CN112219359A

CN112219359A - Transfer communication equipment, machine nest, control system and transfer communication method

Info

Publication number: CN112219359A
Application number: CN201980033664.9A
Authority: CN
Inventors: 饶雄斌; 尹小俊; 王乃博
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd; SZ DJI Innovations Technology Co Ltd
Priority date: 2019-08-20
Filing date: 2019-08-20
Publication date: 2021-01-12
Also published as: WO2021031129A1

Abstract

A relay communication device, an unmanned aerial vehicle nest, a control system and a relay communication method comprise: a first antenna (1), a second antenna (2) and a radio receiver (3); the first antenna (1) is arranged in the first space (10); the second antenna (2) is arranged in the second space (20), and the first space (10) is positioned in the second space (20); under the control command, the radio receiver (3) can establish a communication connection with the first antenna (1) or the second antenna (2), and receive wireless signals of the first space (10) through the first antenna (1) or receive wireless signals of the second space (20) through the second antenna (2).

Description

Transfer communication equipment, machine nest, control system and transfer communication method

Technical Field

The application relates to the technical field of communication, in particular to a transfer communication device, an unmanned aerial vehicle nest, an unmanned aerial vehicle control system and a transfer communication method.

Background

Unmanned vehicles such as unmanned aerial vehicle are progressively used in the middle of the line class of trade patrols in recent years, for example border line patrols the line, and electric power patrols the line, and oil patrols line etc.. Compare the manual work and patrol the line, adopt unmanned vehicles such as unmanned aerial vehicle to patrol the line mode and can improve the operating efficiency greatly, promote the productivity.

The mode that unmanned aerial vehicle patrols the line and adopts the unmanned aerial vehicle nest (for short the nest) is: when the unmanned aerial vehicle does not work, the unmanned aerial vehicle is parked in the nest and is sealed. During operation, the control center remotely controls or manually controls the top cover of the nest to be opened, commands the unmanned aerial vehicle to automatically take off and execute the line patrol task. When the operation is finished, the unmanned aerial vehicle returns, the top cover of the nest is automatically opened or manually controlled to be opened, the unmanned aerial vehicle descends in the nest, and the top cover is closed. In the above link, the unmanned aerial vehicle has wireless connection requirements in and outside the machine nest. There are two possible mounting ways: 1) and installing a radio receiver and an antenna of the unmanned aerial vehicle in the nest. When the unmanned aerial vehicle is in the nest, wireless signals are very good, and the offline data can be efficiently acquired. 2) And installing a radio receiver and an antenna of the unmanned aerial vehicle outside the nest. When the unmanned aerial vehicle is outside the nest, the wireless signal is good without shielding.

However, in the first installation method, when the unmanned aerial vehicle is outside the nest, the wireless signal is weak due to the shielding of the nest wall. Above-mentioned second kind mounting means, when unmanned aerial vehicle in the nest, because the sheltering from of quick-witted nest wall, wireless signal seriously descends.

Disclosure of Invention

Based on this, the application provides a transfer communication device, an unmanned aerial vehicle nest, an unmanned aerial vehicle control system and a transfer communication method, and aims to solve the technical problem that the existing radio receiver and antenna installation mode cannot give consideration to wireless signals inside and outside the unmanned aerial vehicle nest.

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

a first antenna provided in a first space that can be closed to a closed state or a unblocked state;

a second antenna disposed in a second space, the first space being located in the second space;

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

In a second aspect, the present application provides an unmanned aerial vehicle nest located within a first space of a relay communication device, the relay communication device comprising:

a first antenna provided in the first space, the first space being capable of being closed to a closed state or a closed-released state;

In a third aspect, the present application provides an unmanned aerial vehicle control system, the system comprising: the system comprises a transfer communication device, an unmanned aerial vehicle nest, an unmanned aerial vehicle and a control center;

the unmanned aerial vehicle nest is positioned in the first space of the transfer communication equipment and is used for parking the unmanned aerial vehicle;

the control center can establish communication connection with the transfer communication equipment, the unmanned aerial vehicle nest and the unmanned aerial vehicle and can send out a control command;

the relay communication device includes:

the radio receiver can establish communication connection with the first antenna or the second antenna under the control instruction, and can receive the wireless signals of the unmanned aerial vehicle in the first space in a closed state through the first antenna or receive the wireless signals of the unmanned aerial vehicle in the second space through the second antenna.

In a fourth aspect, the present application provides a relay communication method, which is applicable to the above-mentioned unmanned aerial vehicle control system, and includes:

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

under the control instruction, the radio receiver establishes a communication connection with the first antenna or the second antenna so as to receive the wireless signal of the unmanned aerial vehicle in the first space or the second space through the first antenna or the second antenna.

The embodiment of the application provides a relay communication device, an unmanned aerial vehicle nest, an unmanned aerial vehicle control system and a relay communication method, wherein the relay communication device comprises a radio receiver, a first antenna and a second antenna, the first antenna and the second antenna are respectively installed in a first space and a second space (namely outside the first space), and the radio receiver can establish communication connection with the first antenna or the second antenna according to a control instruction, so that a wireless signal in the first space in a closed state can be received through the first antenna, or a wireless signal in the second space (namely outside the first space) can be received through the second antenna. By the method, technical support can be provided for the wireless signals inside and outside the first space; in practical application, according to practical conditions, the radio receiver is enabled to establish communication connection with the first antenna (installed in the first space) or the second antenna (installed outside the first space) by using the control command, so that wireless signals inside and outside the first space can be considered, and the wireless signals inside and outside the first space can meet requirements.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

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

fig. 2 is a schematic structural diagram of another embodiment of a relay communication device in the present application;

fig. 3 is a schematic structural diagram of another embodiment of a relay communication device according to the present application;

fig. 4 is a schematic structural diagram of another embodiment of a relay communication device according to the present application;

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

FIG. 6 is a flow chart illustrating an embodiment of a transit communication method according to the present application;

fig. 7 is a schematic flow chart of another embodiment of a transit communication method according to the present application;

fig. 8 is a schematic flow chart of a relay communication method according to another embodiment of the present application;

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

Description of the main elements and symbols:

100. a relay communication device;

1. a first antenna; 2. a second antenna; 3. a radio receiver; 31. a waterproof device;

4. a wireless switching module; 10. a first space; 20. a second space;

200. a control center; 300. an unmanned aerial vehicle nest; 301. a top cover;

400. provided is an unmanned aerial vehicle.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The flow diagrams depicted in the figures are merely illustrative and do not necessarily include all of the elements and operations/steps, nor do they necessarily have to be performed in the order depicted. For example, some operations/steps may be decomposed, combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.

