CN113109815A

CN113109815A - Millimeter wave radar and unmanned aerial vehicle

Info

Publication number: CN113109815A
Application number: CN202110395773.4A
Authority: CN
Inventors: 鲁艺
Original assignee: Autel Intelligent Technology Corp Ltd
Current assignee: Autel Intelligent Technology Corp Ltd
Priority date: 2021-04-13
Filing date: 2021-04-13
Publication date: 2021-07-13

Abstract

The invention is suitable for the technical field of unmanned aerial vehicles, and provides a millimeter wave radar which comprises a shielding cabin, a radio frequency plate arranged on one side of the shielding cabin, a baseband plate arranged on the other side of the shielding cabin and opposite to the radio frequency plate, a base detachably connected with the baseband plate and the shielding cabin, and a CAN bus electrically inserted on the baseband plate. According to the millimeter wave radar provided by the invention, the radio frequency board and the baseband board are respectively arranged on the two opposite sides of the shielding cabin, the base is arranged for installing the shielding cabin and the baseband board, and the CAN bus butted with the baseband board is arranged, so that the basic obstacle avoidance function of the millimeter wave radar CAN be met, meanwhile, the millimeter wave radar has a compact and small structure and occupies a relatively small volume during installation through reasonable arrangement, and is particularly suitable for application scenes with small requirements on the volume, such as the technical field of unmanned aerial vehicles and the like.

Description

Millimeter wave radar and unmanned aerial vehicle

Technical Field

The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a millimeter wave radar and an unmanned aerial vehicle.

Background

An unmanned aerial vehicle is an unmanned aerial vehicle operated by utilizing radio remote control equipment and a self-contained program control device, has wider application field, is widely applied to the industry fields of aerial photography, agriculture, plant protection, express transportation, disaster relief, wild animal observation, infectious disease monitoring, surveying and mapping, news reporting, electric power inspection, disaster relief and the like at present, brings great convenience to production and living activities of people, and is suitable for dangerous and dirty application environments. However, when the unmanned aerial vehicle flies at low altitude, the safety of the unmanned aerial vehicle is often affected by obstacles such as branches, cables and high-rise buildings, and in order to avoid the obstacles, millimeter wave radars are required to be installed in all directions in the cabin of the unmanned aerial vehicle so as to realize the function of avoiding obstacles in the air, so that the safety performance of the unmanned aerial vehicle is improved, and the flight safety is guaranteed.

Disclosure of Invention

The invention aims to provide a millimeter wave radar, and aims to solve the technical problem that an unmanned aerial vehicle in the prior art needs to improve an obstacle avoidance function to realize safe flight.

The invention is realized by the following steps: the utility model provides a millimeter wave radar, its is applicable to the unmanned aerial vehicle field, including shielding cabin, locate the radio frequency board of shielding cabin one side, locate shielding cabin opposite side and with the baseband board that the radio frequency board set up relatively, millimeter wave radar still include with the baseband board with base and the electrical property that the connection CAN be dismantled in the shielding cabin peg graft in CAN bus on the baseband board.

As a specific embodiment, the base is provided with an installation boss, and the baseband board, the shielding chamber and the radio frequency board are sequentially stacked on the installation boss; at least one electrically connected connector assembly is arranged between the baseband board and the radio frequency board, and a connector opening for the connector assembly to penetrate is formed in the shielding cabin.

As a specific implementation manner, a first groove is formed in a side surface of the shielding compartment opposite to the radio frequency board, a plurality of electronic devices are arranged on a board surface of the radio frequency board opposite to the shielding compartment, the plurality of electronic devices are accommodated in the first groove, and the board surface of one side of the radio frequency board facing the shielding compartment is attached to the outer surface of the shielding compartment.

As a specific implementation manner, a second groove is formed in a side surface of the shielding cabin opposite to the base band plate, a plurality of electronic components are arranged on a plate surface of the base band plate opposite to the shielding cabin, the plurality of electronic components are accommodated in the second groove, and the plate surface of the base band plate facing one side of the shielding cabin is attached to the outer surface of the shielding cabin.

As a specific embodiment, a projection of the first groove on the shielding compartment falls into a projection of the second groove on the shielding compartment, and the connector opening penetrates through bottoms of the first groove and the second groove.

