114 is provided in the middle of the bottom wall of the receiving groove 111.
  • the abutting portion 114 abuts between the circuit board 130 and the bottom of the receiving groove 111.
  • the abutting portion 114 may be a thermally conductive gasket, such as a silicone gasket.
  • the abutting portion 114 is provided corresponding to the GPS module 132 and / or the radio frequency antenna module 133 of the circuit board 130, and is used for thermally conducting the heat generated by the GPS module 132 and / or the radio frequency antenna module 133 of the circuit board.
  • the abutting portion 114 can directly resist the GPS module 132 and / or the radio frequency antenna module 133 of the circuit board 130, and plays a role of stable reinforcement, and can also conduct the heat generated on the circuit board 130 to the first case 110 smoothly. Up to quickly dissipate the heat.
  • the middle portion of the bottom wall of the second casing 120 may be provided with an abutting portion.
  • the abutting portion is correspondingly provided with the RTK control module 134 of the circuit board 130 and is used for thermally conducting the heat generated by the RTK control module 134.
  • the abutting part can directly resist the RTK control module 134 of the circuit board 130, and plays a role of stable reinforcement. It can also smoothly transfer the heat generated by the RTK control module 134 to the second housing 120, thereby quickly transferring the heat Exude.
  • the first housing 110 is provided with a shielding retaining wall 115.
  • the shielding retaining wall 115 is provided at the bottom of the receiving groove 111.
  • the shielding retaining wall 115 has a frame shape.
  • the shielding retaining wall 115 includes a first shielding retaining wall 1151 for surrounding the GPS module 132 and a second shielding retaining wall 1152 for surrounding the radio frequency antenna module 133.
  • the second shielding retaining wall 1152 is provided with a wire hole 1153.
  • the wires of the antenna plug 135 are electrically connected to the radio frequency antenna module 133 through the wire hole 1153.
  • an antenna socket 183 for inserting the antenna feed line 20 is provided at the first housing 110 opposite to the antenna plug 135.
  • the through hole 1153 defines a side of the second shielding block wall 1152 near the antenna socket 183.
  • the wire can be connected to the antenna plug 135 and the radio frequency antenna module 133 with the shortest length.
  • the shielding retaining wall 115 is a metal wall.
  • the shielding retaining wall 115 and the first casing 110 may be an integrated structure.
  • the first casing 110 is provided with a second boss 116 at the bottom of the receiving groove 111.
  • the second boss 116 is provided with a screw hole.
  • the second shell 120 is screwed with the second boss 116.
  • a lug 123 is provided at an inner edge of the second casing 120, and the lug 123 is convex toward the inner side of the second casing 120.
  • the lug 123 is provided with a screw hole.
  • the second boss 116 is located at four top corners of the receiving groove 111 and in the middle of the two long sides of the receiving groove 111.
  • the lugs 123 are provided at the four top corners of the second casing 120 and in the middle of the two long sides of the second casing 120.
  • the second boss 116 is located on one side of the first boss 112.
  • the height of the second boss 116 is higher than the height of the first boss 112, and the second boss 116 and the first boss 112 are arranged in a step shape.
  • the space height of the circuit board 130 facing the second board body 131 is less than or equal to the distance difference between the second boss 116 and the first boss 112. The circuit board 130 mounted on the first boss 112 does not affect the mounting of the second casing 120.
  • the plate body 131 is provided with a relief portion 136 at a position relative to the second boss 116.
  • the avoiding portion 136 can prevent the plate body 131 from covering the second boss 116 and affect the installation of the second casing 120 and the first casing 110.
  • the first casing 110 and the second casing 120 are respectively provided with a stepped portion and an alignment groove which are connected with each other.
  • the first casing 110 is provided with an alignment groove 117
  • the second casing 120 is provided with a stepped portion 121.
  • the alignment groove 117 is disposed opposite to the stepped portion 121, so that the first casing 110 and the first The two shells 120 are aligned and spliced with each other.
  • the first casing 110 and the second casing 120 are first aligned with each other through the step 121 and the alignment groove 117, and then further screwed to The second casing 120 is screwed with the second positioning post 113.
  • the inner wall of the second casing 120 is provided with a limiting rib 122.
  • the limiting rib 122 is disposed relative to the outer periphery of the RTK control module 134 and is used to limit the RTK control module 134.
