CN113767299A - Rotary radar and movable platform - Google Patents
Rotary radar and movable platform Download PDFInfo
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- CN113767299A CN113767299A CN202080030084.7A CN202080030084A CN113767299A CN 113767299 A CN113767299 A CN 113767299A CN 202080030084 A CN202080030084 A CN 202080030084A CN 113767299 A CN113767299 A CN 113767299A
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- circuit board
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Variable-Direction Aerials And Aerial Arrays (AREA)
Abstract
A rotating radar (100) and a movable platform (300), the rotating radar (100) comprising: a rotating antenna assembly (110) comprising a rotating mounting base (111), and an antenna circuit board (112), a signal processing circuit board (113) and a signal transmission circuit board (114) mounted on the rotating mounting base (111), the signal processing circuit board (113) and the signal transmission circuit board (114) being electrically connected by a first flexible circuit board (118), the antenna circuit board (112) and the signal processing circuit board (113) being electrically connected by a second flexible circuit board (119); the driving assembly (130) comprises a motor and a motor control circuit board (134) for driving the motor, and the motor is mechanically coupled with the rotary mounting seat (111); radar base (140), with motor (130) fixed connection, radar base (140) inside is formed with the cavity, is provided with base circuit board (144) in the cavity, and motor control circuit board (134) and base circuit board (144) are connected through third flexible circuit board (145) electricity, and wherein, rotatory mount pad (111), motor and radar base (140) form a continuous closed cavity of electrically conducting. The rotary radar (100) can realize the compaction of internal routing of the radar and the effective shielding of internal circuit systems.
Description
Description
The present invention generally relates to the field of radar technology, and more particularly to a rotary radar and a movable platform.
In the detection and ranging application fields of unmanned aerial vehicles, automobiles and other industries, the radar is widely applied due to the advantages of high detection precision, long detection distance, high environment tolerance and the like. However, the conventional radar has the disadvantages that the volume of the radar is large due to the complex internal wiring, and meanwhile, the shielding effect of an internal circuit system is poor, so that the external interference is strong or the external interference is easily caused. This is because in current radar design, because the connection of internal circuit system adopts conventional cable to connect more, so occupation volume is great, has reduced the effective utilization ratio of radar inner space, has increased the degree of difficulty that the radar is miniaturized, lightweight. Meanwhile, the existing radar, especially the antenna can realize the omnidirectional radar with 360-degree rotation, the shielding of an internal circuit system is unreliable, the radar has strong external interference, and the radar is easy to be interfered by the external electromagnetic environment.
Disclosure of Invention
The present invention has been made to solve at least one of the above problems. The invention provides a rotary radar and a movable platform, which are used for realizing the compaction of internal wiring of the radar through FPC flexible connection, realizing the effective shielding of an internal circuit system of the radar through the connection design of a metal structural part and conductive adhesive and reducing external interference.
Specifically, a first aspect of the present invention provides a rotary radar comprising:
the rotary antenna assembly comprises a rotary mounting seat, and an antenna circuit board, a signal processing circuit board and a signal transmission circuit board which are mounted on the rotary mounting seat, wherein the signal processing circuit board and the signal transmission circuit board are electrically connected through a first flexible circuit board, and the antenna circuit board and the signal processing circuit board are electrically connected through a second flexible circuit board;
the driving assembly comprises a motor and a motor control circuit board for driving the motor, and the motor is in mechanical coupling connection with the rotary mounting seat so as to drive the rotary mounting seat to rotate;
the radar base is fixedly connected with the motor and used for supporting the motor, a cavity is formed inside the radar base, a base circuit board is arranged in the cavity, the motor control circuit board is electrically connected with the base circuit board through a third flexible circuit board,
the rotary mounting seat, the motor and the radar base form a conductive continuous closed cavity.