As a specific implementation mode, a concave cavity is formed in the middle of the mounting boss in a concave manner, and the plate surface of the base band plate opposite to the mounting boss is attached to the edge of the mounting boss.

Specifically, the base band board is provided with a bus butt joint port which is in butt joint with the CAN bus, and an avoidance notch is arranged at the position of the shielding cabin opposite to the bus butt joint port.

As a specific implementation manner, the CAN bus passes through the base and then is inserted into the baseband board, and a bus installation port for the CAN bus to pass through is formed in the base.

The invention also provides an unmanned aerial vehicle which comprises the millimeter wave radar.

Specifically, unmanned aerial vehicle includes the cabin carrier, the radar installing port has been seted up on the cabin carrier, the millimeter wave radar wears to locate in the radar installing port, just the base with the cabin carrier can be dismantled and be connected.

According to the millimeter wave radar provided by the invention, the radio frequency board and the baseband board are respectively arranged on the two opposite sides of the shielding cabin, the base is arranged for installing the shielding cabin and the baseband board, and the CAN bus butted with the baseband board is arranged, so that the basic obstacle avoidance function of the millimeter wave radar CAN be met, meanwhile, the millimeter wave radar has a compact and small structure and occupies a relatively small volume during installation through reasonable arrangement, and is particularly suitable for application scenes with small requirements on the volume, such as the technical field of unmanned aerial vehicles and the like.

Drawings

Fig. 1 is a schematic perspective view of a millimeter wave radar according to an embodiment of the present invention;

fig. 2 is an exploded schematic view of a millimeter wave radar provided by an embodiment of the present invention;

FIG. 3 is a schematic diagram of a millimeter wave radar according to an embodiment of the present invention in a bottom view;

FIG. 4 is a schematic bottom view of a base of the millimeter wave radar according to the embodiment of the present invention;

fig. 5 is a schematic installation diagram of the millimeter wave radar provided in the embodiment of the present invention when installed on an cabin carrier of an unmanned aerial vehicle;

fig. 6 is a schematic diagram of the millimeter wave radar provided by the embodiment of the present invention installed on an cabin carrier of an unmanned aerial vehicle.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or intervening elements may also be present.

It should be noted that the terms of orientation such as left, right, up, down, etc. in the present embodiment are only relative concepts or reference to the normal use state of the product, and should not be considered as limiting.

As shown in fig. 1 to 2, which are drawings of related embodiments of a millimeter-wave radar according to an embodiment of the present invention, a millimeter-wave radar 100 according to the present invention is mainly applicable to the field of unmanned aerial vehicles, and includes a shielding cabin 10, a radio frequency board 20 disposed above the shielding cabin 10, and a baseband board 30 disposed below the shielding cabin 10, where the radio frequency board 20 and the baseband board 30 are disposed opposite to each other, that is, the baseband board 30, the shielding cabin 10, and the radio frequency board 20 are sequentially stacked from bottom to top, and the radio frequency board 20 is detachably connected to the shielding cabin 10, and specifically, may be detachably connected in a threaded manner, the millimeter-wave radar 100 according to the present invention further includes a base 40 detachably connected to the baseband board 30 and the shielding cabin 10, and a CAN bus 50 electrically plugged onto the baseband board 30, where the base 40 is used to mount and fix the baseband board 30 and the shielding cabin 10, and the radio frequency board 20 is mounted and connected to the shielding cabin 10, in this way, by reasonably arranging the radio frequency board 20, the shielding cabin 10, the baseband board 30 and the CAN bus 50 in a centralized manner, the millimeter wave radar 100 which has a compact structure, occupies a small volume and CAN realize an obstacle avoidance function is realized.

According to the millimeter wave radar provided by the embodiment of the invention, the radio frequency board 20 and the baseband board 30 are respectively arranged at two opposite sides of the shielding cabin 10, the base 40 is arranged for installing the shielding cabin 10 and the baseband board 30, and the CAN bus 50 butted with the baseband board 30 is arranged, so that the basic obstacle avoidance function of the millimeter wave radar CAN be met, meanwhile, the millimeter wave radar is enabled to be compact and small in structure and relatively small in occupied volume during installation through reasonable arrangement, and the millimeter wave radar is particularly suitable for application scenes with small volume requirements, such as the technical field of unmanned aerial vehicles and the like.

