Movable apparatus and control method therefor, and terminal device and movable system

Abstract

Disclosed are a movable apparatus, a terminal device and a movable system. The movable apparatus comprises a frame main body, and a camera, a first antenna assembly and one or more processors, which are provided on the frame main body, wherein the camera is located on one side of the first antenna assembly; at least part of the structure of the first antenna assembly is made of a light-transmitting material and / or a light-transmitting structure; and the one or more processors are connected to the first antenna assembly, so as to receive, by means of the first antenna assembly, signals sent by an external device.

Description

A mobile device, control method, terminal equipment, and mobile system Technical Field

[0001] This disclosure relates to, but is not limited to, a mobile device, a terminal device, and a mobile system. Background Technology

[0002] A drone is an unmanned aircraft that operates autonomously by being remotely controlled by radio or by its own program. Drones are usually equipped with cameras and are therefore widely used in industries such as urban management, agriculture, geology, meteorology, power, disaster relief, and video shooting.

[0003] As drone shooting capabilities have improved, panoramic cameras have gradually been installed on drones. However, the wide field of view of panoramic cameras can include the drone's wings in the frame, affecting the image quality. Summary of the Invention

[0004] The following is an overview of the subject matter described in detail in this disclosure. This overview is not intended to limit the scope of the claims.

[0005] According to a first aspect of the present disclosure, a movable device is provided, comprising:

[0006] Main frame;

[0007] The camera is mounted on the main body of the frame;

[0008] A first antenna assembly is disposed on the main body of the frame, and the camera is located on one side of the first antenna assembly. At least a portion of the structure of the first antenna assembly is made of light-transmitting material and / or light-transmitting structure, so that the image captured by the camera includes objects located on the side of the first antenna assembly opposite to the camera.

[0009] One or more processors are disposed in the main body of the rack, and one or more processors are connected to the first antenna assembly to receive signals sent by external devices through the first antenna assembly.

[0010] According to a second aspect of the present disclosure, a terminal device is provided, comprising:

[0011] Shell body;

[0012] The second antenna assembly is disposed on the housing body, and when the terminal device is in working state, the angle between the second antenna assembly and the yaw axis of the movable device is less than 90 degrees.

[0013] A control unit is connected to the second antenna assembly to receive signals radiated by the first antenna assembly of the mobile device via the second antenna assembly.

[0014] The movable device includes:

[0015] Main frame;

[0016] The camera is mounted on the main body of the frame;

[0017] The first antenna assembly is disposed on the main body of the frame, and the camera is located on one side of the first antenna assembly. At least a portion of the structure of the first antenna assembly is made of light-transmitting material and / or light-transmitting structure, so that the image captured by the camera includes objects located on the side of the first antenna assembly opposite to the camera.

[0018] One or more processors are disposed in the main body of the rack, and one or more processors are connected to the first antenna assembly to receive signals transmitted by the second antenna assembly of the terminal device through the first antenna assembly.

[0019] According to a third aspect of the present disclosure, a mobile system is provided, including a mobile device and a terminal device that are communicatively connected, wherein the terminal device is configured to communicate with the mobile device to control the movement of the mobile device;

[0020] The movable device includes:

[0021] Main frame;

[0022] The camera is mounted on the main body of the frame;

[0023] A first antenna assembly is disposed on the main body of the frame, and the camera is located on one side of the first antenna assembly. At least a portion of the structure of the first antenna assembly is made of light-transmitting material and / or light-transmitting structure, so that the image captured by the camera includes objects located on the side of the first antenna assembly opposite to the camera.

[0024] One or more processors are disposed in the main body of the rack, and one or more processors are connected to the first antenna assembly to receive signals sent by the second antenna assembly of the terminal device through the first antenna assembly;

[0025] The terminal device includes:

[0026] Shell body;

[0027] A second antenna assembly is disposed on the housing body, and when the terminal device is in working state, the angle between the second antenna assembly and the yaw axis of the movable device is less than 90 degrees.

[0028] The control unit is connected to the second antenna assembly to receive signals radiated by the first antenna assembly of the movable device via the second antenna assembly.

[0029] In the movable device, control method, terminal equipment, and movable system disclosed herein, the first antenna assembly is made of transparent material and / or a light-transmitting structure, thereby reducing the visibility of the first antenna assembly in the image captured by the camera. Furthermore, the light-transmitting first antenna assembly also enables objects on the side away from the camera to be captured by the camera, ensuring that the camera will not capture images of foreign objects even when it has a wide field of view, which is beneficial to improving the user experience.

[0030] After reading and understanding the accompanying diagrams and detailed descriptions, the other aspects can be understood. Attached Figure Description

[0031] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of these embodiments. In these drawings, similar reference numerals are used to denote similar elements. The drawings described below are some embodiments of the present disclosure, but not all embodiments. Other drawings will be readily available to those skilled in the art based on these drawings without inventive effort.

[0032] Figure 1 is a schematic diagram of a movable device according to an exemplary embodiment.

[0033] Figure 2 is a top view of a movable device according to an exemplary embodiment.

[0034] Figure 3 is a partial schematic diagram of a movable device according to an exemplary embodiment.

[0035] Figure 4 is a schematic diagram of the radiation direction of a first radiating element according to an exemplary embodiment.

[0036] Reference numerals: 10, main frame; 11, fuselage; 12, arm; 13, landing gear; 131, transparent sidewall; 20, first antenna assembly; 21, first radiating element; 211, first substrate; 212, first radiator; 22, second radiating element; 30, camera; 31, field of view. Detailed Implementation

[0037] The technical solutions of the disclosed embodiments will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this disclosure. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this disclosure can be arbitrarily combined with each other.