In one embodiment of the present invention, the antenna circuit board and the signal processing circuit board are disposed in an opposed spaced relation and are respectively mounted on opposite sides of the rotary mount, and the first flexible circuit board is disposed in a space between the antenna circuit board and the signal processing circuit board.
In one embodiment of the invention, the signal transmission circuit board is arranged above the rotary mounting seat, and a shielding cover is arranged above the signal transmission circuit board.
In one embodiment of the present invention, the shielding cover is in direct or indirect electrical contact with the rotary mounting base, and the shielding cover and the rotary mounting base together form a shielding cavity for receiving the signal transmission circuit board.
In one embodiment of the present invention, a groove surrounding an outer circumference is formed at a side where the rotary mount and the shield case are opposed to each other, a land surrounding the outer circumference is formed at a position corresponding to the groove on upper and lower surfaces on the signal transmission circuit board, and a conductive adhesive is filled between the groove and the land, the land being electrically conducted with the shield case and the rotary mount through the conductive adhesive.
In an embodiment of the present invention, the signal processing circuit board and the signal transmission circuit board are provided with sockets into which the first flexible circuit board is inserted, and two ends of the first flexible circuit board are respectively provided with plugs matched with the sockets, so as to be inserted into the sockets on the signal processing circuit board and the signal transmission circuit board to electrically connect the signal processing circuit board and the signal transmission circuit board.
In one embodiment of the present invention, the first flexible circuit board is press-fixed on the signal processing circuit board by a conductive pressing sheet, and the first flexible circuit board is press-fixed on the signal transmission circuit board by the shield case.
In one embodiment of the present invention, the first flexible circuit board is disposed to be inclined with respect to a rotation axis of the motor.
In an embodiment of the present invention, the antenna circuit board and the signal processing circuit board are provided with sockets into which the second flexible circuit board is inserted, and two ends of the second flexible circuit board are respectively provided with plugs matched with the sockets, so as to be inserted into the sockets on the antenna circuit board and the signal processing circuit board to electrically connect the antenna circuit board and the signal processing circuit board.
In one embodiment of the present invention, the second flexible circuit board is fixed on the signal processing circuit board by pressing a conductive pressing piece, and the second flexible circuit board is fixed on the antenna circuit board by pressing a conductive pressing piece;
and the second flexible circuit board comprises a base body part and a connecting part extending perpendicular to the base body part, and the plug is arranged on the connecting part.
In one embodiment of the present invention, the motor includes:
a base of the motor is provided with a motor base,
the motor stator is arranged on the motor base;
the motor rotor is rotatably connected with the motor base so as to rotate around the motor stator, and is also connected with the rotary mounting seat so as to drive the rotary antenna component to rotate;
the motor base and the rotary mounting base form a cavity, and the motor rotor, the motor stator and the motor control circuit board are arranged in the cavity.
In an embodiment of the present invention, the motor control circuit board is disposed on the motor base and configured to supply power to the motor and control the operation of the motor.
In one embodiment of the invention, the radar base comprises a first radar base, a second radar base and a third radar base which are connected in sequence, and the second radar base is located between the first radar base and the third radar base.
In one embodiment of the present invention, the substrate is,
the first radar base is connected with the motor, a first cavity is formed on the first radar base, a first wireless coil and a second wireless coil, a first wireless transmission antenna and a second wireless transmission antenna are arranged in the first cavity,
the first wireless coil is electrically connected with the signal transmission circuit board, the second wireless coil is electrically connected with the base circuit board, and the base circuit board supplies power to the antenna circuit board, the signal processing circuit board and the signal transmission circuit board through the first wireless coil and the second wireless coil;
the first wireless transmission antenna is electrically connected with the signal transmission circuit board, the second wireless transmission antenna is electrically connected with the base circuit board, and the base circuit board is communicated with the antenna circuit board, the signal processing circuit board and the signal transmission circuit board through the first wireless transmission antenna and the second wireless transmission antenna.
In one embodiment of the present invention, the first wireless transmission antenna and the second wireless transmission antenna include Wifi antennas or bluetooth antennas.