The existing installation mode of the radio receiver and the antenna is adopted, or the radio receiver and the antenna of the unmanned aerial vehicle are installed in a nest of the unmanned aerial vehicle; when the unmanned aerial vehicle is outside the unmanned aerial vehicle nest, due to the shielding of the unmanned aerial vehicle nest wall, the wireless signal is weak, and the unmanned aerial vehicle cannot fly too far. Or the radio receiver and the antenna of the unmanned aerial vehicle are arranged outside the nest of the unmanned aerial vehicle; when the unmanned aerial vehicle is in the unmanned aerial vehicle nest, the wireless signal is seriously reduced due to the shielding of the walls of the unmanned aerial vehicle nest; when the original sensor data shot by the unmanned aerial vehicle needs to be acquired through the radio receiver, a great amount of time is consumed for acquiring the original sensor data due to the fact that the air interface rate of the radio signal is low seriously. Therefore, the two installation modes cannot take account of wireless signals inside and outside the unmanned aerial vehicle nest. In addition to the radio receiver and the first antenna, the embodiment of the present application further includes a second antenna, where the first antenna and the second antenna are respectively installed in the first space and the second space (i.e., outside the first space), and the radio receiver can establish a communication connection with the first antenna or the second antenna according to a control instruction, so that a wireless signal in the first space in a closed state can be received through the first antenna, or a wireless signal in the second space (i.e., outside the first space) can be received through the second antenna. By the method, technical support can be provided for the wireless signals inside and outside the first space; in practical application, according to practical conditions, the radio receiver is enabled to establish communication connection with the first antenna (installed in the first space) or the second antenna (installed outside the first space) by using the control command, so that wireless signals inside and outside the first space can be considered, and the wireless signals inside and outside the first space can meet requirements. When the mounting means of this application was used in the scene of above-mentioned unmanned vehicles automation line patrol and be equipped with unmanned vehicles nest, can satisfy two important demands that unmanned vehicles automation was patrolled line simultaneously: 1) the wireless connection with the unmanned aerial vehicle in operation can be maintained, so that the operation radius is maximized; 2) after the unmanned aerial vehicle returns to the unmanned aerial vehicle nest, high-quality wireless connection can be established with the unmanned aerial vehicle so as to acquire the original sensor data of the unmanned aerial vehicle.

Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.

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

The embodiment of the application comprises a first antenna 1 and a second antenna 2, wherein the first antenna 1 is arranged in a first space 10, and the second antenna 2 is arranged in a second space 20 (the first space 10 is located in the second space 20, that is, the second antenna 2 is arranged outside the first space 10). The first space 10 can be closed or opened.

An antenna is a transducer that converts a guided wave propagating on a transmission line into an electromagnetic wave propagating in an unbounded medium (usually free space) or vice versa. An antenna is a component used to transmit or receive electromagnetic waves in a radio device. Engineering systems such as radio communication, broadcasting, television, radar, navigation, electronic countermeasure, remote sensing, radio astronomy and the like all use electromagnetic waves to transmit information and work by depending on antennas. In addition, in transferring energy with electromagnetic waves, non-signal energy radiation also requires antennas. The antennas are generally reciprocal in that the same pair of antennas can be used as both transmit and receive antennas. The same antenna is the same as the basic characteristic parameter for transmission or reception.

In this embodiment, the structures of the first antenna 1 and the second antenna 2 are not limited, and the first antenna 1 and the second antenna 2 are active antennas and/or passive antennas, which may expand the range of selecting antennas and the range of applicability of the embodiment of the present application. Specifically, the first antenna 1 includes an active antenna or a passive antenna; and/or the second antenna 2 comprises an active antenna or a passive antenna. The active antenna comprises active elements (such as electronic tubes, transistors, integrated circuits and the like), has a complex structure, and can work only by external power supply; and a built-in low noise amplifier is arranged in the active antenna to reduce the influence of the subsequent loss of cables and the like on the signal to noise ratio, so that the sensitivity can be improved, and the signal to noise ratio can be reduced. The passive antenna is formed by only passive elements (such as a conducting wire, an inductor, a capacitor, a resistor and the like), has a simple structure and can work without an external power supply; the passive antenna does not contain a low noise amplifier and the length of the cable from the passive antenna to the radio receiver does not typically exceed 1 m.

Under the control instruction, the radio receiver 3 establishes communication connection with the first antenna 1, and receives wireless signals in the first space 10 in a closed state through the first antenna 1; the radio receiver 3 either establishes a communication connection with the second antenna 2 and receives wireless signals inside the second space 20 (i.e. outside the first space) via the second antenna 2. The radio receiver 3 can be established either with the first antenna 1 or with the second antenna 2 in many ways, either manually, in the simplest original manner, or automatically. For example: when the radio receiver 3 needs to establish communication connection with the first antenna 1, the power supply of the second antenna 2 can be manually or automatically controlled to be turned off, so that the second antenna 2 cannot work normally; when the radio receiver 3 needs to establish a communication connection with the second antenna 2, the power of the first antenna 1 can be manually or automatically controlled to be turned off, so that the first antenna 1 cannot work normally. Alternatively, when the radio receiver 3 is required to establish a communication connection with the first antenna 1, the communication connection between the radio receiver 3 and the second antenna 1 may be manually or automatically controlled to be closed; the closing of the communication connection between the radio receiver 3 and the first antenna 1 may be controlled manually or automatically when it is desired that the radio receiver 3 establishes a communication connection with the second antenna 2.

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

In the embodiment of the present application, in addition to the radio receiver 3 and the first antenna 1, the second antenna 2 is further included, the first antenna 1 and the second antenna 2 are respectively installed in the first space 10 and the second space 20 (i.e. outside the first space 10), and the radio receiver 3 can establish a communication connection with the first antenna 1 or the second antenna 2 according to a control instruction, so that a wireless signal in the first space 10 in a closed state can be received through the first antenna 1, or a wireless signal in the second space 20 (i.e. outside the first space 10) can be received through the second antenna 2. In this way, technical support can be provided for wireless signals inside and outside the first space 10; in practical application, according to practical situations, the radio receiver 3 is caused to establish a communication connection with the first antenna 1 (installed in the first space 10) or the second antenna 2 (installed outside the first space 10) by using a control command, so that wireless signals inside and outside the first space 10 can be considered, and the wireless signals inside and outside the first space 10 can meet requirements.

It should be noted that the setting position of the radio receiver 3 is not limited, and in this way, the setting of the radio receiver 3 can be flexible, and the radio receiver 3 can be specifically set according to specific practical applications and needs. The radio receiver 3 may be arranged in the first space 10 as well as in the second space 20.

In a practical application, the second space 20 may be a bare space, such as outdoors, which may be raining due to weather changes; or the second space 20 may spray water for artificial reasons, etc.; at this time, referring to fig. 2, when the radio receiver 3 is disposed in the second space 20, in order to prevent the radio receiver 3 from malfunctioning due to rain, the radio receiver 3 also includes a waterproof device 31 in a normal case. In the present embodiment, the structure of the waterproof device 31 and the connection relationship between the waterproof device 31 and the radio receiver 3 are not limited as long as the normal function of the radio receiver 3 can be unaffected and a malfunction of the radio receiver 3 due to rain can be avoided. For example, the waterproof device 31 may be a simple waterproof cover, and the material of the waterproof cover may be plastic; the waterproof cover can cover the whole radio receiver 3, and can also cover only the part of the radio receiver 3 which can not be drenched with rainwater.

Referring to fig. 3, in a practical application, the radio receiver 3 can be connected to the control center 200 by wire or wirelessly. In this way, the relay communication device 100 according to the embodiment of the present application can assist the control center 200 to play a role that the relay communication device 100 alone cannot play, thereby expanding the application range of the relay communication device 100 according to the embodiment of the present application. Further, the control instruction includes a control instruction sent by the control center 200; in this way, the control center 200 can be made to control the radio receiver 3 either to establish a communication connection with the first antenna 1 or to establish a communication connection with the second antenna 2 depending on the actual application. The installation position of the control center 200 is not limited.