  • the limit rib 122 can limit the protection of the RTK control module 134 to prevent the RTK control module 134 from being displaced from the board 131 due to a large impact to affect the The electrical connection status of the RTK control module 134.
  • an external portion 124 is further provided on an outer side wall of the second casing 120.
  • the external portion 124 is used for connection with an external connection object.
  • the external portion 124 is a cylinder formed inside the second casing 120.
  • the cylinder is provided with a screw hole on an end surface of the outer side wall of the second casing 120, and the second casing can be connected to the outside through the screw hole. ⁇ ⁇ Connected.
  • a plurality of heat-dissipating fins 140 are arranged side by side on the outer side wall of the casing 101.
  • the heat dissipation fins 140 increase the heat dissipation area of the casing, which is beneficial to the rapid heat dissipation of the casing 101.
  • the heat dissipation fins 140 are arranged on the outer side wall of the second casing 120 to ensure that the overall shape of the RTK positioning device 100 is simple.
  • a thermal pad is provided between the circuit board 130 and the inner wall of the casing 101.
  • a thermal pad is provided between the circuit board 130 and the first case 110.
  • the thermal conductive pad may be the abutting portion 114.
  • the heat generated by the GPS module 132 and the radio frequency antenna module 133 can be quickly transferred to the first casing 110 through the thermal conductive pad.
  • a thermally conductive gasket may also be provided between the other electrical modules of the circuit board 130 and the first casing 110 to transfer heat generated by the other electrical modules to the first casing 110 and finally dissipate them.
  • a thermal pad is also provided between the circuit board 130 and the second case 120.
  • An RTK control module 134 and other electrical modules are arranged on the surface of the circuit board 130 facing the second casing 120.
  • the RTK control module 134 and other electrical modules and the second casing 120 are in contact with each other through a thermally conductive gasket.
  • the thermal pad can quickly transfer the heat generated by the RTK control module 134 and other electrical modules to the second casing 120.
  • the antenna plug 135 is provided with a buckle (not shown) for engaging with the antenna feeder 20.
  • the antenna plug 135 is snap-connected to the antenna feeder 20, and can reliably implement data / signal processing and reception.
  • the insertion operation of the antenna plug 135 and the antenna feeder line 20 of this embodiment is convenient and efficient.
  • the buckle may be implemented by a spring plunger or an elastic clamp arm, as long as the buckle connection with the antenna plug 135 can be achieved.
  • a reset button 150 is provided on the other end of the plate body 131 opposite to the antenna plug 135.
  • the reset button 150 passes through the casing and protrudes out of the casing.
  • the reset signal is triggered by the reset button 150.
  • the reset button 150 By pressing the reset button 150 outside the casing 101, the reset button 150 can be reset, and the operation is convenient.
  • the other end of the plate body 131 opposite to the antenna plug 135 is provided with a status indicating device 137.
  • the status indicating device 137 is disposed on the board and is electrically connected to the RTK control module 134, and is used to indicate whether the RTK positioning device 100 is in a reset state.
  • the status indicating device 137 is provided with an indicator light (not shown) and a light guide column 160, and the light guide column 160 is disposed opposite to the indicator light.
  • the side wall of the casing 101 is provided with a light transmission hole 182, and the light transmission hole 182 is opposite to the light guide column 160.
  • the indicator lights show the working status of the status indicating device 137, and the indicators of different working states show different colors of light.
  • the light of the indicator lamp can be transmitted to the outside of the housing 101 through the light guide column 160, and can be observed through the light transmission hole 182, which is convenient for manipulation.
  • a surface of the plate body 131 facing the first casing 110 is a first surface
  • a surface of the plate body 131 facing the second casing 120 is a second surface.
  • the board 131 is provided with a USB module 138.
  • the USB module 138 and the antenna plug 135 are respectively located on two adjacent sides of the board 131, and the USB module 138 is provided on an adjacent side of the board 131 on which the antenna plug 135 is provided.
  • the USB module 138 is provided on the second surface.
  • the casing 101 is provided with a USB interface 118. Specifically, the USB interface 118 is opened on a side wall of the first casing 110.
  • the board 131 is provided with a transceiver module 139.
  • the transceiver module 139 and the antenna plug 135 are respectively located on two adjacent sides of the board 131, and the casing 101 is correspondingly provided with a transceiver interface 119.