In an embodiment of the invention, the second radar base and the third radar base together form a second cavity, the base circuit board is arranged in the second cavity, the second radar base is provided with an opening communicated with the first cavity and the second cavity, and the third radar base is provided with an opening communicated with the second cavity and the outside.
In one embodiment of the present invention, an annular projection is provided inside the opening hole of the third radar base, and a groove is formed on the annular projection;
and forming an annular pad on the base circuit board at a position corresponding to the annular bulge, and electrically connecting the third radar base and the base circuit board by filling conductive adhesive between the groove and the annular pad.
In an embodiment of the invention, one end of the third flexible circuit board is connected to the motor control circuit board, then extends downward from the outer wall of the first radar base, enters the first cavity through the slot in the side wall of the first radar base, enters the second cavity through the opening in the bottom of the first radar base, which communicates the first cavity and the second cavity, and is electrically connected to the base circuit board.
In one embodiment of the invention, a metal shielding piece is arranged at the notch of the side wall of the first radar base for closing.
In an embodiment of the invention, the third flexible circuit board is in a folded line shape.
In an embodiment of the present invention, sockets into which the third flexible circuit board is inserted are disposed on the motor control circuit board and the base circuit board, and two ends of the third flexible circuit board are respectively provided with plugs matched with the sockets, so as to be inserted into the sockets on the motor control circuit board and the base circuit board to electrically connect the motor control circuit board and the base circuit board.
In one embodiment of the invention, the swivel mount comprises:
the first bracket is used for bearing the antenna circuit board;
the second bracket is used for bearing the signal processing circuit board, and the second bracket and the first bracket are arranged at intervals relatively;
the middle bracket is used for being connected with the driving assembly, is positioned between the first bracket and the second bracket and is fixedly connected with the first bracket and the second bracket respectively,
the motor drives the first support and the second support to rotate through the middle support, so that the antenna circuit board and the signal processing circuit board are driven.
In one embodiment of the invention, the intermediate bracket is used for carrying the signal transmission circuit board.
In an embodiment of the present invention, two ends of the middle support are respectively and fixedly connected to middle portions of the first support and the second support to form an H-shaped structure together, so as to form two independent accommodating grooves, wherein one accommodating groove is used for accommodating the signal transmission circuit board, and the other accommodating groove is used for accommodating the driving assembly.
In an embodiment of the present invention, two ends of the middle bracket are fixedly connected to ends of the first bracket and the second bracket, respectively, to form a receiving groove for receiving the driving assembly.
A second aspect of the present invention provides a movable platform, comprising:
a body;
the power device is arranged on the machine body and provides moving power for the machine body;
a rotary radar according to a first aspect of the present invention, mounted on the body; and
a control system electrically connected to the rotary radar,
the rotary radar acquires position information of obstacles around the movable platform and sends the position information of the obstacles to the control system;
and the control system controls the power device according to the position information of the obstacle so as to change the moving direction of the movable platform to avoid the obstacle.
In one embodiment of the invention, the movable platform is an unmanned aerial vehicle, an autonomous vehicle or a ground-based remotely controlled robot.
According to the rotary radar and the movable platform, flexible connection among circuit systems is realized through an FPC (flexible printed circuit board) and the occupied space of a connecting line is compressed; meanwhile, a closed cavity is formed through the connection design of the metal structural part and the conductive adhesive, the shielding effect on a circuit system is improved, namely, the compactness of routing inside the radar is realized through FPC flexible connection, the size of the radar is reduced, the effective shielding of the circuit system inside the radar is realized through the connection design of the metal structural part and the conductive adhesive, and the external interference is reduced.