As mentioned above, the radio receiver 3 can be established in a variety of ways, either with the first antenna 1 or with the second antenna 2, either manually, or automatically, in the simplest possible original manner. The radio receiver 3 is described in more detail below in an implementation that is more practical to implement, and is connected to the first antenna 1 or the second antenna 2.

Referring to fig. 4, in an embodiment, the apparatus 100 further includes an antenna switching module 4, and the first antenna 1 and the second antenna 2 can be connected to the antenna switching module 4, and the switching of the operating states of the first antenna 1 and the second antenna 2 is realized through the switching of the antenna switching module 4. In this embodiment, the structure, the operation principle, and the like of the antenna switching module 4 are not limited as long as the switching of the operating states of the first antenna 1 and the second antenna 2 can be realized by the switching of the antenna switching module 4. For example: the antenna switching module 4 may be a circuit for switching an antenna, an antenna switch, an antenna switching chip, or other antenna switching devices. In one embodiment, the antenna switch module 4 includes a single-pole double-throw switch, which has a simple structure, is cheap and is widely used.

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

Referring to fig. 5, in an application scenario, the unmanned aerial vehicle nest 300 is located in the first space 10, the unmanned aerial vehicle nest 300 is used for parking an unmanned aerial vehicle 400, and the unmanned aerial vehicle nest 300 is provided with a top cover 301, and the top cover 301 can be closed or opened to close or open the first space 10. The control center 200 can establish communication connection with the relay communication device, the unmanned aerial vehicle nest 300, and the unmanned aerial vehicle 400, and can issue control instructions.

In the application scenario, there are various ways to control the switching of the antenna switching module 4, and the control center 200 may participate in the switching of the antenna switching module 4, or may participate in the switching of the antenna switching module 4 without participating in the switching of the antenna switching module 4, and participate in the switching of the antenna switching module 4 through the unmanned aerial vehicle airframe 300 and/or the unmanned aerial vehicle 400. Examples are specifically illustrated below:

in the first type, the drone nest 300 directly controls the switching of the antenna switching module 4. Specifically, a pressure sensor and/or a first UAV proximity sensor is included within UAV nest 300; the switching of the antenna switching module 4 is directly controlled by the pressure sensor (for example, the system comprises the relay communication device 100 and the unmanned aerial vehicle nest 300, and the control center 200 does not participate in matching), or the switching of the antenna switching module 4 is directly controlled by the first unmanned aerial vehicle proximity sensor, or the switching of the antenna switching module 4 is directly controlled by the pressure sensor and the first unmanned aerial vehicle proximity sensor together.

Wherein, the unmanned aerial vehicle nest 300 comprises a pressure sensor and/or a first unmanned aerial vehicle proximity sensor (not shown), and the pressure sensor and/or the first unmanned aerial vehicle proximity sensor can control the switching of the antenna switching module 4. In this way, the pressure sensor and/or the first drone proximity sensor can directly control the switching of the antenna switching module 4, enabling the joint cooperation and cooperation of the relay communication device 100 with the drone nest 300.

In the second type, the unmanned aerial vehicle 400 directly controls the switching of the antenna switching module 4. Specifically, the unmanned aerial vehicle 400 includes an altitude sensor, and the switching of the antenna switching module 4 is directly controlled by the altitude sensor (for example, the system includes the relay communication device 100 and the unmanned aerial vehicle 400 is cooperated with each other, and the control center 200 does not participate in matching).

Therein, the unmanned aerial vehicle 400 includes an altitude sensor (not shown) capable of controlling switching of the antenna switching module 4. In this way, the altitude sensor can directly control the switching of the antenna switching module 4, and the cooperation and cooperation of the relay communication device 100 and the unmanned aerial vehicle 400 can be realized.

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

At this time, when the control center 200 determines that the unmanned aerial vehicle 400 is in the first space 10 or the second space 20, a control instruction is transmitted; under the control command, the radio receiver 3 establishes a communication connection with the first antenna 1 or the second antenna 2 to receive the wireless signal of the unmanned aerial vehicle 400 in the first space 10 or the second space 20 through the first antenna 1 or the second antenna 2. For example, the control center 200 monitors whether the unmanned aerial vehicle 400 is in the first space 10 or the second space 20 by a dedicated monitoring device, and accordingly transmits a control command to establish a communication connection between the radio receiver 3 and the first antenna 1 or the second antenna 2.

The control center 200 controls the radio receiver 3 to establish a communication connection with the first antenna 1 or the second antenna 2 by controlling the switching of the antenna switching module 4, which is relatively wide in application range. That is, when the control center 200 determines that the unmanned aerial vehicle 400 is in the first space 10 or the second space 20, it sends a control command to control the antenna switching module 4 to switch, so that the radio receiver 3 receives the wireless signal of the unmanned aerial vehicle 400 in the first space 10 or the second space 20 through the first antenna 1 or the second antenna 2.

The following description will take as an example the control center 200 controlling the switching of the antenna switching module 4 by the signal detected by the unmanned aerial vehicle nest 300 and/or the unmanned aerial vehicle 400 itself. These implementations can save deployment costs by directly utilizing the signals detected by the UAV nest 300 and/or the UAV 400 itself, without the need for other specialized monitoring equipment.

(1) The control center 200 can receive signals from the pressure sensor and/or the first proximity sensor in the cell 300 of the unmanned aerial vehicle, and then send a control command to switch the antenna switching module 4. In the present embodiment, the control center 200 is capable of establishing communication connections with the unmanned aerial vehicle nest 300 and the relay communication device 100, respectively. For example, in a specific application, the radio receiver 3 is disposed in the unmanned aerial vehicle cell 300, and the control center 200 establishes a communication connection with the unmanned aerial vehicle cell 300 and the relay communication device 100 through a wired private network.

The process is as follows: control center 200 receives signals from pressure sensors and/or first UAV proximity sensors within UAV nest 300; and sending a control command when the unmanned aerial vehicle 400 is determined to be in the first space 10 or the second space 20 through signals of the pressure sensor and/or the first unmanned aerial vehicle proximity sensor.

Specifically, when the pressure measurement value of the pressure sensor in the unmanned aerial vehicle nest 300 is higher than the first pressure setting value, the control center 200 receives the signal of the pressure sensor, and then sends a control instruction, so that the antenna switching module 4 is switched to the first antenna 1; when the pressure measurement value of the pressure sensor in the unmanned aerial vehicle nest 300 is lower than the second pressure setting value, the control center 200 receives the signal of the pressure sensor, and then sends a control instruction to switch the antenna switching module 4 to the second antenna 2. When the unmanned aerial vehicle 400 is parked in the unmanned aerial vehicle nest 300, the gravity of the unmanned aerial vehicle 400 is applied to the pressure sensor, and the pressure measurement value of the pressure sensor is increased; when the UAV 400 is not parked within the UAV nest 300, no external gravitational force is exerted on the pressure sensors and the pressure measurements of the pressure sensors are reduced. The first pressure set value and the second pressure set value are determined according to the specific detection range of the pressure sensor and the self weight in the unmanned aerial vehicle and the nest, generally, the first pressure set value does not exceed the maximum detection upper limit of the pressure sensor, and the second pressure set value is not lower than the minimum detection lower limit of the pressure sensor; the first pressure set point may be greater than the second pressure set point or equal to the second pressure set point.