  • the transceiver module 139 is disposed on a side of the board 131 where the USB module 138 is provided.
  • the transceiver module 139 is disposed on the second surface.
  • the casing 101 is correspondingly provided with a transceiver interface 119. Specifically, the transceiver interface 119 is opened on a side wall of the first casing 110.
  • the board 131 is provided with a bus module 191.
  • the bus module 191 and the antenna plug 135 are respectively located on two adjacent sides of the board body 131, and the bus 101 is correspondingly provided with a bus interface 181.
  • the bus module 191 is disposed on a side of the board 131 where the USB module 138 is provided.
  • the bus module 191 is provided on the second surface. Specifically, the bus interface 181 is opened on a side wall of the first casing 110.
  • the USB module 138, the transceiver module 139, and the bus module 191 are located on the same side of the board 131, and are all located on the second surface.
  • the USB interface 118, the transceiver interface 119, and the bus interface 181 are located on the same side wall of the first housing 110, which facilitates plugging and unplugging of each interface and easy operation.
  • the drone and its RTK positioning device 100 of this embodiment have at least the following advantages over conventional positioning devices:
  • the distribution of the circuit board 130 is compact and the degree of integration is high.
  • the volume of the circuit board 130 can be reduced, and on the other hand, the number of the circuit boards 130 can be reduced. Therefore, the structure of the entire RTK positioning module is compact and the volume is reduced.
  • both surfaces of the circuit board 130 can conduct heat conduction with the casing 101 through a thermally conductive pad, and the metal casing and the heat dissipation fins 140 can effectively circuit the circuit.
  • the heat generated by the board 130 is quickly dissipated to prevent the circuit board 130 from overheating.