FIG. 1 is a schematic cross-sectional view of a rotary radar according to an embodiment of the present invention;
FIG. 2 is a schematic perspective view of the rotary radar shown in FIG. 1;
FIG. 3 is a schematic structural diagram of a rotating antenna assembly according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of the connection of a third flexible circuit board according to an embodiment of the invention;
fig. 5 is a schematic structural view of first to third flexible circuit boards according to an embodiment of the present invention;
FIG. 6 is a schematic view of a shielding structure of the rotary radar shown in FIG. 1;
FIG. 7 is a schematic view of a shielding structure of a third radar base of the rotary radar shown in FIG. 1;
FIG. 8 is a schematic view of a shielding structure of a shield case of the rotary radar shown in FIG. 1;
FIG. 9 is a schematic view of a shield structure of a rotary mount of the rotary radar shown in FIG. 1;
FIG. 10 is a schematic block diagram of a movable platform according to an embodiment of the present invention.
In order to make the objects, technical solutions and advantages of the present invention more apparent, exemplary embodiments according to the present invention will be described in detail below with reference to the accompanying drawings. It is to be understood that the described embodiments are merely a subset of embodiments of the invention and not all embodiments of the invention, with the understanding that the invention is not limited to the example embodiments described herein. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the invention described herein without inventive step, shall fall within the scope of protection of the invention.
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.
It is to be understood that the present invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. As used herein, the term "and/or" includes any and all combinations of the associated listed items.
In order to provide a thorough understanding of the present invention, detailed steps and detailed structures will be set forth in the following description in order to explain the present invention. The following detailed description of the preferred embodiments of the invention, however, the invention is capable of other embodiments in addition to those detailed.
FIG. 1 is a schematic cross-sectional view of a rotary radar according to an embodiment of the present invention; FIG. 2 is a schematic perspective view of the rotary radar shown in FIG. 1; FIG. 3 is a schematic structural diagram of a rotating antenna assembly according to an embodiment of the present invention; FIG. 4 is a schematic diagram of the connection of a third flexible circuit board according to an embodiment of the invention; fig. 5 is a schematic structural diagram of first to third flexible circuit boards according to an embodiment of the present invention.
Referring to fig. 1 to 5, a rotary radar 100 according to an embodiment of the present invention includes a rotating antenna assembly 110, a driving assembly 130, and a radar base 140.
Wherein, the rotating antenna assembly 110 is configured to implement 360-degree omni-directional rotation of multiple turns to transmit the radar signal 360 degrees omni-directionally, and receive the radar signal 360 degrees omni-directionally. In the present embodiment, the rotating antenna assembly 110 includes a rotating mount 111, and an antenna circuit board 112, a signal processing circuit board 113, and a signal transmission circuit board 114 mounted on the rotating mount 111. The antenna circuit board 112 may be made of various printed circuit boards, and a radar antenna and a corresponding antenna circuit, such as a microwave array antenna and a corresponding amplifying and noise reducing circuit, are disposed on the antenna circuit board 112 for transmitting and receiving radar signals (e.g., microwave signals). The signal processing circuit board 113 may be made of various printed circuit boards on which various circuits and units for processing radar signals are disposed, and may include a processing chip or a circuit structure. The signal transmission circuit board 114 may be made of various printed circuit boards, on which various transmission circuits are disposed for realizing signal transmission between the antenna circuit board 112 and the signal processing circuit board 113, and signal transmission between the antenna circuit board 112 and the signal processing circuit board, and the base circuit board 144.
In the present embodiment, the rotation mounting seat 111 has a substantially H-shaped structure, and may be made of a metal material. Illustratively, the rotation mounting seat 111 includes a first bracket, a second bracket and an intermediate bracket, the second bracket is disposed opposite to the first bracket at a distance, and the intermediate bracket is located between the first bracket and the second bracket and is respectively fixedly connected to the first bracket and the second bracket. The first bracket is used for bearing the antenna circuit board 112, the second bracket is used for bearing the signal processing circuit board 113, and the middle bracket is used for being connected with the driving component 130, wherein a motor (included in the driving component 130) drives the first bracket and the second bracket to rotate through the middle bracket, so as to drive the antenna circuit board 112 and the signal processing circuit board 113. The intermediate support is also used to carry the signal transmission circuit board 114.