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

And/or when the first UAV proximity sensor in the UAV nest 300 detects the position of the UAV 400, the control center 200 receives a signal of the first UAV proximity sensor and further sends a control instruction, so that the antenna switching module 4 is switched to the first antenna 1; when the first drone proximity sensor in the drone nest 300 cannot detect the position of the drone 400, the control center 200 receives the signal of the first drone proximity sensor, and then sends a control instruction, so that the antenna switching module 4 switches to the second antenna 2. The first UAV proximity sensor is capable of detecting the position of the UAV 400 when the UAV 400 is parked within the UAV nest 300; the first UAV proximity sensor does not detect the position of the UAV 400 when the UAV 400 is not parked within the UAV nest 300.

When the first UAV proximity sensor detects the position of the UAV 400, it is indicated that the UAV 400 is parked in the UAV nest 300, the UAV 400 is located in the first space 10, and the control center 200 receives a signal of the first UAV proximity sensor and issues a control command to switch the antenna switching module 4 to the first antenna 1, so as to ensure that a wireless signal of the UAV 400 can be received by the radio receiver 3 through the first antenna 1 in the first space 10. When the first UAV proximity sensor does not detect the position of the UAV 400, it indicates that the UAV 400 is not parked in the UAV nest 300, the UAV 400 is located in the second space, and the control center 200 receives the signal of the first UAV proximity sensor and sends a control command to switch the antenna switching module 4 to the second antenna 2, so as to ensure that the wireless signal of the UAV 400 can be received by the radio receiver 3 through the second antenna 2 in the second space 20.

The process is as follows: when the pressure measurement value of the pressure sensor is higher than the first pressure set value and/or when the first UAV proximity sensor detects the position of the UAV 400, the control center 200 receives the signal of the pressure sensor and/or the first UAV proximity sensor, determines that the UAV 400 is in the first space 10, and sends a control instruction to enable the antenna switching module to switch 4 to the first antenna 1; when the pressure measurement value of the pressure sensor is lower than the second pressure set value and/or when the first UAV proximity sensor does not detect the position of the UAV 400, the control center 200 receives the signal of the pressure sensor and/or the first UAV proximity sensor, determines that the UAV 400 is in the second space 20, and sends a control command to enable the antenna switching module to switch 4 to the second antenna 2.

(2) The control center 200 can receive signals from the altitude sensor of the unmanned aerial vehicle 400, and then send a control command to switch the antenna switching module 4. In the present embodiment, the control center 200 is capable of establishing communication connections with the unmanned aerial vehicle 400 and the relay communication device 100, respectively. For example: in a specific application, the radio receiver 3 is disposed in the second space, and the control center 200 establishes a communication connection with the relay communication device 100 in the form of a wired private network and establishes a communication connection with the unmanned aerial vehicle 400 in a wireless manner.

The process is as follows: the control center 200 receives signals of the altitude sensors of the unmanned aerial vehicle 400; the signal of the altitude sensor determines that the unmanned aerial vehicle 400 is in the first space 10 or the second space 20, and sends a control command.

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

The process is as follows: when the altitude measurement value of the altitude sensor is higher than the first altitude setting value, the control center 200 receives the signal of the altitude sensor, determines that the unmanned aerial vehicle 400 is in the second space 20, and sends a control instruction to enable the antenna switching module 4 to switch to the second antenna 2; when the altitude measurement value of the altitude sensor is lower than the second altitude setting value, the control center 200 receives the signal of the altitude sensor, determines that the unmanned aerial vehicle 400 is in the first space 10, and sends a control instruction to switch the antenna switching module 4 to the first antenna 1.

(3) The control center 200 can receive signals of the pressure sensor and/or the first UAV proximity sensor in the UAV nest 300 and also can receive signals of the altitude sensor of the UAV 400 in parallel, and accordingly sends a control command to switch the antenna switching module 4. In the present embodiment, the control center 200 is capable of establishing communication connections with the unmanned aerial vehicle nest 300, the unmanned aerial vehicle 400, and the relay communication device 100, respectively.

The process is as follows: the control center 200 receives the current altitude information of the unmanned aerial vehicle 400 sent by the altitude sensor of the unmanned aerial vehicle 400; when the control center 200 determines that the unmanned aerial vehicle 400 is in the second space 20 according to the current altitude information of the unmanned aerial vehicle 400, sending a control instruction to enable the antenna switching module 4 to be switched to the second antenna 2; the control center 200 receives pressure measurement values sent by pressure sensors in the unmanned aerial vehicle nest 300 and/or position information sent by a first unmanned aerial vehicle proximity sensor whether the unmanned aerial vehicle 400 is detected; when the control center 200 determines that the unmanned aerial vehicle 400 is in the first space 10 through the pressure measurement value and/or the detection of the position of the unmanned aerial vehicle 400, a control command is sent to enable the antenna switching module 4 to switch to the first antenna 1.

In practical applications, the switching of the antenna switching module 4 may be manually controlled.

In the above application scenario of fig. 5, there are also various implementations of the closing or opening of the top cover 301. For example, the top cover 301 may be manually controlled to close or open, or may be automatically controlled to close or open. The following example specifically describes the manner of automatic control.

(1) Unmanned aircraft airframe 300 directly controls canopy 301 to close or open.

In one embodiment, the pressure sensor and/or the first UAV proximity sensor may be capable of controlling the automatic closing or opening of the canopy 301.

And/or, a second UAV proximity sensor may be included outside UAV nest 300, the second UAV proximity sensor being capable of controlling the automatic closing or opening of canopy 301.

(2) The unmanned aerial vehicle 400 directly controls the canopy 301 to be closed or opened.

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

(3) The control center 200 directly controls the top cover 301 to be closed or opened.

In one embodiment, the control center 200 can receive signals from one or more of a pressure sensor, a first UAV proximity sensor, and a second UAV proximity sensor, and then send control commands to automatically close or open the canopy 301.

In another embodiment, the control center 200 can receive the signal of the height sensor and then send out a control command to automatically close or open the top cover.

The following description is given by taking the deployment of the application scenario of fig. 5 in a practical application as an example. It should be noted that the specific deployment of the application scenario in fig. 5 in the actual application can be flexibly arranged according to the actual situation, and is not limited herein.

A first possible deployment:

the radio receiver 3 is arranged inside the unmanned aerial vehicle nest 300, in which case the radio receiver 3 may not require the waterproof device 31.

The second antenna 2 is arranged outside the drone nest 300, and is an active antenna. Due to the distance of several meters between the radio receiver 3 and the external second antenna 2, the typical commercial rf wires have a large signal attenuation (e.g., 5-10dB) at a distance of several meters. If a passive antenna is used, two problems arise: A) the signals received by the port of the second antenna 2 outside the unmanned aerial vehicle nest 300 are attenuated much when transmitted to the radio receiver 3, which affects the sensitivity of the unmanned aerial vehicle 400, and the maximum distance for the actual flight operation of the unmanned aerial vehicle 500 is affected. B) The control signal sent by the radio receiver 3 to the unmanned aerial vehicle 400 is attenuated by the cable before being sent out through the second antenna 2 outside the unmanned aerial vehicle nest 300, so that the strength of the uplink air interface signal actually arriving at the unmanned aerial vehicle 400 is weaker than that of the original uplink air interface signal, and the uplink control radius of the unmanned aerial vehicle 400 is also affected.