[0038] To address the problems existing in related technologies, this disclosure provides a mobile device, a terminal device, and a mobile system. The mobile device includes a frame body and a camera, a first antenna assembly, and one or more processors mounted on the frame body. The camera is located to one side of the first antenna assembly. At least a portion of the structure of the first antenna assembly is made of a light-transmitting material and / or a light-transmitting structure. One or more processors are connected to the first antenna assembly to receive signals transmitted by external devices through the first antenna assembly. In this disclosure, the first antenna assembly is made of a transparent material and / or a light-transmitting structure, resulting in low visibility of the first antenna assembly in the image captured by the camera. Furthermore, the light-transmitting first antenna assembly allows objects on the side facing away from the camera to be captured by the camera, ensuring that the camera does not capture images of foreign objects even with a large visual range, thus improving the user experience.

[0039] According to an exemplary embodiment of this disclosure, as shown in Figures 1 and 2, this embodiment provides a mobile device, such as a drone, toy car, or unmanned boat. In this embodiment, a drone is used as an example of a mobile device for explanation.

[0040] As shown in Figure 1, the movable device includes a frame body 10, which provides mounting and protection for other components of the movable device. Referring to Figures 1 and 2, a camera 30 is provided in the frame body 10. The camera 30 can be any electronic device in the movable device used to collect signals from the external environment. The one shown in the figure is a gimbal camera, but in other embodiments, the camera can be a panoramic camera for image acquisition, or it can be an obstacle avoidance camera for obstacle avoidance, which will not be elaborated further.

[0041] As shown in Figures 1 and 2, the movable device also includes a first antenna assembly 20, which is disposed on the frame body 10. At least part of the structure of the first antenna assembly 20 is made of a light-transmitting material or a light-transmitting structure, so that the first antenna assembly 20 can be penetrated by ambient light, so that the light emitted or reflected by an object located on the side of the first antenna assembly 20 away from the camera can be collected by the camera and thus imaged in the camera.

[0042] The light-transmitting material used to fabricate the first antenna assembly 20 is typically a colorless and transparent material. Examples of light-transmitting materials include glass or thermoplastic resins, such as polyethylene terephthalate (PET). This does not limit the technical solution disclosed herein; any other material with high light transmittance and transparency can be used to fabricate the first antenna assembly 20. The light-transmitting structure of the first antenna assembly 20 may be, for example, a mesh structure.

[0043] It should be noted that the first antenna assembly 20 may include multiple components, and each component can be adapted to meet actual needs. For example, some components may be made of light-transmitting materials, and some components may be made of light-transmitting structures. Of course, this does not limit the technical solution of this disclosure. In some optional embodiments, the same component may be made of light-transmitting material in a grid pattern.

[0044] Referring to Figure 3, in one example, the first antenna assembly 20 includes a first radiator 212. The first radiator 212 is used to radiate signals, which necessitates that it be made of a metallic material. However, metallic materials are not light-transmitting. Therefore, the first radiator 212 can be configured as a mesh-like light-transmitting structure to allow ambient light to pass through. It is understood that the structure in the movable device used to mount the first radiator 212 can be made of a non-metallic material. Therefore, the structure connected to the first radiator 212 in the movable device can be made of a light-transmitting material. This embodiment does not impose excessive limitations on the structure connected to the first radiator 212; these will be described in detail later.

[0045] The mobile device also includes one or more processors (not shown in the attached figures). These processors are electrically connected to the first antenna assembly 20. Through the first antenna assembly 20, the processors can establish a communication connection with a terminal device (described in detail below), for example, receiving control signals from the terminal device to enable remote control of the mobile device by the user. Alternatively, the processors can also transmit signals to the terminal device through the first antenna assembly 20, for example, transmitting image data captured by the camera 30 to the user for monitoring.

[0046] In this embodiment of the present disclosure, the first antenna assembly is made of a transparent material and is disposed on the light-transmitting mounting part of the frame body, so that light within the visual range of the visual sensor can pass through the first antenna assembly and the light-transmitting mounting part, thereby reducing or avoiding the visibility of the first antenna assembly and the light-transmitting mounting part in the image generated by the camera, thereby improving the imaging effect of the mobile device and thus improving the user experience.

[0047] In an exemplary embodiment, as shown in Figures 1 and 2, this embodiment provides a movable device, which includes a frame body 10 and a first antenna assembly 20, as well as one or more processors connected to the first antenna assembly 20. The first antenna assembly 20 and the one or more processors are all disposed on the frame body 10. At least a portion of the structure of the first antenna assembly 20 is made of a light-transmitting material or a light-transmitting structure, so that the image captured by the camera includes objects located on the side of the first antenna assembly 20 away from the camera.

[0048] In this embodiment, as shown in Figures 1 to 3, the frame body 10 includes a landing gear 13. The landing gear 13 provides support for the movable device, ensuring a certain distance between the camera 30 mounted on the frame body 10 and the ground, thus preventing damage to the camera 30 from impacts. Referring to Figure 3, the landing gear 13 includes a light-transmitting mounting portion extending along the yaw axis direction (the z-direction shown in Figure 1). The light-transmitting mounting portion has a transparent sidewall 131, and the first antenna assembly 20 is mounted on the transparent sidewall 131 of the light-transmitting mounting portion.