As an example, two ends of the middle bracket are fixedly connected to the middle portions of the first bracket and the second bracket, respectively, to form an H-shaped structure together, so as to form two independent receiving grooves, one of the receiving grooves is used for receiving the signal transmission circuit board 114, and the other receiving groove is used for receiving the driving component 130. As another example, both ends of the middle bracket are fixedly connected to the ends of the first bracket and the second bracket, respectively, to form a receiving groove for receiving the driving assembly 130.
In this embodiment, the signal transmission circuit board 114 is disposed above the rotary mounting seat 111, and a shielding cover 117 is disposed above the signal transmission circuit board 114 for shielding the signal transmission circuit board 114 to prevent external signals from interfering with the signal transmission circuit board 114 and signals on the signal transmission circuit board 114 from interfering with the outside. The shielding cover 117 is in direct or indirect electrical contact with the rotary mounting seat 111, and the shielding cover 117 and the rotary mounting seat 111 together form a shielding cavity for receiving the signal transmission circuit board 114. The shield 117 may be made of various metallic shielding materials, such as stainless steel or copper. In the present embodiment, the shape of the shield case 117 corresponds to the shape of the transmission circuit board 114, and is, for example, a board-mounted structure.
In the present embodiment, the antenna circuit board 112 and the signal processing circuit board 113 are disposed opposite to each other and are respectively mounted on opposite sides of the rotary mounting base 111, and specifically, a first mounting base 115 and a second mounting base 116 are disposed on the antenna circuit board 112 and the signal processing circuit board 113, and the antenna circuit board 112 and the signal processing circuit board 113 are mounted on the rotary mounting base 111 through the first mounting base 115 and the second mounting base 116. Illustratively, the swivel mount 111 is disposed perpendicular to the antenna circuit board 112 and the signal processing circuit board 113.
In the present embodiment, the signal processing circuit board 113 and the signal transmission circuit board 114 are electrically connected by a first flexible circuit board 118, and the antenna circuit board 112 and the signal processing circuit board 113 are electrically connected by a second flexible circuit board 119. The first flexible circuit board 118 is disposed in a space between the antenna circuit board 112 and the signal processing circuit board 113, and the second flexible circuit board 119 is disposed on sidewalls of the antenna circuit board 112 and the signal processing circuit board 113. Specifically, sockets into which the first flexible circuit board 117 is inserted are disposed on the signal processing circuit board 113 and the signal transmission circuit board, and plugs matched with the sockets are disposed at two ends of the first flexible circuit board 117, respectively, and are used for being inserted into the sockets on the signal processing circuit board 113 and the signal transmission circuit board 114 to electrically connect the signal processing circuit board 113 and the signal transmission circuit board 114. In this embodiment, the first flexible circuit board 118 is fixed to the signal processing circuit board 113 by pressing and fixing the conductive pressing piece 120, and the first flexible circuit board 118 is fixed to the signal transmission circuit board 114 by pressing and fixing the shield cover 117. Illustratively, as shown in fig. 3, in the present embodiment, the first flexible circuit board 117 is disposed obliquely with respect to the rotation axis of the motor, and since it is located in the space between the antenna circuit board 112 and the signal processing circuit board 113, and disposed closely to the signal processing circuit board 113 and the signal transmission circuit board 114 with the shield cover 117, the space occupancy is greatly reduced.
Furthermore, the antenna circuit board 112 and the signal processing circuit board 113 are provided with sockets into which the second flexible circuit board 119 is inserted, and two ends of the second flexible circuit board 119 are respectively provided with plugs matched with the sockets, so as to be inserted into the sockets on the antenna circuit board 112 and the signal processing circuit board 113 to electrically connect the antenna circuit board 112 and the signal processing circuit board 113. In this embodiment, the second flexible circuit board 119 is fixed to the signal processing circuit board 113 by pressing a conductive pad 121, and the second flexible circuit board 119 is fixed to the antenna circuit board by a conductive pad or a glue. Illustratively, as shown in fig. 3 and 5, the second flexible circuit board 119 includes a base portion and a connection portion extending perpendicularly to the base portion, and the plug is disposed on the connection portion.