By adopting the active antenna mode, a) the signal received by the second antenna 2 outside the unmanned aerial vehicle nest 300 is amplified by the active antenna, attenuated by the cable, and then reaches the signal demodulation module of the radio receiver 3, so that the sensitivity of downlink reception of the unmanned aerial vehicle 400 is not affected. Likewise, B) after the control signal sent by the radio receiver 3 to the unmanned aerial vehicle 400 is attenuated by the cable, the control signal can be re-amplified to the original strength by the active antenna, so that the strength of the uplink control signal of the unmanned aerial vehicle 400 is not affected.

The first antenna 1 is arranged inside the drone nest 300, and is a passive antenna. Inside the unmanned aircraft nest 300, the distance between the radio receiver 3 and the first antenna 1 is short, and therefore the attenuation of the cable is relatively small. Secondly, inside the unmanned aerial vehicle nest 300, the unmanned aerial vehicle 400 and the radio receiver 3 are close to each other, and the attenuation of the air interface is small (the attenuation of the air interface signal is related to the distance, and the larger the distance is, the larger the attenuation is). It is sufficient to employ passive antenna signal strength inside the UAV nest 300. On the other hand, the passive antenna can save the cost of the whole set of equipment to a certain extent.

Another possible deployment approach:

the radio receiver 3 is arranged outside the unmanned aircraft nest 300, in which case the radio receiver 3 requires a waterproof device 31.

The second antenna 2 is arranged outside the unmanned aerial vehicle nest 300, and a very short cable connection is used between the radio receiver 3 outside the unmanned aerial vehicle nest 300 and the second antenna 2. Due to the short length of the cable between the second antenna 2 and the radio receiver 3, the attenuation is small and a passive antenna is used.

The first antenna 1 is arranged inside the unmanned aerial vehicle nest 300, and a long cable is connected between the radio receiver 3 outside the unmanned aerial vehicle nest 300 and the first antenna 1 inside the unmanned aerial vehicle nest 300. At this time, it can be determined that the first antenna 1 inside the unmanned aerial vehicle nest 300 adopts an active antenna or a passive antenna according to specific signal strength conditions.

Through the mode, two important requirements of the unmanned aerial vehicle 400 automatic line patrol can be met simultaneously: 1) can maintain a wireless connection with the unmanned aerial vehicle 400 in operation to maximize the operating radius; 2) after the unmanned aerial vehicle 400 returns to the unmanned aerial vehicle nest 300, a high-quality wireless connection can be established with the unmanned aerial vehicle 400 to quickly acquire raw sensor data of the unmanned aerial vehicle 400. Meanwhile, the cost can be saved as much as possible.

The application also provides an unmanned aerial vehicle nest, which is located in the first space of the transfer communication equipment. It should be noted that the relay communication device may be any one of the relay communication devices described above, and the detailed description of the related contents refers to the above section of the relay communication device, which is not described in detail herein.

The relay communication device includes: a first antenna provided in a first space which can be closed to a closed state or a unblocked state; the second antenna is arranged in the second space, and the first space is positioned in the second space; and the radio receiver can establish communication connection with the first antenna or the second antenna under the control instruction, and can receive wireless signals in the first space in a closed state through the first antenna or receive wireless signals in the second space through the second antenna.

In addition to the radio receiver and the first antenna, the embodiment of the present application further includes a second antenna, where the first antenna and the second antenna are respectively installed in the first space and the second space (i.e., outside the first space), and the radio receiver can establish a communication connection with the first antenna or the second antenna according to a control instruction, so that a wireless signal in the first space in a closed state can be received through the first antenna, or a wireless signal in the second space (i.e., outside the first space) can be received through the second antenna. By the method, technical support can be provided for the wireless signals inside and outside the first space; in practical application, according to practical conditions, the radio receiver is enabled to establish communication connection with the first antenna (installed in the first space) or the second antenna (installed outside the first space) by using the control command, so that wireless signals inside and outside the first space can be considered, and the wireless signals inside and outside the first space can meet requirements. Because the unmanned vehicles nest is located the first space of transfer communications facilities, through this kind of mode, can compromise the inside and outside wireless signal of unmanned vehicles nest, make the inside and outside wireless signal of unmanned vehicles nest all can satisfy the demand.

Referring to fig. 5, the present application further provides an unmanned aerial vehicle control system comprising: a transit communication device, an unmanned aerial vehicle nest 300, an unmanned aerial vehicle 400, and a control center 200; the unmanned aerial vehicle nest 300 is located in the first space 10 of the transit communication device, and is used for parking the unmanned aerial vehicle 400; the control center 200 can establish communication connection with the relay communication device, the unmanned aerial vehicle nest 300, and the unmanned aerial vehicle 400, and can issue control instructions. It should be noted that the relay communication device may be any one of the relay communication devices described above, and the detailed description of the related contents refers to the above section of the relay communication device, which is not described in detail herein.

The relay communication device includes: a first antenna 1 provided in the first space 10, the first space 10 being capable of being closed to a closed state or a closed-off state; a second antenna 2 disposed in the second space 20, the first space 10 being located in the second space 20; and the radio receiver 3 can establish communication connection with the first antenna 1 or the second antenna 2 under the control instruction, and can receive wireless signals in the first space 10 in the closed state of the unmanned aerial vehicle 400 through the first antenna 1 or receive wireless signals in the second space 20 of the unmanned aerial vehicle 400 through the second antenna 2.

In addition to the radio receiver and the first antenna, the embodiment of the present application further includes a second antenna, where the first antenna and the second antenna are respectively installed in the first space and the second space (i.e., outside the first space), and the radio receiver can establish a communication connection with the first antenna or the second antenna according to a control instruction, so that a wireless signal in the first space in a closed state can be received through the first antenna, or a wireless signal in the second space (i.e., outside the first space) can be received through the second antenna. In practical application, according to practical conditions, the radio receiver is enabled to establish communication connection with the first antenna (installed in the first space) or the second antenna (installed outside the first space) by using the control command, so that wireless signals inside and outside the first space can be considered, and the wireless signals inside and outside the first space can meet requirements. Because the unmanned vehicles nest is located the first space of transfer communications facilities, through this kind of mode, can compromise the inside and outside wireless signal of unmanned vehicles nest, make the inside and outside wireless signal of unmanned vehicles nest all can satisfy the demand.

The application also provides a relay communication method, which is suitable for the unmanned aerial vehicle control system as any one of the above, and the detailed description of the related contents refers to the above unmanned aerial vehicle control system, which is not described in detail herein. Referring to fig. 6, the method includes:

step S101: and when the control center determines that the unmanned aerial vehicle is in the first space or the second space, sending a control command.

Step S102: under the control instruction, the radio receiver establishes a communication connection with the first antenna or the second antenna so as to receive wireless signals of the unmanned aerial vehicle in the first space or the second space through the first antenna or the second antenna.