[0049] For example, referring to Figures 1 to 3, the frame body 10 is provided with two landing gears 13, which are located on the front side of the frame body 10 so that the camera 30 located on the front side of the frame body 10 can be positioned. It should be noted that, in order to reduce the overall weight of the mobile device, the mobile device provided in this embodiment does not have a mechanism for driving the landing gears 13 to switch modes to accommodate the landing gears 13. Therefore, the landing gears 13 are in the deployed state before the mobile device takes off to provide support for the frame body, and the landing gears 13 are still in the deployed state after the mobile device takes off. It can be determined that part of the structure of the landing gears 13 may enter the visual range 31 of the camera 30. Therefore, by setting part of the structure of the landing gears 13 as a light-transmitting mounting part with a transparent sidewall 131, the view of the environment can pass through the structure of the landing gears 13 within the visual range of the camera, thereby reducing or avoiding the appearance of the structure of the landing gears 13 in the image captured by the camera 30, thereby improving the visual quality of the pictures and images captured by the camera 30.

[0050] In some alternative embodiments (not shown in the figures), the main frame is provided with four landing gears arranged in a rectangular pattern around the main frame, and each landing gear may be provided with a first antenna assembly 20.

[0051] In some embodiments, referring to FIG1, the landing gear 13 typically extends along the height direction of the frame body 10 (the z-direction shown in FIG1). The first radiating element 21 of the first antenna assembly 20 is disposed on the landing gear 13, which enables the first radiator 212 of the first radiating element 21 to have vertically polarized radiation (see FIG4). It should be noted that vertically polarized radiation does not mean that the polarization direction of the first radiator 212 is perpendicular to the vertical direction. It is only necessary to ensure that the preset angle α between the first radiating element 21 and the heading axis (the z-axis shown in FIG1) (see FIG3) is less than 30°.

[0052] When the first antenna assembly 20 of the terminal device (described in detail below) is placed vertically, it will also exhibit vertical polarization. Taking the mobile device flying in a horizontal attitude as an example, the first radiating element 21 set in the light-transmitting mounting part of the landing gear 13 is vertically polarized. At this time, the first antenna assembly 20 and the first radiating element 21 of the terminal device have the same polarization direction. The consistent polarization direction makes the polarization loss coefficient K = 1, so that the mobile device can receive all the radiated signals of the terminal device, which makes the communication distance between the mobile device and the terminal device longer. In addition, vertical polarization makes the coverage angle of the terminal device on the horizontal plane (xoy plane, also known as the azimuth plane) reach 360°, thereby achieving omnidirectional coverage and improving the user experience.

[0053] As shown in Figures 1 and 2, the main frame 10 includes a fuselage 11 and an arm 12. The arm 12 includes a root connected to the fuselage 11 and an end away from the fuselage 11. The landing gear 13 is disposed at the end of the arm 12. Since the first antenna assembly 20 is disposed on the landing gear 13, the first antenna assembly 20 is disposed away from the camera 30 to reduce the visibility and clarity of the first antenna assembly 20 in the acquired image and enhance the transparency effect of the first antenna assembly 20.

[0054] Referring again to Figures 1 and 2, the transparent sidewall 131 of the landing gear 13 encloses a receiving space (not shown in the figures). This receiving space can be formed by a recess in a portion of the surface of the transparent sidewall 131 towards the side of the first antenna assembly 20 facing away from the camera. The first antenna assembly 20 is disposed within this receiving space. In this embodiment, the depth of the recess in the receiving space is not excessively limited. In one example, the first antenna assembly 20 is disposed on the inner wall surface (bottom wall) of the receiving space facing the camera. In some alternative embodiments, when the depth of the recess in the receiving space is greater than or equal to the width of the first antenna assembly 20, the first antenna assembly 20 can be disposed either on the bottom wall or on other inner wall surfaces surrounding the bottom wall. In this embodiment, by providing a receiving space on the transparent sidewall 131 of the light-transmitting mounting portion and placing the first antenna assembly 20 within this space, protection for the first antenna assembly 20 can be provided, while also increasing the distance between the first antenna assembly 20 and the camera and reducing the thickness of the light-transmitting mounting portion, thereby weakening the imaging clarity of the light-transmitting mounting portion and the first antenna assembly 20. In other embodiments, the landing gear may be a closed structure with an enclosed space, in which the first antenna assembly 20 is disposed.

[0055] Referring to Figure 1, the end of the arm 12 and the landing gear 13 are an integral structure. For example, the arm 12 and the landing gear 13 are L-shaped. Both the arm 12 and the landing gear 13 can be made of transparent plastic or transparent glass, which facilitates the overall transparency of the arm 12 and the landing gear 13. There is no need to open holes in the landing gear 13 to set up additional transparent structures, thereby improving the overall structural strength and reducing structural complexity.

[0056] As shown in Figure 1, the camera 30 is mounted on the fuselage 11. Mounting the camera 30 on the fuselage 11 helps to balance the weight distribution of the movable device and improves flight stability. In some embodiments, referring to Figures 1 and 2, the camera is a gimbal camera, with its optical axis forming an angle of 45°-90° with the yaw axis. During the rotation of the gimbal camera, images of the tripod may be captured; however, because the tripod and antenna use a transparent structure, they can be invisible in the captured images, or better, the images can be eliminated or supplemented.

[0057] In other embodiments, the camera 30 (e.g., a panoramic camera) is located at the front of the body 11, and the optical axis forms an angle of less than 20 degrees with the yaw axis.