As shown in fig. 1 and fig. 2, in the present embodiment, the driving component 130 is connected to the rotating mounting base 111 to drive the rotating mounting base 111 to rotate, so as to drive the rotating antenna component 110 to rotate. In this embodiment, the drive assembly 130 includes a motor and a motor control circuit board 134. The motor comprises a motor base 131, a motor stator and a motor rotor 132, wherein the motor stator is installed on the motor base 131, the motor rotor 132 is rotatably connected with the motor base 131 so as to rotate around the motor stator, and the motor rotor 132 is also connected with the rotating installation base 111 so as to drive the rotating antenna assembly 110 to rotate. Illustratively, the motor rotor 132 is connected to the motor base 131 via a motor rolling bearing 133 to enable rotation of the motor stator. In this embodiment, the motor base 131 and the rotation mounting seat 111 form a cavity, and the motor rotor 132, the motor stator, and the motor control circuit board 134 are disposed in the cavity. The motor control circuit board 134 may be made of various printed circuit boards, and various motor control circuits and power supply circuits are disposed thereon for supplying power to the motor and controlling the operation of the motor. Exemplarily, in the present embodiment, the motor control circuit board 134 is disposed on the motor base 131.
As shown in fig. 1 and 2, radar mount 140 is coupled to motor mount 131 for supporting the motor and rotating antenna assembly 110. A cavity is formed inside the radar base 140, a base circuit board 144 is arranged in the cavity, and the motor control circuit board 134 is electrically connected with the base circuit board 144 through a third flexible circuit board 145, so that power is supplied to the motor control circuit board 134 through the base circuit board 144. In this embodiment, the motor control circuit board 134 and the base circuit board 144 are provided with sockets into which the third flexible circuit board 145 is inserted, and two ends of the third flexible circuit board 145 are respectively provided with plugs matched with the sockets, so as to be inserted into the sockets on the motor control circuit board 134 and the base circuit board 144 to electrically connect the motor control circuit board 134 and the base circuit board 144. Illustratively, the base circuit board 144 provides a high voltage power to the motor control circuit board through the third flexible circuit board 145.
In this embodiment, the radar base 140 includes a first radar base 141, a second radar base 142, and a third radar base 143, which are connected in sequence, and the second radar base 142 is located between the first radar base 141 and the third radar base 143. The first radar base 141 is connected to the motor, and has a substantially cylindrical structure, and includes a first cylindrical structure located above and a second cylindrical structure located below, and a diameter of the first cylindrical structure is greater than a diameter of the second cylindrical structure. In this embodiment, the first radar base 141 is formed with a first cavity, in which a first wireless coil 146 and a second wireless coil 147, and a first wireless transmission antenna 148 and a second wireless transmission antenna 149 are disposed, the first wireless coil 146 is electrically connected to the signal transmission circuit board 114, the second wireless coil 147 is electrically connected to the base circuit board 144, and the base circuit board 144 supplies power to the antenna circuit board 112, the signal processing circuit board 113, and the signal transmission circuit board 114 through the first wireless coil 146 and the second wireless coil 147. Illustratively, the base circuit board 144 provides low voltage power to the antenna circuit board 112, the signal processing circuit board 113, and the signal transmission circuit board 114 via the first wireless coil 146 and the second wireless coil 147. The first wireless transmission antenna 148 is electrically connected to the signal transmission circuit board 114, the second wireless transmission antenna 149 is electrically connected to the base circuit board 144, and the base circuit board 144 communicates with the antenna circuit board 112, the signal processing circuit board 113 and the signal transmission circuit board 114 through the first wireless transmission antenna 148 and the second wireless transmission antenna 149. In other words, data and commands between the base circuit board 144 and the antenna circuit board 112, the signal processing circuit board 113, and the signal transmission circuit board 114 are transmitted through the first wireless transmission antenna 148 and the second wireless transmission antenna 149. Illustratively, in the present embodiment, the first wireless transmission antenna 148 and the second wireless transmission antenna 149 include Wifi antennas or bluetooth antennas.