  • the antenna plug 135 is engaged with the antenna feeder 20, which is convenient to operate and easy to implement.
  • the RTK positioning device 100 further includes a power interface 170.
  • the power interface 170 is electrically connected to the GPS module 132, the radio frequency antenna module 133, and the RTK control module 134, respectively.
  • the GPS module 132, the radio frequency antenna module 133, and the RTK control module 134 are powered on through the power interface 170.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Automation & Control Theory (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

提供了一种RTK定位装置及无人机。该RTK定位装置（100）包括壳体（101）及收容于壳体（101）内的电路板（130）。电路板（130）包括板体（131），板体（131）的一侧表面设有GPS模块（132）及射频天线模块（133），板体（131）的另一侧表面设有RTK控制模块（134），板体（131）靠近射频天线模块（133）的一端设有供天线馈线连接的天线插头（135）。该无人机（10）包括该RTK定位装置（100）。该无人机通过RTK定位装置，对电路板的布局设计，无需将多块电路板进行层叠设置，节省布置电路板所需要的空间，从而使整个RTK定位装置的体积减小。相对于传统的多块电路板层叠设置而言，该电路板的两个表面均能够均匀散热，使电路板产生的热量较快散热，从而有利于整个RTK定位装置的整体散热。

Description

RTK定位装置及无人机 技术领域
本发明涉及无人机定位技术领域，特别是一种RTK定位装置及无人机。
背景技术
RTK实时动态(REAL-TIME KINEMATIC)定位技术就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定位装置中，通常需要设置有多层电路板，多层电路板导致RTK定位装置的体积较大，重量较重。并且，多层电路板均产生热量，多层电路板相层叠设置，不利于电路板的散热。因此，体积较大，重量较重的RTK定位装置会导致应用无人机的体积较大，重量较重，不利于无人机的小型化发展。
发明内容
本发明的目的在于提供一种体积较小，且能够较好散热的无人机及其RTK定位装置。
一种RTK定位装置，包括：壳体及收容于壳体内的电路板，所述电路板包括板体，所述板体的一侧表面设有GPS模块及射频天线模块，所述板体的另一侧表面设有RTK控制模块，所述板体靠近所述射频天线模块的一端设有供天线馈线连接的天线插头。
一种无人机，包括：
中心体，设有飞行控制系统；
多个机臂，与所述中心体固定连接；
多个动力装置，分别设于所述多个机臂上；以及
上述RTK定位装置，与所述飞行控制系统通讯连接，
其中，所述RTK定位装置将其获取的所述无人机的当前位置信息，发送给所述飞行控制系统，所述飞行控制系统根据所述当前位置信息进行飞行控制。
上述无人机通过RTK定位装置，对电路板的布局设计，使电路板的两个表面分别布置有GPS模块、射频天线模块及RTK控制模块，并且，在电路板的一端设置天线插头，无需将多块电路板进行层叠设置，节省布置电路板所需要的空间，从而使整个RTK定位装置的体积减小。并且，相对于传统的多块电路板层叠设置而言，本申请的电路板的两个表面而不影响其他电子模块，避免产生如传统技术中的两块电路板相对设置而造成相互影响的问题，从热使得电路板的GPS模块、射频天线模块及RTK控制模块均能够均匀散热，使电路板产生的热量较快散热，从而有利于整个RTK定位装置的整体散热。
附图说明
图1为本实施方式的无人机的立体示意图；
图2为本实施方式的RTK定位装置与飞行控制系统电学模块示意图；
图3为本实施方式的RTK定位装置的立体示意图；
图4为图3所示的RTK定位装置的爆炸图；
图5为图4所示的电路板的仰视图；
图6为图4所示的第一壳体的仰视图；
图7为图3所示的RTK定位装置的仰视图；
图8为图2所示RTK定位装置的电学模块示意图。