[0058] As shown in Figure 3, the first radiating element 21 of the first antenna assembly 20 includes a first substrate 211 and a first radiator 212. The first substrate 211 provides support and a mounting surface for the first radiator 212. The first radiator 212 is disposed on one side of the first substrate 211, and the other side of the first substrate 211 is connected to a light-transmitting mounting portion. In one example, the first radiator 212 can be connected to the first substrate 211 by printing or bonding, and the first substrate 211 is connected to the light-transmitting mounting portion by bonding (e.g., using transparent adhesive).

[0059] Referring to Figure 3, the first substrate 211 of the first radiating unit 21 is made of a light-transmitting material, which can reduce or eliminate the imaging sharpness of the first substrate 211 in the camera 30, thereby improving the image quality of the camera 30. In some alternative embodiments, the thickness of the first substrate 211 can be reduced, or a light-transmitting hole can be formed in the first substrate 211 (that is, the first substrate is made of a light-transmitting structure) to improve the light transmission effect of the first substrate 211.

[0060] Referring to Figure 3, the first radiator 2121 of the first radiating element 21 can be made using a metal mesh process. By meshing the antenna pattern, the first radiating element 21 has extremely high light transmittance, thus presenting a stealth and transparent effect.

[0061] In some embodiments, the preset transmittance is 77%, meaning that a transmittance greater than 77% for the first radiator 212 is sufficient to meet the design requirements of the movable device. For example, by setting the linewidth of the conductive wire to 40 μm and the side length of the smallest grid (rectangle) in the grid structure to 1 mm, a first radiator 212 with a transmittance of 77% can be formed.

[0062] For example, reducing the line width of the minimum grid can improve the light transmittance of the first radiator 212. At the same time, this application also reduces the side length of the grid according to the degree of reduction of the grid line width, so that the metal material area of ​​the first radiator 212 is large enough to improve the radiation efficiency.

[0063] For example, the minimum grid side length can be reduced from 1 mm (equivalent to 1000 μm) to about 300 μm, and the wire width can be reduced from 40 μm to about 5 μm. The grid structure with these size parameters can increase the light transmittance of the first radiator 212 to 86%.

[0064] For example, the minimum grid side length can be further reduced from 300μm to approximately 200μm, and the wire width can be further reduced from 5μm to approximately 2.5μm. This grid structure with these dimensional parameters can increase the light transmittance of the first radiator 212 to 89%. The grid structure can be adapted to actual needs (such as product positioning) so that the first radiating unit 212 can achieve both high light transmittance and high radiation efficiency.

[0065] In one exemplary embodiment, as shown in Figures 1 to 3, this embodiment provides a movable device, which includes a frame body 10 and a first antenna assembly 20, as well as one or more processors connected to the first antenna assembly 20. The frame body 10 is provided with a light-transmitting mounting portion and a camera 30. The first antenna assembly 20 is disposed in the light-transmitting mounting portion, and at least a portion of the structure of the first antenna assembly 20 is made of transparent material, so that light within the visual range 31 of the camera 30 can pass through the first antenna assembly 20 and the light-transmitting mounting portion.

[0066] The movable device provided in this embodiment may include various structural components of the movable device provided in any of the above embodiments. As shown in FIG3, the frame body 10 includes a landing gear 13, and a portion of the landing gear 13 constitutes a light-transmitting mounting portion. When the movable device is in flight, the light-transmitting mounting portion is located within the visual range 31 of the camera 30.

[0067] As shown in Figures 1 and 2, the first antenna assembly 20 further includes a second radiating element 22. The second radiating element 22 includes a second substrate (not shown) and a second radiator (not shown). The second radiating element 22 is mounted on the arm 12 of the frame body 10. The arm 12 extends horizontally, causing the second radiating element 22 to exhibit horizontal polarization. The first antenna assembly 20 of the terminal device is typically a rod antenna. Taking the mobile device flying in a horizontal attitude as an example, when the terminal device is in operation, if the first antenna assembly 20 of the terminal device is laid flat (the angle between it and the heading angle is close to 90°), it will exhibit horizontal polarization. The horizontally polarized rod antenna can have the same polarization direction as the second first antenna assembly 20 mounted on the arm 12 of the mobile device. When the polarization directions are consistent, the polarization loss coefficient K = 1, thereby enabling the reception of all antenna signals.

[0068] For example, the terminal device may be glasses that communicate with the drone to receive and display images captured by the drone.

[0069] For example, the terminal device may be a remote controller, which sends control signals to control the movement of the drone based on the drone image.

[0070] As shown in Figure 1, the first antenna assembly 20 includes multiple first radiating elements 21 and multiple second radiating elements 22, and the frame body 10 includes multiple arms 12 and multiple landing gears 13. The multiple first radiating elements 21 and multiple second radiating elements 22 are respectively disposed on the multiple arms 12 and multiple landing gears 13. It is understandable that when the terminal device is used in a flat position, it has obvious directionality and cannot achieve omnidirectional coverage. For example, only when the direction of travel of the mobile device is parallel to the extension direction of the rod antenna, there is a strong antenna signal strength between the terminal device and the mobile device. However, when the mobile device travels in other directions, there is an angle between the polarization direction of the second antenna radiator of the terminal device and the second radiating element 22 of the mobile device, which makes K < 1, resulting in a deterioration of the antenna signal strength. When the angle is large enough, it can be set to K = 0, which will make it impossible for the mobile device and the terminal device to transmit signals to each other, affecting the user experience. Therefore, in this embodiment, both the first radiating element 21 and the second radiating element 22 are provided, enabling the mobile device to have both horizontal and vertical polarization. This ensures good antenna signal strength regardless of how the user holds and uses the terminal device. For example, when the mobile device is flying in a dive, the polarization direction of the first radiating element 21 may form a large angle with the terminal device. However, the polarization direction of the second radiating element 22 is similar to or the same as that of the mobile device, thus achieving omnidirectional coverage. This enriches the flight attitude of the mobile device and improves flight stability.