In some embodiments, the base band board 30 is provided with a bus interface 31 for interfacing with the CAN bus 50, and the shielding cage 10 is provided with an avoidance gap 15 at a position opposite to the bus interface 31. In this way, when the CAN bus 50 is butted with the base band board 30, the bus butting interface 31 on the base band board 30 CAN be exposed, so that the bus butting interface 31 CAN be further connected with other components to realize connection and communication between the CAN bus 50 and other electrical components, for example, connection between the CAN bus 50 and components on the unmanned aerial vehicle.

As a specific embodiment, the base 40 is provided with a mounting boss 41, and the radio frequency board 20, the shielding chamber 10 and the baseband board 30 are sequentially stacked on the mounting boss 41, wherein the radio frequency board 20 is located at the topmost layer, the shielding chamber 10 and the baseband board 30 are both fixed on the mounting boss 41, and both can be fixed on the mounting boss 41 through locking members such as screws, the bottom surface of the radio frequency board 20 (i.e., the surface of the radio frequency board 20 opposite to the shielding chamber 10) is provided with a plurality of electronic devices (not shown in the figure) to achieve corresponding functions of transmitting and receiving signals, and the top surface of the baseband board 30 (i.e., the surface of the baseband board 30 opposite to the shielding chamber 10) is provided with a plurality of electronic devices (not shown in the figure) to achieve corresponding functions of radio frequency modulation, radio frequency transmission, and the like. The radio frequency board 20, the shielding chamber 10 and the baseband board 30 are stacked on the mounting boss 41, so that the requirement of compact structural layout can be better met.

As a preferred embodiment, the middle of the mounting boss 41 is recessed to form a cavity 42, the surface of the base band plate 30 opposite to the mounting boss 41 is attached to the edge of the mounting boss 41, because the electronic component is welded in the middle area of the base band plate 30, the middle part of the base band plate is an uneven surface, the cavity 42 is arranged to suspend the uneven part in the middle of the base band plate 30 in the cavity 42, and the edge part can be in contact connection with the mounting boss 41 by a relatively flat contact surface because the electronic component is not welded, so that the base band plate 30 can be stably connected to the base 40; in some embodiments, at least one connector assembly 60 electrically connected to the baseband board 30 and the rf board 20 may be disposed, for example, a female socket 61 may be disposed on the baseband board 30, and a socket (not shown) electrically connected to the female socket 61 is disposed on the rf board 20 for forming an electrical connection and a communication connection between the rf board 20 and the baseband board 30, although the female socket 61 and the socket may also be disposed on the baseband board 30 and the rf board 20 in a mutually opposite manner, which is not described herein again; accordingly, in order to realize the electrical connection of the connector assembly 60, the shielding compartment 10 is provided with the connector opening 14 through which the connector assembly 60 is inserted, so that the electrical connection and/or the communication connection between the baseband board 30 and the rf board 20 can be conveniently formed, and the space can be saved.

As a specific embodiment, a first groove 11 is formed on a side surface of the shielding compartment 10 opposite to the radio frequency board 20, a plurality of electronic devices on a surface of the radio frequency board 20 opposite to the shielding compartment 10 are accommodated in the first groove 11, so as to implement a basic function of transmitting and receiving signals of the radio frequency board 20 itself, and at the same time, the electronic devices on the radio frequency board 20 can be arranged and protected, so as to save a space of the whole millimeter wave radar 100 in a vertical direction, and a surface of the radio frequency board 20 facing one side of the shielding compartment 10 is attached to an outer surface of the shielding compartment 10, since no electronic device is welded on an edge portion of the radio frequency board 20, the edge portion is relatively smooth, so that the radio frequency board 20 can be stably connected to the shielding compartment 10. Thus, the basic function of the rf board 20 can be ensured, and on the other hand, the rf board 20 can be stably mounted and fixed, so that the occupied volume of the rf board 20 is as small as possible while the basic function and protection requirements of the rf board 20 are met.