附图标记说明如下：10、无人机；11、中心体；12、机臂；13、动力装置；14、飞行控制系统；15、起落架；100、RTK定位装置；101、壳体；110、第一壳体；111、收容槽；112、第一凸台；113、定位柱；114、抵接部；115、屏蔽挡墙；1151、第一屏蔽挡墙；1152、第二屏蔽挡墙；1153、过线孔；116、第二凸台；117、对位槽；118、USB接口；119、收发器接口；181、总线接口；182、透光孔；183、天线插口；120、第二壳体；121、台阶部；122、限位凸筋；123、凸耳；124、外接部；130、电路板；131、板体；132、GPS模块；133、射频天线模块；134、RTK控制模块；135、天线插头；136、避让部；137、状态指示装置；138、USB模块；139、收发器模块；191、总线模块；192、定位孔；140、散热鳍片；150、复位按键；160、导光柱；170、电源接口；20、天线馈线。
具体实施方式
尽管本发明可以容易地表现为不同形式的实施方式，但在附图中示出并且在本说明书中将详细说明的仅仅是其中一些具体实施方式，同时可以理解的是本说明书应视为是本发明原理的示范性说明，而并非旨在将本发明限制到在此所说明的那样。
由此，本说明书中所指出的一个特征将用于说明本发明的一个实施方式的其中一个特征，而不是暗示本发明的每个实施方式必须具有所说明的特征。此外，应当注意的是本说明书描述了许多特征。尽管某些特征可以组合在一起以示出可能的系统设计，但是这些特征也可用于其他的未明确说明的组合。由此，除非另有说明，所说明的组合并非旨在限制。
在附图所示的实施方式中，方向的指示(诸如上、下、左、右、前和后)用于解释本发明的各种元件的结构和运动不是绝对的而是相对的。当这些元件处于附图所示的位置时，这些说明是合适的。如果这些元件的位置的说明发生改变时，则这些方向的指示也相应地改变。
以下结合本说明书的附图，对本发明的较佳实施方式予以进一步地详尽阐述。
请参阅图1，提供一种无人机10及其RTK定位装置。本实施方式的无人机10包括中心体11、机臂12、动力装置13以及RTK定位装置100。多个机臂12与中心体11固定连接。多个动力装置13分别设于多个机臂12上。无人机10还包括起落架15。起落架15设于中心体11的下方，用于支撑机中心体11、机臂12、动力装置13以及RTK定位装置100。
请参阅图2，中心体设有飞行控制系统14。RTK定位装置用于为无人机10提供精准定位。RTK定位装置100与飞行控制系统14通讯连接。其中，RTK定位装置100将其获取的无人机的当前位置信息，发送给飞行控制系统14，飞行控制系统14根据当前位置信息进行飞行控制。本实施方式的无人机10可以为农业无人机。
请参阅图3及图4，本实施方式的RTK定位装置100包括壳体101及收容于壳体101内的电路板130。电路板130包括板体131。板体131的一侧表面设有GPS模块132及射频天线模块133。请参阅图5，板体131的另一侧表面设有RTK控制模块134。板体131靠近射频天线模块133的一端设有供天线馈线20连接的天线插头135。
上述RTK定位装置100，通过对电路板130的布局设计，使电路板130的两个表面分别布置有GPS模块132、射频天线模块133及RTK控制模块134，并且，在电路板130的一端设置天线插头135，无需将多块电路板130进行层叠设置，节省布置电路板130所需要的空间，从而使整个RTK定位装置100的体积减小。并且，相对于传统的多块电路板130层叠设置而言，本申请的电路板130的两个表面均能够均匀散热，使电路板130产生的热量较快散热，从而有利于整个RTK定位装置100的整体散热。
请参阅图4，具体在本实施方式中，壳体101为金属壳体。壳体101包括第一壳体110与第二壳体120。即，第一壳体110及/或第二壳体120为金属壳体。金属壳体的散热效果较好，能够保证将电路板130上产生的热量，能够较快地经第一壳体110与第二壳体120传递出去。
请同时参阅图6，第一壳体110开设有收容槽111。电路板130收容于收容槽111内，第二壳体120盖设于收容槽111的开口处，以将电路板130封闭于收容槽111内。
可以理解，第一壳体110与第二壳体120也可以为其他形状，例如，第一壳体与第二壳体均开设有收容槽等，此处不做限定。
第一壳体110设有第一凸台112。第一凸台112设于收容槽111的底部。第一凸台112上开设有螺孔。板体131与第一凸台112螺纹连接。具体地，第一壳体110呈矩形。收容槽111的矩形槽。第一壳体110的四个顶角处均设有第一凸台112，相应地，板体131的四个顶角处开设有连接孔。板体131的四个顶角分别与四个第一凸台112通过螺钉固定。
可以理解，本实施方式的RTK定位装置100对第一壳体110的形状，及第一凸台112的个数及设置位置，并不做限定，只要电路板130与第一壳体110能够实现定位连接即可。