In addition to the radio receiver and the first antenna, the embodiment of the application further includes a second antenna, where the first antenna and the second antenna are respectively installed in the first space and in the second space (i.e. outside the first space), when the control center determines that the unmanned aerial vehicle is in the first space or in the second space, the control center sends a control instruction, and under the control instruction, the radio receiver establishes a communication connection with the first antenna or the second antenna so as to receive a wireless signal of the unmanned aerial vehicle in the first space or in the second space through the first antenna or the second antenna. By the method, technical support can be provided for the wireless signals inside and outside the first space; in practical application, according to practical conditions, the radio receiver is enabled to establish communication connection with the first antenna (installed in the first space) or the second antenna (installed outside the first space) by using the control command, so that wireless signals inside and outside the first space can be considered, and the wireless signals inside and outside the first space can meet requirements. Because the unmanned vehicles nest is located the first space of transfer communications facilities, through this kind of mode, can compromise the inside and outside wireless signal of unmanned vehicles nest, make the inside and outside wireless signal of unmanned vehicles nest all can satisfy the demand.

In an embodiment, in step S101, when the control center determines that the unmanned aerial vehicle is in the first space or the second space, the sending of the control command may specifically include: when the control center determines that the unmanned aerial vehicle is in the first space or the second space, the control center sends a control command to control the antenna switching module to switch, so that the radio receiver receives wireless signals of the unmanned aerial vehicle in the first space or the second space through the first antenna or the second antenna.

Further, referring to fig. 7, in step S101, when the control center determines that the unmanned aerial vehicle is in the first space or the second space, the sending the control command may further include: substep S101a1 and substep S101a 2.

Sub-step S101a 1: the control center receives signals from pressure sensors and/or first UAV proximity sensors within a nest of the UAV.

Sub-step S101a 2: and sending a control command when the unmanned aerial vehicle is determined to be in the first space or the second space through signals of the pressure sensor and/or the first unmanned aerial vehicle proximity sensor.

Specifically, when the pressure measurement value of the pressure sensor is higher than a first pressure set value and/or when the first unmanned aerial vehicle proximity sensor detects the position of the unmanned aerial vehicle, the control center receives signals of the pressure sensor and/or the first unmanned aerial vehicle proximity sensor, determines that the unmanned aerial vehicle is in a first space, and sends a control command to enable the antenna switching module to be switched to the first antenna; when the pressure measurement value of the pressure sensor is lower than the second pressure set value and/or when the first unmanned aerial vehicle proximity sensor cannot detect the position of the unmanned aerial vehicle, the control center receives signals of the pressure sensor and/or the first unmanned aerial vehicle proximity sensor, determines that the unmanned aerial vehicle is in the second space, and sends a control command to enable the antenna switching module to be switched to the second antenna.

In one implementation, the method further comprises: the second unmanned aerial vehicle proximity sensor is located outside the unmanned aerial vehicle nest, and when one or more sensors of the pressure sensor, the first unmanned aerial vehicle proximity sensor and the second unmanned aerial vehicle proximity sensor send signals, the top cover is controlled to be automatically closed or opened.

Referring to fig. 8, in another embodiment, in step S101, when the control center determines that the unmanned aerial vehicle is in the first space or the second space, the sending of the control command may specifically include: substep S101b1 and substep S101b 2.

Sub-step S101b 1: the control center receives signals from an altitude sensor of the unmanned aerial vehicle.

Sub-step S101b 2: and sending a control command when the unmanned aerial vehicle is determined to be in the first space or the second space through the signals of the height sensor.

Specifically, when the altitude measurement value of the altitude sensor is higher than a first altitude set value, the control center receives a signal of the altitude sensor, determines that the unmanned aerial vehicle is in a second space, and sends a control instruction to enable the antenna switching module to be switched to a second antenna; when the altitude measurement value of the altitude sensor is lower than the second altitude set value, the control center receives the signal of the altitude sensor, determines that the unmanned aerial vehicle is in the first space, and sends out a control command to enable the antenna switching module to be switched to the first antenna.

In another practical application, the method further comprises: when the height sensor of the unmanned aerial vehicle sends a signal, the control top cover is automatically closed or opened.

Referring to fig. 9, in another embodiment, in step S101, when the control center determines that the unmanned aerial vehicle is in the first space or the second space, the sending of the control command may specifically include: substep S101c1, substep S101c2, substep S101c3, and substep S101c 4.

Sub-step S101c 1: and the control center receives the current altitude information of the unmanned aerial vehicle sent by the altitude sensor of the unmanned aerial vehicle.

Sub-step S101c 2: and when the control center determines that the unmanned aerial vehicle is in the second space through the current altitude information of the unmanned aerial vehicle, sending a control instruction to enable the antenna switching module to be switched to the second antenna.

Sub-step S101c 3: and the control center receives pressure measurement values sent by the pressure sensors in the unmanned aerial vehicle nests and/or position information sent by the first unmanned aerial vehicle proximity sensor whether the unmanned aerial vehicle is detected.

Sub-step S101c 4: and when the control center determines that the unmanned aerial vehicle is in the first space through the pressure measurement value and/or the position of the unmanned aerial vehicle, sending a control command to enable the antenna switching module to be switched to the first antenna.

The substep S101c1 and the substep S101c3 have no precedence relationship and are in a parallel relationship.

In yet another implementation, the method further comprises: the control center sends a control command to enable the top cover to be automatically closed or opened.

It is to be understood that the terminology used in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

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

The above description is only for the specific embodiment of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the present application, and these modifications or substitutions should be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A relay communication device, comprising:

2. The apparatus according to claim 1, further comprising an antenna switching module, wherein the first antenna and the second antenna are connectable to the antenna switching module, and the switching of the operating states of the first antenna and the second antenna is achieved through the switching of the antenna switching module.

3. The apparatus of claim 2, wherein the first antenna and the second antenna are connected to the radio receiver through the antenna switching module.

4. The apparatus of claim 3, wherein the antenna switching module switches under the control instruction to enable the first antenna or the second antenna to establish a communication connection with the radio receiver.

5. The apparatus of claim 3, wherein the antenna switching module comprises a single pole double throw switch.

6. The apparatus of claim 3, wherein an unmanned aerial vehicle nest is located within the first space, the unmanned aerial vehicle nest being for parking an unmanned aerial vehicle and being provided with a lid that can be closed or opened to enclose or un-enclose the first space.

7. The apparatus of claim 6, wherein a pressure sensor and/or a first UAV proximity sensor is included in the UAV nest, the pressure sensor and/or the first UAV proximity sensor capable of controlling the switching of the antenna switching module.

8. The apparatus according to claim 7, wherein a control center can receive signals of the pressure sensor and/or the first UAV proximity sensor and then send the control command to switch the antenna switching module.