[0071] In one example, referring to Figure 1, the frame body 10 includes four arms 12 and two landing gears 13. The four arms 12 are separately arranged on the front right, front left, rear right, and rear left sides of the frame body 10. The two landing gears 13 are respectively arranged on the two arms 12 located on the front right and front left sides. Two first radiation units 21 are provided, with the two landing gears 13 separately arranged on the two landing gears 13. Two second radiation units 22 are also provided, with the two second radiation units 22 separately arranged on the two arms 12 located on the rear right and rear left sides. Referring to Figure 1, it can be determined that since the landing gear 13 extends vertically, the first radiating unit 21 disposed on the landing gear 13 can have vertical polarization. Correspondingly, the arm 12 extends horizontally, so the second radiating unit 22 disposed on the arm 12 can have horizontal polarization. Thus, the multiple first antenna components 20 of the mobile device have both horizontal and vertical polarization, achieving omnidirectional coverage. Furthermore, the multiple first antenna components 20 with different polarization directions are far apart, making it less prone to mutual interference. This is beneficial to improving the mobile device's ability to resist signal attenuation, thereby extending the communication distance and improving the user experience.

[0072] This does not limit the technical solution disclosed herein. For example, the first radiation unit 21 and the second radiation unit 22 can be disposed on the connected arm 12 and landing gear 13, such as the first radiation unit 21 and the second radiation unit 22 being disposed on the connected landing gear 13 and arm 12.

[0073] One or more processors provided in this embodiment can be used to execute a control method for a mobile device, the control method including the following steps:

[0074] Step S110: Control the camera of the movable device to capture environmental images.

[0075] In this step, the user can control the mobile device to capture images according to actual needs.

[0076] In one example, a user can send control signals from a terminal device to a mobile device to control the device's camera to start or stop capturing images. In another example, the mobile device can be set to automatically open its camera and capture environmental images when it flies to a designated location. Further limitations are not specified.

[0077] Step S120: Eliminate or fade the first antenna component in the environmental image.

[0078] In this step, methods such as masking, smoothing filtering, median filtering, or Gaussian filtering can be used to eliminate or fade the first antenna component in the environmental image. When the mobile device is in flight, the first antenna component remains relatively stationary with respect to the camera, ensuring it always appears in a fixed area of ​​the environmental image. Therefore, elimination or fading only needs to be performed in this fixed area.

[0079] The method provided in this embodiment uses software algorithms to eliminate or reduce the sharpness of the first antenna component, thereby reducing the imaging sharpness of the first antenna component through a combination of hardware and software, which is beneficial to improving imaging quality.

[0080] For example, this application uses a first antenna component with a transparent / light-transmitting design, so that the acquired environmental image can include objects behind the first antenna component. With this design, when using a mask image or other methods to remove the first antenna component / landing gear, and then using an algorithm to complete the pixels in the area where the first antenna component / landing gear is located, the objects behind it can be used as a reference for pixel completion, thereby improving the completion effect.

[0081] According to exemplary embodiments of this disclosure, an embodiment provides a terminal device capable of communicating with a mobile device. The terminal device can send control signals to the mobile device to control its movement, photography, etc. Examples of mobile devices include drones, remote-controlled cars, or remote-controlled boats.

[0082] The terminal device includes a housing, a second antenna radiator, and a control unit. The second antenna radiator and control unit are housed within the housing, which provides protection for them. The control unit within the housing is electrically connected to the second antenna radiator and can exchange electrical signals with the first antenna assembly 20 (see Figure 1) in the mobile device via the second antenna radiator. In one example, the terminal device may be a handheld remote control. The second antenna radiator in the terminal device can exchange signals with the first antenna assembly 20 in the mobile device, allowing the user to send control signals to the mobile device via the remote control to control it to perform specific functions, such as movement or taking pictures.

[0083] Referring to Figure 1, the movable device also includes a frame body 10, which is used to house the camera 30 and the first antenna assembly 20. At least a portion of the first antenna assembly 20 is made of a light-transmitting material or structure, allowing light within the field of view 31 of the camera 30 to pass through it. Continuing to refer to Figure 1, the movable device also includes one or more processors (not shown in the figures), which are connected to the first antenna assembly 20 to receive control signals transmitted by the first antenna assembly 20 in the terminal device, or to transmit collected image information or feedback attitude, position information, etc., to the first antenna assembly 20 in the terminal device.

[0084] The second antenna radiator of the terminal device can be a rod-shaped antenna. The angle between the extension direction of the rod-shaped antenna inside the housing and the yaw axis of the movable device (z-direction shown in Figure 1) is less than 90°. The closer the angle is to 0°, the easier it is to achieve omnidirectional coverage. For example, the angle can be 0° to 45° to balance antenna signal strength and user grip comfort. In this embodiment of the present disclosure, when the movable device is controlled by the terminal device, since at least a part of the structure of the first antenna assembly 20 of the movable device is made of a light-transmitting material or a light-transmitting structure, light within the visual range of the camera can pass through the first antenna assembly 20 and the light-transmitting mounting part, so that the image captured by the camera of the movable device includes objects located on the side of the first antenna assembly 20 away from the camera.