In some embodiments, referring to fig. 2 and 3, a second groove 12 is formed in a side surface of the shielding chamber 10 opposite to the baseband board 30, and a plurality of electronic components on a surface of the baseband board 30 opposite to the shielding chamber 10 are accommodated in the second groove 12, in this embodiment, the second groove 12 is configured to accommodate the electronic components on the baseband board 30, so that not only can the baseband board 30 be ensured to realize functions of radio frequency modulation, radio frequency transmission, radio frequency reception, and the like, but also each electronic component on the baseband board 30 can be protected by the shielding chamber 10, and the effects of dust prevention, shielding, protection, and the like are achieved, and further, the space of the whole millimeter wave radar 100 in the vertical direction is saved; in some embodiments, the surface of the base band plate 30 facing the shielding compartment 10 may be attached to the outer surface of the shielding compartment 10, and since electronic components are welded to the middle portion of the base band plate 30, the middle portion is uneven, and electronic components are not welded to the edge portion, when the surface of the base band plate 30 facing the shielding compartment 10 is attached to the shielding compartment 10, the base band plate may still be attached to the shielding compartment 10 by a relatively flat contact surface, so that the vertical space of the whole millimeter wave radar 100 is reduced, and the base band plate 30 and the shielding compartment 10 may be stably mounted and attached together, and each electronic component on the base band plate 30 does not occupy an additional accommodation space.

According to the millimeter wave radar 100 provided by the embodiment of the invention, the grooves are formed in the two opposite surfaces of the shielding cabin 10 and used for accommodating the electronic devices and the electronic components on the baseband board 30 and the radio frequency board 20, and the baseband board 30 and the radio frequency board 20 are loaded together through the shielding cabin 10, so that the functions of the radio frequency board 20 and the baseband board 30 are ensured, the electronic devices on the baseband board 30 and the radio frequency board 20 can be protected and protected, the installation and fixation of the baseband board 30 and the radio frequency board 20 are realized, the structure layout is compact, the occupied volume is small, and the millimeter wave radar 100 can be well suitable for application scenes such as unmanned aerial vehicles with small requirements on the structure size.

In some embodiments, a projection of the first groove 11 on the shielding compartment 10 falls within a projection of the second groove 12 on the shielding compartment 10, that is, an area of a bottom of the second groove 12 is larger than an area of a bottom of the first groove 11, and the first groove 11 and the second groove 12 are disposed oppositely. Because electronic components on the base band plate 30 are relatively more, therefore the area that sets up of second recess 12 is greater than the area that sets up of first recess 11, and because first recess 11 and second recess 12 are relative setting, compare the mode that first recess 11 and second recess dislocation set up, can reduce the space volume that shielding compartment 10 took on horizontal cross-section like this, thereby can do radar installation littleer, simultaneously, make first recess 11 and second recess 12 set up relatively, also can make things convenient for realizing mutual hookup between the electronic components on the radio frequency board 20 and the base band plate 30, when manufacturing on the production line, also can carry out butt joint operation very conveniently. As a preferred embodiment, the connector opening 14 penetrates through the bottom of the first and second grooves 11 and 12, so that the connector assembly 60 can directly interconnect the rf board 20 and the baseband board 30 through the connector opening 14, which is convenient in operation.

In some embodiments, at least one third groove 13 for accommodating electronic components on the base band plate 30 is formed at the bottom of the second groove 12 of the shielding chamber 10, and the third groove 13 can be used for avoiding electronic components with a larger volume, such as electronic components like an inductance and a capacitance, on the base band plate 30; in other embodiments, the third groove 13 may be offset from the first groove 11, so that the third groove 13 and the first groove 11 may be separately disposed in different thickness directions of the shielding compartment 10, and mutual interference is avoided, so as to reduce the thickness dimension of the shielding compartment 10.

In some embodiments, referring to fig. 2 and 4, the CAN bus 50 passes through the base 40 and then is inserted into the baseband board 30, and the base 40 is provided with a bus installation hole 43 through which the CAN bus 50 passes. Therefore, the baseband board 30 CAN be fixedly mounted on the base 40, and meanwhile, the electrical interaction connection and the communication connection between the CAN bus 50 and the baseband board 30 CAN be met.

The embodiment of the invention also provides the unmanned aerial vehicle which comprises the millimeter wave radar 100, and the millimeter wave radar 100 is arranged on the unmanned aerial vehicle, so that the obstacle avoidance function of the unmanned aerial vehicle can be realized, and the safety performance of the unmanned aerial vehicle is improved.