9. The apparatus according to claim 8, wherein when the pressure measurement value of the pressure sensor in the unmanned aerial vehicle nest is higher than a first pressure set value, the control center receives the signal of the pressure sensor and then sends the control command to cause the antenna switching module to switch to the first antenna; when the pressure measurement value of the pressure sensor in the unmanned aerial vehicle nest is lower than a second pressure set value, the control center receives the signal of the pressure sensor and further sends out the control instruction to enable the antenna switching module to be switched to the second antenna; and/or

When a first unmanned aerial vehicle proximity sensor in the unmanned aerial vehicle nest detects the position of the unmanned aerial vehicle, the control center receives a signal of the first unmanned aerial vehicle proximity sensor and further sends out the control instruction, so that the antenna switching module is switched to the first antenna; when the first unmanned aerial vehicle proximity sensor in the unmanned aerial vehicle nest cannot detect the position of the unmanned aerial vehicle, the control center receives a signal of the first unmanned aerial vehicle proximity sensor and further sends out the control command, so that the antenna switching module is switched to the second antenna.

10. The apparatus of claim 7, wherein the pressure sensor and/or first UAV proximity sensor is capable of controlling automatic closing or opening of the canopy; and/or the unmanned aerial vehicle nest comprises a second unmanned aerial vehicle proximity sensor outside, and the second unmanned aerial vehicle proximity sensor can control the automatic closing or opening of the top cover.

11. The apparatus of claim 10, wherein a control center is capable of receiving signals from one or more of the pressure sensor, the first UAV proximity sensor, and the second UAV proximity sensor, and sending the control command to automatically close or open the roof.

12. The apparatus of claim 6, wherein the UAV comprises an altitude sensor configured to control switching of the antenna switching module.

13. The apparatus according to claim 12, wherein a control center is capable of receiving the signal from the height sensor and sending the control command to switch the antenna switching module.

14. The apparatus according to claim 13, wherein when the height measurement value of the height sensor is higher than a first height setting value, the control center receives the signal of the height sensor and then sends the control command to enable the antenna switching module to switch to the second antenna; and when the height measurement value of the height sensor is lower than a second height set value, the control center receives the signal of the height sensor and further sends out the control command to enable the antenna switching module to be switched to the first antenna.

15. The apparatus of claim 12, wherein the height sensor is capable of controlling automatic closing or opening of the top cover.

16. The apparatus of claim 15, wherein a control center is capable of receiving the signal from the height sensor and then sending the control command to automatically close or open the top cover.

17. The apparatus of claim 6, wherein switching of the antenna switching module is manually controlled, and/or the top cover is manually controlled to close or open.

18. The device according to any of claims 1-17, wherein the first antenna is in wired connection with the radio receiver and/or the second antenna is in wired connection with the radio receiver.

19. The apparatus of claim 18, wherein the radio receiver is disposed within the first space; the first antenna comprises a passive antenna and/or the second antenna comprises an active antenna.

20. The apparatus of claim 18, wherein the radio receiver is disposed within the second space, the radio receiver further comprising a water-resistant device; the first antenna comprises a passive antenna or an active antenna and/or the second antenna comprises a passive antenna.

21. The apparatus according to any of claims 1-20, wherein the radio receiver is connectable to a control center by wire, and the control command is issued by the control center.

22. An unmanned aerial vehicle nest, the unmanned aerial vehicle nest located in a first space of a relay communication device, the relay communication device comprising:

23. The UAV nest of claim 22, wherein the relay communication device further comprises an antenna switching module, and the first antenna and the second antenna are connectable to the antenna switching module, and the switching of the operating states of the first antenna and the second antenna is achieved through the switching of the antenna switching module.

24. The UAV nest of claim 23, wherein the first and second antennas are connected to the radio receiver through the antenna switching module.

25. The UAV nest of claim 24, wherein the antenna switching module switches under the control instructions to establish a communication connection between the first antenna or the second antenna and the radio receiver.

26. The UAV nest of claim 24, wherein the antenna switching module comprises a single pole double throw switch.

27. The UAV nest of claim 24, wherein the first space comprises a space formed by the UAV nest for parking the UAV and is provided with a cover that can be closed or opened to enclose or un-enclose the first space.

28. The UAV nest of claim 27, comprising a pressure sensor and/or a first UAV proximity sensor within the UAV nest, the pressure sensor and/or the first UAV proximity sensor capable of controlling switching of the antenna switching module.

29. The UAV nest according to claim 28, wherein a control center is capable of receiving signals from the pressure sensor and/or the first UAV proximity sensor and sending the control commands to switch the antenna switching module.

30. The UAV nest according to claim 29, wherein when a pressure measurement value of a pressure sensor in the UAV nest is higher than a first pressure setting value, the control center receives a signal from the pressure sensor and sends the control command to switch the antenna switching module to the first antenna; when the pressure measurement value of the pressure sensor in the unmanned aerial vehicle nest is lower than a second pressure set value, the control center receives the signal of the pressure sensor and further sends out the control instruction to enable the antenna switching module to be switched to the second antenna; and/or

31. The UAV nest of claim 28, wherein the pressure sensor and/or first UAV proximity sensor is capable of controlling an automatic closing or opening of the roof; and/or the unmanned aerial vehicle nest comprises a second unmanned aerial vehicle proximity sensor outside, and the second unmanned aerial vehicle proximity sensor can control the automatic closing or opening of the top cover.

32. The UAV nest of claim 31, wherein a control center is capable of receiving signals from one or more of the pressure sensor, the first UAV proximity sensor, and the second UAV proximity sensor, and sending the control command to automatically close or open the top cover.

33. The UAV nest of claim 27, wherein the UAV includes an altitude sensor configured to control switching of the antenna switching module.

34. The UAV nest according to claim 33, wherein a control center is capable of receiving signals from the altitude sensors and sending the control commands to switch the antenna switching modules.

35. The UAV nest according to claim 34, wherein the control center receives the altitude sensor signal and issues the control command to switch the antenna switching module to the second antenna when the altitude measurement value of the altitude sensor is higher than a first altitude setting value; and when the height measurement value of the height sensor is lower than a second height set value, the control center receives the signal of the height sensor and further sends out the control command to enable the antenna switching module to be switched to the first antenna.

36. The UAV nest of claim 33, wherein the altitude sensor is capable of controlling automatic closing or opening of the roof.

37. The UAV nest according to claim 36, wherein a control center is capable of receiving signals from the altitude sensors and sending the control commands to automatically close or open the top cover.

38. The UAV nest according to claim 27, wherein switching of the antenna switching modules is controlled manually, and/or the top lid is controlled manually to close or open.

39. The UAV nest according to any one of claims 22-38, wherein the first antenna is wired to the radio receiver and/or the second antenna is wired to the radio receiver.

40. The UAV nest of claim 39, wherein the radio receiver is disposed within the first space; the first antenna comprises a passive antenna and/or the second antenna comprises an active antenna.

41. The UAV nest of claim 39, wherein the radio receiver is disposed within the second space, the radio receiver further comprising a waterproof device; the first antenna comprises a passive antenna or an active antenna and/or the second antenna comprises a passive antenna.

42. The UAV cell of any of claims 22-41, wherein the radio receiver is capable of connecting to a control center via a wired connection, and wherein the control commands are issued by the control center.

43. An unmanned aerial vehicle control system, the system comprising: the system comprises a transfer communication device, an unmanned aerial vehicle nest, an unmanned aerial vehicle and a control center;

the relay communication device includes:

44. The system according to claim 43, wherein the relay communication device further comprises an antenna switching module, and the first antenna and the second antenna can be connected to the antenna switching module, and the switching of the operating states of the first antenna and the second antenna is realized through the switching of the antenna switching module.