[0085] In some embodiments, the camera is a panoramic camera, which is disposed at the front end of the body, and the angle between the optical axis direction and the vertical direction is less than 20°.

[0086] The mobile device that communicates with the terminal device can have the same technical features and effects as the mobile device provided in any of the foregoing embodiments, and will not be repeated here.

[0087] According to exemplary embodiments of the present disclosure, an embodiment of the present disclosure provides a mobile system, which includes a mobile device and a terminal device. The mobile device and the terminal device have a communication connection. The terminal device can send control signals to the mobile device to control the movement of the mobile device and to capture images. The image information captured by the mobile device can be sent to the terminal device and displayed on the display screen of the terminal device. The user can adjust the path or shooting angle of the mobile device through the content displayed on the display screen.

[0088] Referring to Figure 1, the movable device includes a frame body 10, a first antenna assembly 20, and one or more processors (not shown in the figures). The frame body 10 is provided with a light-transmitting mounting part and a camera 30. The first antenna assembly 20 is disposed in the light-transmitting mounting part, allowing light within the field of view 31 of the camera 30 to pass through the first antenna assembly 20 and the light-transmitting mounting part. One or more processors are connected to the first antenna assembly 20 to receive control signals from the terminal device through the first antenna assembly 20, or to transmit image information captured by the camera, the attitude of the movable device, the position information of the movable device, etc., to the terminal device.

[0089] The terminal device includes a housing, a second antenna radiator, and a control unit. The second antenna radiator and control unit are housed within the housing, which provides protection for them. The control unit within the housing is electrically connected to the second antenna radiator and can exchange electrical signals with the first antenna assembly 20 (see Figure 1) in the mobile device via the second antenna radiator. In one example, the terminal device may be a handheld remote control. The second antenna radiator in the terminal device can exchange signals with the first antenna assembly 20 in the mobile device, allowing the user to send control signals to the mobile device via the remote control to control it to perform specific functions, such as controlling movement or adjusting the shooting angle.

[0090] In this embodiment of the disclosure, when the mobile device is controlled by a terminal device, since at least a portion of the structure of the first antenna assembly of the mobile device is made of a light-transmitting material or a light-transmitting structure, light within the visual range of the camera can pass through the first antenna assembly, so that the image captured by the camera of the mobile device includes objects located on the side of the first antenna assembly away from the camera.

[0091] The mobile device that communicates with the terminal device can have the same technical features and effects as the mobile device provided in any of the foregoing embodiments, and will not be repeated here.

[0092] The various embodiments or implementation methods described in this specification are presented in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the embodiments can be referred to each other.

[0093] In the description of this specification, references to the terms "embodiment," "exemplary embodiment," "some implementation," "illustrated implementation," "example," etc., refer to specific features, structures, materials, or characteristics described in connection with an implementation or example that are included in at least one implementation or example of this disclosure.

[0094] In this specification, the illustrative expressions of the terms used do not necessarily refer to the same implementation or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more implementations or examples.

[0095] In the description of this disclosure, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this disclosure.

[0096] It is understood that the terms "first," "second," etc., as used in this disclosure may be used to describe various structures, but these structures are not limited by these terms. These terms are only used to distinguish one structure from another.

[0097] In one or more accompanying drawings, the same elements are represented by similar reference numerals. For clarity, many parts in the drawings are not drawn to scale. Furthermore, certain well-known parts may not be shown. For simplicity, a structure obtained after several steps may be depicted in a single drawing. Many specific details of this disclosure, such as the structure, materials, dimensions, processing methods, and techniques of the devices, are described below to provide a clearer understanding of the disclosure. However, as those skilled in the art will understand, this disclosure may be implemented without adhering to these specific details.

[0098] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this disclosure, and are not intended to limit them. Although this disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this disclosure. Industrial applicability

[0099] In the mobile device, terminal equipment, and mobile system provided in this disclosure, the first antenna assembly is made of transparent material and / or a light-transmitting structure, so that the first antenna assembly has a low degree of visibility in the image captured by the camera. Furthermore, the light-transmitting first antenna assembly can also enable objects on the side away from the camera to be captured by the camera, ensuring that the camera will not capture images of foreign objects even when it has a large visual range, which is beneficial to improving the user experience.

Claims

1. A movable device, comprising: Main frame; The camera is mounted on the main body of the frame; A first antenna assembly is disposed on the main body of the frame, and the camera is located on one side of the first antenna assembly. At least a portion of the structure of the first antenna assembly is made of light-transmitting material and / or light-transmitting structure, so that the image captured by the camera includes objects located on the side of the first antenna assembly opposite to the camera. One or more processors are disposed in the main body of the rack, and one or more processors are connected to the first antenna assembly to receive signals sent by external devices through the first antenna assembly.

2. The movable device according to claim 1, wherein, The first antenna assembly is disposed on the landing gear of the main frame body, the landing gear including a transparent sidewall extending along the yaw axis, and the first antenna assembly is mounted on the transparent sidewall; When the movable device is in motion, the transparent sidewall and the first antenna assembly are within the field of view of the camera.

3. The movable device according to claim 2, wherein, The main body of the frame includes a fuselage and an arm. The arm includes a root connected to the fuselage and an end away from the fuselage. The landing gear is disposed at the end. The transparent sidewalls enclose a receiving space, and the first antenna assembly is located within the receiving space.