第一壳体110设有定位柱113。定位柱113设于收容槽111的底部。定位柱113与板体131上的定位孔192插接，以定位电路板130。具体地，定位柱113位于第一凸台112的一旁，板体131上的定位孔192位于板体131的两个对角处。当安装电路板130的时候，首先将定位柱113穿入到板体131上的定位孔192内，以将电路板130进行定位。然后板体通过螺纹紧固件与第一凸台112的螺孔相螺合而固定。
第一壳体110设有抵接部114。抵接部114设于收容槽111的底壁的中部。抵接部114抵接于电路板130与收容槽111的底部之间。具体地，抵接部114可以为导热垫片，例如硅胶垫片等。
抵接部114与电路板130的GPS模块132及/或射频天线模块133对应设置，用于热传导电路板的GPS模块132及/或射频天线模块133产生的热量。抵接部114即可以与电路板130的GPS模块132及/或射频天线模块133直接抵持，起到稳固加固的作用，又可以将电路板130上产生的热量顺利传导到第一壳体110上，从而将热量快速散发出去。
可以理解，在第二壳体120的底壁中部也可以设有抵接部。抵接部与电路板130的RTK控制模块134对应设置，用于热传导RTK控制模块134产生的热量。抵接部即可以与电路板130的RTK控制模块134直接抵持，起到稳固加固的作用，又可以将RTK控制模块134上产生的热量顺利传导到第二壳体120上，从而将热量快速散发出去。
第一壳体110设有屏蔽挡墙115。屏蔽挡墙115设于收容槽111的底部。屏蔽挡墙115为框形。当电路板130收容于收容槽111内的时候，电路板130上的GPS模块132及/或射频天线模块133的外周均围绕有该屏蔽挡墙115。屏蔽挡墙115以将GPS模块132与射频天线模块133之间的磁场隔离，避免信号之间相互干扰。
具体地，屏蔽挡墙115为两个。屏蔽挡墙115包括用于围绕GPS模块132的第一屏蔽挡墙1151及用于围绕射频天线模块133的第二屏蔽挡墙1152。第二屏蔽挡墙1152开设有过线孔1153。天线插头135的导线通过过线孔1153与射频天线模块133实现电性连接。
并且，第一壳体110与天线插头135相对处开设有用于供天线馈线20插入的天线插口183。过线孔1153开设第二屏蔽挡墙1152靠近天线插口183的一侧。可以使导线以最短的长度，即可连接天线插头135与射频天线模块133。
可以理解，屏蔽挡墙115为金属墙。屏蔽挡墙115与第一壳体110可以为一体结构。
第一壳体110于收容槽111的底部设有第二凸台116。第二凸台116开设有螺孔。第二壳体120与第二凸台116螺纹连接。相应地，第二壳体120的内侧边缘处设有凸耳123，且凸耳123朝向第二壳体120的内侧凸起。凸耳123上开设有螺孔。具体地，第二凸台116位于收容槽111的四个顶角处及收容槽111的两长侧边的中部。凸耳123设于第二壳体120的四个顶角处、及第二壳体120的两长侧边的中部。
请同时参阅图6，具体地，第二凸台116位于第一凸台112的一侧。第二凸台116的高度高于第一凸台112的高度，第二凸台116与第一凸台112呈阶梯状设置。并且，电路板130朝向第二板体131一侧的空间高度小于等于第二凸台116与第一凸台112之间的距离差。安装在第一凸台112的电路板130不会对第二壳体120的安装产生影响。
并且，板体131相对于第二凸台116的位置设有避让部136。避让部136可以避免板体131将第二凸台116遮盖，影响第二壳体120与第一壳体110的安装。
请同时参阅图4，第一壳体110与第二壳体120分别设有相互对接的台阶部与对位槽。具体在本实施方式中，第一壳体110设有对位槽117，第二壳体120设有台阶部121，对位槽117与台阶部121相对设置，以将第一壳体110与第二壳体120相互对准拼接。在将第二壳体120与第一壳体110连接的时候，首先将第一壳体110与第二壳体120通过台阶部121与对位槽117相互对准定位，再进一步的通过螺钉将第二壳体120与第二定位柱113进行螺纹连接。
第二壳体120的内侧壁上设有限位凸筋122。限位凸筋122相对于RTK控制模块134的外周设置，用于限位RTK控制模块134。在无人机发生晃动或碰撞的时候，限位凸筋122可以对RTK控制模块134进行限位保护，防止RTK控制模块134由于受到较大冲击，与板体131之间发生移位，以影响RTK控制模块134的电连接状态。
请同时参阅图7，第二壳体120的外侧壁上还设有外接部124。外接部124用于与外界连接物连接。可以理解，外接部124为形成于第二壳体120内部的柱体，柱体位于第二壳体120的外侧壁的端面上开设有螺孔，通过螺孔可以将第二壳体与外界连接物连接。
壳体101的外侧壁设有多个并列排布的散热鳍片140。散热鳍片140增大壳体的散热面积，有利于壳体101的快速散热。具体地，散热鳍片140布置于第二壳体120的外侧壁上，保证RTK定位装置100的整体外形简洁。