45. The system of claim 44, wherein the first antenna and the second antenna are connected to the radio receiver through the antenna switching module.

46. The system of claim 45, wherein the antenna switching module is configured to establish a communication connection between the first antenna or the second antenna and the radio receiver under the control command.

47. The system of claim 45, wherein the antenna switching module comprises a single pole double throw switch.

48. The system of claim 45, wherein the first space comprises a space formed by an unmanned aerial vehicle nest provided with a canopy that can be closed or opened to close or unblock the first space.

49. The system of claim 48, wherein the UAV nest comprises a pressure sensor and/or a first UAV proximity sensor configured to control switching of the antenna switching module.

50. The system of claim 49, wherein the control center is capable of receiving signals from the pressure sensor and/or the first UAV proximity sensor and sending the control command to switch the antenna switching module.

51. The system of claim 50, wherein when a pressure measurement value of a pressure sensor in the UAV nest is higher than a first pressure set value, the control center receives a signal of the pressure sensor and then sends the control command to enable the antenna switching module to switch to the first antenna; when the pressure measurement value of the pressure sensor in the unmanned aerial vehicle nest is lower than a second pressure set value, the control center receives the signal of the pressure sensor and further sends out the control instruction to enable the antenna switching module to be switched to the second antenna; and/or

52. The system of claim 49, wherein the pressure sensor and/or first UAV proximity sensor is capable of controlling automatic closing or opening of the canopy; and/or the unmanned aerial vehicle nest comprises a second unmanned aerial vehicle proximity sensor outside, and the second unmanned aerial vehicle proximity sensor can control the automatic closing or opening of the top cover.

53. The system of claim 52, wherein the control center is capable of receiving signals from one or more of the pressure sensor, the first UAV proximity sensor, and the second UAV proximity sensor, and sending the control command to automatically close or open the roof.

54. The system of claim 48, wherein the UAV comprises an altitude sensor configured to control switching of the antenna switching module.

55. The system of claim 54, wherein the control center is capable of receiving the signal from the height sensor and sending the control command to switch the antenna switching module.

56. The system according to claim 55, wherein when the height measurement value of the height sensor is higher than a first height setting value, the control center receives the signal of the height sensor and then sends the control command to enable the antenna switching module to switch to the second antenna; and when the height measurement value of the height sensor is lower than a second height set value, the control center receives the signal of the height sensor and further sends out the control command to enable the antenna switching module to be switched to the first antenna.

57. The system of claim 54, wherein the height sensor is capable of controlling automatic closing or opening of the top cover.

58. The system of claim 57, wherein the control center is capable of receiving signals from the height sensor and sending the control command to automatically close or open the top cover.

59. The system of claim 48, wherein switching of the antenna switching module is manually controlled, and/or the top cover is manually controlled to close or open.

60. The system according to any of claims 43-59, wherein the first antenna is wired to the radio receiver and/or the second antenna is wired to the radio receiver.

61. The system according to claim 60, wherein said radio receiver is disposed within said first space; the first antenna comprises a passive antenna and/or the second antenna comprises an active antenna.

62. The system of claim 60, wherein the radio receiver is disposed within the second space, the radio receiver further comprising a waterproof device; the first antenna comprises a passive antenna or an active antenna and/or the second antenna comprises a passive antenna.

63. The system of any of claims 43-62, wherein the radio receiver is capable of being connected to a control center by wire.

64. A relay communication method, wherein the method is applied to the unmanned aerial vehicle control system according to any one of claims 43 to 63, and the method comprises:

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

65. The method of claim 64, wherein the sending control instructions when the control center determines that the UAV is within the first space or the second space comprises:

when the control center determines that the unmanned aerial vehicle is in the first space or the second space, a control instruction is sent to control the antenna switching module to switch, so that the radio receiver receives wireless signals of the unmanned aerial vehicle in the first space or the second space through the first antenna or the second antenna.

66. The method of claim 65, wherein the sending control instructions when the control center determines that the UAV is within the first space or the second space comprises:

the control center receives signals of a pressure sensor and/or a first UAV proximity sensor in the UAV nest;

and sending a control command when the unmanned aerial vehicle is determined to be in the first space or the second space through signals of the pressure sensor and/or the first unmanned aerial vehicle proximity sensor.

67. The method of claim 66, wherein said sending control instructions when the control center determines that the UAV is within the first space or the second space comprises:

when the pressure measurement value of the pressure sensor is higher than a first pressure set value and/or when the first UAV proximity sensor detects the position of the UAV, the control center receives signals of the pressure sensor and/or the first UAV proximity sensor, determines that the UAV is in the first space, and sends a control command to enable the antenna switching module to switch to the first antenna;

when the pressure measurement value of the pressure sensor is lower than a second pressure set value and/or when the first unmanned aerial vehicle proximity sensor cannot detect the position of the unmanned aerial vehicle, the control center receives signals of the pressure sensor and/or the first unmanned aerial vehicle proximity sensor, determines that the unmanned aerial vehicle is in the second space, and sends a control command to enable the antenna switching module to be switched to the second antenna.

68. The method of claim 66, further comprising: and the second unmanned aerial vehicle proximity sensor is positioned outside the unmanned aerial vehicle nest, and when one or more sensors of the pressure sensor, the first unmanned aerial vehicle proximity sensor and the second unmanned aerial vehicle proximity sensor send signals, the top cover is controlled to be automatically closed or opened.

69. The method of claim 65, wherein said sending control instructions when the control center determines that the UAV is within the first space or the second space comprises:

the control center receives signals of an altitude sensor of the unmanned aerial vehicle;

and sending a control command when the unmanned aerial vehicle is determined to be in the first space or the second space through the signals of the height sensor.

70. The method of claim 69, wherein said sending control instructions when said control center determines that said UAV is within said first space or said second space comprises:

when the altitude measurement value of the altitude sensor is higher than a first altitude set value, the control center receives a signal of the altitude sensor, determines that the unmanned aerial vehicle is in the second space, and sends the control instruction to enable the antenna switching module to be switched to the second antenna;

when the altitude measurement value of the altitude sensor is lower than a second altitude set value, the control center receives the signal of the altitude sensor, determines that the unmanned aerial vehicle is in the first space, and sends the control command to enable the antenna switching module to be switched to the first antenna.

71. The method of claim 69, further comprising:

and when the height sensor of the unmanned aerial vehicle sends a signal, controlling the top cover to be automatically closed or opened.

72. The method of claim 65, wherein said sending control instructions when the control center determines that the UAV is within the first space or the second space comprises:

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

when the control center determines that the unmanned aerial vehicle is in the second space according to the current altitude information of the unmanned aerial vehicle, sending a control instruction to enable the antenna switching module to be switched to the second antenna;

the control center receives pressure measurement values sent by pressure sensors in the unmanned aerial vehicle nests and/or position information sent by a first unmanned aerial vehicle proximity sensor whether the unmanned aerial vehicle is detected or not;

and when the control center determines that the unmanned aerial vehicle is in the first space through the pressure measurement value and/or the detected position of the unmanned aerial vehicle, sending a control command to enable the antenna switching module to be switched to the first antenna.

73. The method of any one of claims 64-72, further comprising:

and the control center sends the control instruction to enable the top cover to be automatically closed or opened.