4. The movable device according to claim 3, wherein, The landing gear and the end are an integral structure.

5. The movable device according to claim 3, wherein, The camera is mounted on the body of the device.

6. The movable device according to claim 5, wherein, The camera includes any one or more of the following: a pan-tilt-zoom camera, an obstacle avoidance camera, or a panoramic camera. The panoramic camera is located at the front of the device body, and the angle between the optical axis and the vertical direction is less than 20°.

7. The movable device according to any one of claims 1-6, wherein, The first antenna assembly includes: The first substrate is made of a transparent material; A first radiator is disposed on the first substrate, and the first radiator includes a mesh structure made of conductive material, such that the light transmittance of the first radiator is greater than a preset value.

8. The movable device according to claim 7, wherein, The preset value is greater than or equal to 77%.

9. The movable device according to claim 7, wherein, The grid structure consists of multiple rectangles with a side length of 1 mm or less.

10. The movable device according to claim 7, wherein, The conductive material forming the mesh structure is a metal wire, and the width of the metal wire is less than or equal to 40 μm.

11. The movable device according to claim 7, wherein, The first radiator is a vertically polarized radiator, and the angle between the first radiator and the heading axis is less than or equal to 30 degrees.

12. The movable device according to claim 7, wherein the first antenna assembly further comprises: The second base plate is disposed on the arm of the main frame body; A second radiator is disposed on the second substrate; The second radiator is a horizontally polarized radiator, and the angle between the second radiator and the heading axis is greater than 60°.

13. The movable device according to claim 12, wherein, The first radiator and the first substrate, as well as the second radiator and the second substrate, are provided in multiples, and the multiple first radiators correspond one-to-one with the multiple first substrates, and the multiple second radiators correspond one-to-one with the multiple second substrates. The main body of the frame includes multiple arms and multiple landing gears. Multiple first radiators and multiple first base plates are respectively disposed on multiple landing gears, and multiple second radiators and multiple second base plates are respectively disposed on multiple arms.

14. The movable device according to claim 1, wherein, The mobile device includes a drone.

15. The movable device according to claim 1, wherein, One or more of the processors are further configured to: The camera of the movable device is controlled to capture environmental images, wherein the environmental images include a first antenna assembly and an object located on the side of the antenna assembly facing away from the camera; Eliminate or fade the first antenna component in the environmental image.

16. The movable device as claimed in claim 15, wherein, The camera of the movable device is a panoramic camera, the first antenna assembly is located in a fixed area of ​​the environmental image, and one or more of the processors are further configured to: The first antenna assembly in the fixed area is diluted or eliminated.

17. A terminal device for communicatively connecting with a mobile device, the terminal device comprising: Shell body; The second antenna assembly is disposed on the housing body, and when the terminal device is in working state, the angle between the second antenna assembly and the yaw axis of the movable device is less than 90 degrees. A control unit is connected to the second antenna assembly to receive signals radiated by the first antenna assembly of the mobile device via the second antenna assembly. The movable device includes: Main frame; The camera is mounted on the main body of the frame; The first antenna assembly is disposed on the main body of the frame, and the camera is located on one side of the first antenna assembly. At least a portion of the structure of the first antenna assembly is made of light-transmitting material and / or light-transmitting structure, so that the image captured by the camera includes objects located on the side of the first antenna assembly opposite to the camera. One or more processors are disposed in the main body of the rack, and one or more processors are connected to the first antenna assembly to receive signals transmitted by the second antenna assembly of the terminal device through the first antenna assembly.

18. The terminal device according to claim 17, wherein, The first antenna assembly is disposed on the landing gear of the main frame body, the landing gear including a transparent sidewall extending along the yaw axis, and the first antenna assembly is mounted on the transparent sidewall; When the movable device is in motion, the transparent sidewall and the first antenna assembly are within the field of view of the camera.

19. The terminal device according to claim 18, wherein, The main body of the frame includes a fuselage and an arm. The arm includes a root connected to the fuselage and an end away from the fuselage. The landing gear is disposed at the end. The transparent sidewalls enclose a receiving space, and the first antenna assembly is located within the receiving space.

20. The terminal device according to claim 19, wherein, The landing gear and the end are an integral structure.

21. The terminal device according to claim 19, wherein, The camera is mounted on the body of the device.

22. The terminal device according to claim 21, wherein, The camera includes any one or more of the following: a pan-tilt-zoom camera, an obstacle avoidance camera, or a panoramic camera. The panoramic camera is located at the front of the device body, and the angle between the optical axis and the vertical direction is less than 20°.

23. The terminal device according to any one of claims 17-22, wherein, The first antenna assembly includes: The first substrate is made of a transparent material; A first radiator is disposed on the first substrate, and the first radiator includes a mesh structure made of conductive material, such that the light transmittance of the first radiator is greater than a preset value.

24. The terminal device according to claim 23, wherein, The preset value is greater than or equal to 77%.

25. The terminal device according to claim 23, wherein, The grid structure consists of multiple rectangles with a side length of 1 mm or less.

26. The terminal device according to claim 23, wherein, The conductive material forming the mesh structure is a metal wire, and the width of the metal wire is less than or equal to 40 μm.

27. The terminal device according to claim 23, wherein, The first radiator is a vertically polarized radiator, and the angle between the first radiator and the heading axis is less than or equal to 30 degrees.