Referring to fig. 5 and 6, in some embodiments, the unmanned aerial vehicle includes a cabin carrier 70, a radar mounting opening 71 is opened on the cabin carrier 70, the millimeter wave radar 100 is inserted into the radar mounting opening 71, and the base 40 is detachably connected to the cabin carrier 70. When the installation, can install the millimeter wave radar 100 that above-mentioned embodiment provided on unmanned aerial vehicle through radar installing port 71, the radio frequency board 20, shielded chamber 10, the baseband board 30 of millimeter wave radar 100 all pass radar installing port 71, and base 40 passes through fasteners such as screw with cabin carrier 70 and can dismantle the connection, of course, also can dismantle the connection through other fasteners. The unmanned aerial vehicle provided with the millimeter wave radar has the advantages that the mounting boss 41 arranged on the base 40 can provide certain guiding and positioning functions for the fixed mounting of the base 40 when penetrating through the radar mounting opening 71 of the cabin carrier 70, so that the millimeter wave radar is more convenient and more stable to mount; in other embodiments, the base 40 may be configured to conform to the nacelle carrier 70, such that guidance is provided during installation, thereby preventing back-loading or misloading to improve installation efficiency.

The present invention is not limited to the above preferred embodiments, and any modification, equivalent replacement or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A millimeter wave radar characterized by: the millimeter wave radar is suitable for the unmanned aerial vehicle field, including the shielding cabin, locate the radio frequency board of shielding cabin one side, locate the shielding cabin opposite side and with the baseband board that the radio frequency board set up relatively, the millimeter wave radar still include with the baseband board with the base that the shielding cabin CAN be dismantled the connection and the electrical property peg graft in CAN bus on the baseband board.

2. The millimeter wave radar of claim 1, wherein: the base is provided with a mounting boss, and the baseband plate, the shielding cabin and the radio frequency plate are sequentially stacked on the mounting boss; at least one electrically connected connector assembly is arranged between the baseband board and the radio frequency board, and a connector opening for the connector assembly to penetrate is formed in the shielding cabin.

3. The millimeter wave radar of claim 2, wherein: the radio frequency shielding device comprises a shielding cabin, a radio frequency plate and a plurality of electronic devices, wherein the side surface of the shielding cabin opposite to the radio frequency plate is provided with a first groove, the surface of the radio frequency plate opposite to the shielding cabin is provided with the plurality of electronic devices, the plurality of electronic devices are contained in the first groove, and the surface of one side of the radio frequency plate facing the shielding cabin is attached to the outer surface of the shielding cabin.

4. The millimeter wave radar of claim 3, wherein: the side face, opposite to the base band plate, of the shielding cabin is provided with a second groove, the face, opposite to the shielding cabin, of the base band plate is provided with a plurality of electronic components, the plurality of electronic components are contained in the second groove, and the face, facing one side of the shielding cabin, of the base band plate is attached to the outer surface of the shielding cabin.

5. The millimeter-wave radar of claim 4, wherein: the projection of the first groove on the shielding cabin falls into the projection of the second groove on the shielding cabin, and the opening of the connector penetrates through the bottoms of the first groove and the second groove.

6. The millimeter wave radar of claim 2, wherein: the middle part of the mounting boss is sunken to form a concave cavity, and the base band plate is attached to the edge of the mounting boss on the surface opposite to the mounting boss.

7. The millimeter wave radar of claim 1, wherein: the base band board is provided with a bus butt joint port which is in butt joint with the CAN bus, and the shielding cabin is provided with an avoidance notch at the position opposite to the bus butt joint port.

8. The millimeter wave radar of claim 1, wherein: the CAN bus penetrates through the base and then is spliced with the baseband board, and a bus mounting hole for the CAN bus to penetrate is formed in the base.

9. An unmanned aerial vehicle, its characterized in that: comprising a millimeter wave radar according to any one of claims 1 to 8.

10. A drone according to claim 9, characterised in that: unmanned aerial vehicle includes the cabin carrier, the radar installing port has been seted up on the cabin carrier, millimeter wave radar wears to locate in the radar installing port, just the base with the connection can be dismantled to the cabin carrier.