请同时参阅图4，电路板130与壳体101的内侧壁之间设有导热垫片。具体地，在电路板130与第一壳体110之间设有导热垫片。此处的导热垫片可以为抵接部114。通过导热垫片可以使GPS模块132及射频天线模块133产生的热量较快传递到第一壳体110上。同样的，在电路板130的其他电学模块与第一壳体110之间也可以设置导热垫片，以将其他电学模块产生的热量传递到第一壳体110上，并最终散发。
在电路板130与第二壳体120之间也设有导热垫片。在电路板130在朝向第二壳体120的表面上布置有RTK控制模块134及其他电学模块，RTK控制模块134及其他电学模块与第二壳体120之间通过导热垫片相互抵接，因此，导热垫片可以将RTK控制模块134及其他电学模块产生的热量迅速传递到第二壳体120上。
具体在本实施方式中，天线插头135设有用于与天线馈线20卡合连接的卡扣(图未示)。天线插头135与天线馈线20卡合连接，可靠的实现数据/信号的处理接收。相对于传统的天线馈线与射频天线模块133之间通过螺丝固定的方式，本实施方式的天线插头135与天线馈线20的插接操作方便，效率较高。可以理解，卡扣可以为弹簧柱塞或弹性卡臂等实现，只要能够实现与天线插头135卡持连接即可。
板体131相对于天线插头135的另一端设有复位按键150。复位按键150穿过壳体且凸出于壳体外侧。通过复位按键150触发复位信号。通过在壳体101外按压复位按键150，可以使复位按键150进行复位设置，操作方便。
板体131相对于天线插头135的另一端设有状态指示装置137。状态指示装置137设于板体，并且与RTK控制模块134电连接，用于指示RTK定位装置100是否处于复位状态。
具体地，状态指示装置137设有指示灯(图未示)及导光柱160，导光柱160与指示灯相对设置。壳体101的侧壁上开设有透光孔182，透光孔182与导光柱160相对设置。指示灯显示状态指示装置137的工作状态，不同工作状态指示灯显示不同颜色的光线。通过导光柱160可以将指示灯的光线传输到壳体101外侧，通过透光孔182即可观察到，方便操控。
请同时参阅图5，板体131朝向第一壳体110的一侧表面为第一表面，板体131朝向第二壳体120的一侧表面为第二表面。板体131设有USB模块138。USB模块138与天线插头135分别位于板体131的两相邻侧边，USB模块138设于板体131设有天线插头135的一 侧的相邻侧。并且，USB模块138设于第二表面。壳体101开设有USB接口118。具体地，USB接口118开设于第一壳体110的侧壁上。
板体131设有收发器模块139。收发器模块139与天线插头135分别位于板体131的两相邻侧边，壳体101对应开设有收发器接口119。收发器模块139设于板体131设有USB模块138的一侧。并且，收发器模块139设于第二表面。壳体101对应开设有收发器接口119。具体地，收发器接口119开设于第一壳体110的侧壁上。
板体131设有总线模块191。总线模块191与天线插头135分别位于板体131的两相邻侧边，壳体101对应开设有总线接口181。总线模块191设于板体131设有USB模块138的一侧。并且，总线模块191设于第二表面。具体地，总线接口181开设于第一壳体110的侧壁上。
在本实施方式的RTK定位装置100上，USB模块138、收发器模块139及总线模块191位于板体131的同一侧，且都位于第二表面上。请同时参阅图4，USB接口118、收发器接口119及总线接口181位于第一壳体110的同一侧壁上，方便对各个接口进行插拔，便于操作。
综上，本实施方式的无人机及其RTK定位装置100相对于传统的定位装置至少具有以下优点：
首先，通过对电路板130进行合理布局设计，并有效利用电路板130的两个表面，使电路板130的分布紧凑，集成度较高。一方面可以减小电路板130的体积，另一方面可以减少电路板130的数量。从而使整个RTK定位模块的结构紧凑，体积减小。
其次，本实施方式的RTK定位装置100中，电路板130的两个表面均能够通过导热垫片与壳体101进行热传导，并通过金属的壳体、及散热鳍片140，可以有效的将电路板130产生的热量快速散发出去，防止电路板130过热。
并且，本实施方式的RTK定位装置100中，天线插头135与天线馈线20卡合连接，操作方便，便于实施。
请参阅图8，本实施方式的RTK定位装置100还包括电源接口170。电源接口170分别与GPS模块132、射频天线模块133以及RTK控制模块134电连接。通过电源接口170给GPS模块132、射频天线模块133以及RTK控制模块134通电。
虽然已参照几个典型实施方式描述了本发明，但应当理解，所用的术语是说明和示例性、而非限制性的术语。由于本发明能够以多种形式具体实施而不脱离发明的精神或实质，所以应当理解，上述实施方式不限于任何前述的细节，而应在随附权利要求所限定的精神和范围内广泛地解释，因此落入权利要求或其等效范围内的全部变化和改型都应为随附权利要求所涵盖。