28. The terminal device according to claim 23, wherein the first antenna assembly further comprises: The second base plate is disposed on the arm of the main frame body; A second radiator is disposed on the second substrate; The second radiator is a horizontally polarized radiator, and the angle between the second radiator and the heading axis is greater than 60°.

29. The terminal device according to claim 28, wherein, The first radiator and the first substrate, as well as the second radiator and the second substrate, are provided in multiples, and the multiple first radiators correspond one-to-one with the multiple first substrates, and the multiple second radiators correspond one-to-one with the multiple second substrates. The main body of the frame includes multiple arms and multiple landing gears. Multiple first radiators and multiple first base plates are respectively disposed on multiple landing gears, and multiple second radiators and multiple second base plates are respectively disposed on multiple arms.

30. The terminal device according to claim 17, wherein, The mobile device includes a drone.

31. The terminal device according to claim 17, wherein, One or more of the processors are further configured to: The camera of the movable device is controlled to capture environmental images, wherein the environmental images include a first antenna assembly and an object located on the side of the antenna assembly facing away from the camera; Eliminate or fade the first antenna component in the environmental image.

32. The terminal device according to claim 31, wherein, The camera of the movable device is a panoramic camera, the first antenna assembly is located in a fixed area of ​​the environmental image, and one or more of the processors are further configured to: fade or eliminate the first antenna assembly in the fixed area.

33. A mobile system comprising a mobile device and a terminal device communicatively connected, the terminal device being configured to communicate with the mobile device to control the movement of the mobile device; in, The movable device includes: Main frame; The camera is mounted on the main body of the frame; A first antenna assembly is disposed on the main body of the frame, and the camera is located on one side of the first antenna assembly. At least a portion of the structure of the first antenna assembly is made of light-transmitting material and / or light-transmitting structure, so that the image captured by the camera includes objects located on the side of the first antenna assembly opposite to the camera. One or more processors are disposed in the rack body, and the one or more processors are connected to the first antenna assembly to receive signals transmitted by the second antenna assembly of the terminal device through the first antenna assembly; The terminal device includes: Shell body; A second antenna assembly is disposed on the housing body, and when the terminal device is in working state, the angle between the second antenna assembly and the yaw axis of the movable device is less than 90 degrees. The control unit is connected to the second antenna assembly to receive signals radiated by the first antenna assembly of the movable device via the second antenna assembly.

34. The mobile system according to claim 33, wherein, The first antenna assembly is disposed on the landing gear of the main frame body, the landing gear including a transparent sidewall extending along the yaw axis, and the first antenna assembly is mounted on the transparent sidewall; When the movable device is in motion, the transparent sidewall and the first antenna assembly are within the field of view of the camera.

35. The mobile system according to claim 34, wherein, The main body of the frame includes a fuselage and an arm. The arm includes a root connected to the fuselage and an end away from the fuselage. The landing gear is disposed at the end. The transparent sidewalls enclose a receiving space, and the first antenna assembly is located within the receiving space.

36. The mobile system according to claim 35, wherein, The landing gear and the end are an integral structure.

37. The mobile system according to claim 35, wherein, The camera is mounted on the body of the device.

38. The mobile system according to claim 37, wherein, The camera includes any one or more of the following: a pan-tilt-zoom camera, an obstacle avoidance camera, or a panoramic camera. The panoramic camera is located at the front of the device body, and the angle between the optical axis and the vertical direction is less than 20°.

39. The mobile system according to any one of claims 33-38, wherein, The first antenna assembly includes: The first substrate is made of a transparent material; A first radiator is disposed on the first substrate, and the first radiator includes a mesh structure made of conductive material, such that the light transmittance of the first radiator is greater than a preset value.

40. The mobile system according to claim 39, wherein, The preset value is 77%.

41. The mobile system according to claim 39, wherein, The grid structure consists of multiple rectangles with a side length of 1 mm or less.

42. The mobile system according to claim 39, wherein, The conductive material forming the mesh structure is a metal wire, and the width of the metal wire is less than or equal to 40 μm.

43. The mobile system according to claim 39, wherein, The first radiator is a vertically polarized radiator, and the angle between the first radiator and the heading axis is less than or equal to 30 degrees.

44. The mobile system of claim 39, wherein the first antenna assembly further comprises: The second base plate is disposed on the arm of the main frame body; A second radiator is disposed on the second substrate; The second radiator is a horizontally polarized radiator, and the angle between the second radiator and the heading axis is greater than 60°.

45. The mobile system according to claim 44, wherein, The first radiator and the first substrate, as well as the second radiator and the second substrate, are provided in multiples, and the multiple first radiators correspond one-to-one with the multiple first substrates, and the multiple second radiators correspond one-to-one with the multiple second substrates. The main body of the frame includes multiple arms and multiple landing gears. Multiple first radiators and multiple first base plates are respectively disposed on multiple landing gears, and multiple second radiators and multiple second base plates are respectively disposed on multiple arms.

46. ​​The mobile system according to claim 33, wherein, The mobile device includes a drone.

47. The mobile system according to claim 33, wherein, One or more of the processors are further configured to: The camera of the movable device is controlled to capture environmental images, wherein the environmental images include a first antenna assembly and an object located on the side of the antenna assembly facing away from the camera; Eliminate or fade the first antenna component in the environmental image.

48. The mobile system according to claim 47, wherein, The camera of the movable device is a panoramic camera, the first antenna assembly is located in a fixed area of ​​the environmental image, and one or more of the processors are further configured to: fade or eliminate the first antenna assembly in the fixed area.

Images