Claims (22)

  1. 一种RTK定位装置，其特征在于，包括：壳体及收容于壳体内的电路板，所述电路板包括板体，所述板体的一侧表面设有GPS模块及射频天线模块，所述板体的另一侧表面设有RTK控制模块，所述板体靠近所述射频天线模块的一端设有供天线馈线连接的天线插头。
  2. 根据权利要求1所述的RTK定位装置，其特征在于，所述壳体包括第一壳体与第二壳体，所述第一壳体与所述第二壳体可拆卸连接。
  3. 根据权利要求2所述的RTK定位装置，其特征在于，所述第一壳体开设有收容槽，所述电路板收容于所述收容槽内，所述第二壳体盖设于所述收容槽的开口处，以将所述电路板封闭于所述收容槽内。
  4. 根据权利要求2所述的RTK定位装置，其特征在于，所述第一壳体设有第一凸台，所述板体的边缘抵接在所述第一凸台上，并且与所述第一凸台可拆卸地固定连接。
  5. 根据权利要求2所述的RTK定位装置，其特征在于，所述第一壳体设有定位柱，所述定位柱与所述板体上的定位孔插接，以定位所述电路板。
  6. 根据权利要求2所述的RTK定位装置，其特征在于，所述第一壳体设有第二凸台，所述第二壳体与所述第二凸台可拆卸地固定连接。
  7. 根据权利要求6所述的RTK定位装置，其特征在于，所述第二壳体的内侧边缘设有凸耳，所述凸耳上开设有通孔，所述第二凸台开设有通孔，所述凸耳的通孔与所述第二凸台的通孔中至少一个为螺孔，通过螺纹紧固件与所述螺孔配合，而所述第二壳体与所述第二凸台可拆卸地固定连接起来。
  8. 根据权利要求3所述的RTK定位装置，其特征在于，所述第一壳体于所述收容槽的底壁的中部设有抵接部，所述抵接部与所述电路板的GPS模块及/或所述射频天线模块对应设置，用于热传导所述电路板的GPS模块及/或所述射频天线模块产生的热量。
  9. 根据权利要求3所述的RTK定位装置，其特征在于，所述第一壳体于所述收容槽的底部设有屏蔽挡墙，所述屏蔽挡墙为框形，所述屏蔽挡墙将所述电路板上的GPS模块及/或所述射频天线模块围绕。
  10. 根据权利要求3所述的RTK定位装置，其特征在于，所述第二壳体的内侧壁上设有限位凸筋，所述限位凸筋相对于所述RTK控制模块的外周设置，用于限位RTK控制模块。
  11. 根据权利要求2所述的RTK定位装置，其特征在于，所述第一壳体与所述第二壳体分别设有相互对接的台阶部与对位槽。
  12. 根据权利要求2所述的RTK定位装置，其特征在于，所述第一壳体及/或所述第二壳体为金属壳体。
  13. 根据权利要求1所述的RTK定位装置，其特征在于，所述壳体的外侧壁设有多个并列排布的散热鳍片。
  14. 根据权利要求1所述的RTK定位装置，其特征在于，所述电路板与所述壳体的内侧壁之间设有导热垫片。
  15. 根据权利要求1所述的RTK定位装置，其特征在于，所述板体的另一端设有复位按键，所述复位按键穿过所述壳体且凸出于所述壳体外侧，通过所述复位按键触发复位信号。
  16. 根据权利要求15所述的RTK定位装置，其特征在于，还包括状态指示装置，所述状态指示装置设于所述板体，并且与所述RTK控制模块电连接，用于指示所述RTK定位装置是否处于复位状态。
  17. 根据权利要求15所述的RTK定位装置，其特征在于，所述状态指示装置设有指示灯及导光柱，所述导光柱与所述指示灯相对设置，所述壳体的侧壁上开设有透光孔，所述透光孔与所述导光柱相对设置。
  18. 根据权利要求1所述的RTK定位装置，其特征在于，所述板体设有USB模块，所述USB模块与所述天线插头分别位于所述板体的两相邻侧边，所述壳体开设有USB接口。
  19. 根据权利要求1所述的RTK定位装置，其特征在于，所述板体设有收发器模块，所述收发器模块与所述天线插头分别位于所述板体的两相邻侧边，所述壳体对应开设有收发器接口。
  20. 根据权利要求1所述的RTK定位装置，其特征在于，所述板体设有总线模块，所述总线模块与所述天线插头分别位于所述板体的两相邻侧边，所述壳体对应开设有总线接口。
  21. 根据权利要求1所述的RTK定位装置，其特征在于，所述天线插头设有用于与所述天线馈线卡合连接的卡扣。
  22. 一种无人机，其特征在于，包括：
    中心体，设有飞行控制系统；
    多个机臂，与所述中心体固定连接；
    多个动力装置，分别设于所述多个机臂上；以及
    权利要求1-21任一所述的RTK定位装置，与所述飞行控制系统通讯连接，
    其中，所述RTK定位装置将其获取的所述无人机的当前位置信息，发送给所述飞行控制系统，所述飞行控制系统根据所述当前位置信息进行飞行控制。
PCT/CN2018/092470 2018-06-22 2018-06-22 Rtk定位装置及无人机 Ceased WO2019242014A1 (zh)

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