In this embodiment, the second radar base 142 and the third radar base 143 together form a second cavity, the base circuit board 144 is disposed in the second cavity, an opening communicating the first cavity with the second cavity is formed on the second radar base 142, and an opening communicating the second cavity with the outside is formed on the third radar base 143. Thus, external electric energy and signals can be transmitted into the interior of the radar base through the openings and then transmitted to the circuit boards.
As shown in fig. 1 and 4, in fig. 4, an opening a of the bottom and a slot B on the side wall of the first radar base 141 are shown, and a partial enlarged view at a and B is shown. In this embodiment, one end of the third flexible circuit board 145 is connected to the motor control circuit board 134, extends downward from the outer wall of the first radar base 141, enters the first cavity through the slot in the side wall of the first radar base 141, enters the second cavity through the opening in the bottom of the first radar base 141 communicating the first cavity and the second cavity, and is electrically connected to the socket on the back of the base circuit board 144 through the central opening of the base circuit board 144. The wiring mode is completely carried out in the interior or on the side wall of the radar base 140, and the outside space without occupying structural parts is visible, so that the space utilization rate of the radar is improved. In addition, in this embodiment, a metal shielding member, such as a copper foil, is disposed at the slot of the sidewall of the first radar base 141 to seal the slot, so as to prevent leakage of electromagnetic signals.
Exemplarily, as shown in fig. 5, in the present embodiment, the third flexible circuit board 145 has a zigzag shape.
It should be appreciated that in this embodiment, the third radar base 143 is connected to the second radar base 142, the second radar base 142 is connected to the first radar base 141, the first radar base 141 is further connected to the motor base 131, the motor base 131 is connected to the motor rotor 132 through the motor rolling bearing 133, and then the motor rotor 132 is connected to the rotary mounting base 111, and since these are metal parts, the whole link is electrically continuous.
In the embodiment, the flexible circuit board is used for realizing the electric connection among the circuit boards, so that the space occupancy rate is reduced, and the radar volume is reduced. And, in order to achieve better shielding effect, a shielding structure is added at the opening and gap where the cavity exists, which will be described below with reference to fig. 6 to 9.
FIG. 6 is a schematic view of a shielding structure of the rotary radar shown in FIG. 1; FIG. 7 is a schematic view of a shielding structure of a third radar base of the rotary radar shown in FIG. 1; FIG. 8 is a schematic view of a shielding structure of a shield case of the rotary radar shown in FIG. 1; fig. 9 is a schematic view of a shield structure of a rotary mount of the rotary radar shown in fig. 1.
As shown in fig. 6 to 9, in the present example, since an opening hole for connection with the outside is provided at the bottom of the third radar base, and there is a gap between the shield cover 117, the signal transmission circuit board 114, and the rotary mount 111, which may cause interference of an external signal, in order to form a closed shielding space, in the present embodiment, a shielding structure is added at two places (a and B in fig. 6). Fig. 6 shows a position and a partial enlarged view of the rotary radar 100 with the addition of the shielding structure.
As shown in fig. 6 and 7, in order to enable the base circuit board 144 to be connected with the outside to obtain electric energy and transmit signals, a hole C is formed in the bottom, and at this time, in order to ensure that a closed shielding space can be formed, an elliptical annular protrusion is added inside the hole C, an annular semicircular groove 150 is formed on the protrusion, and an annular copper-exposed pad is formed on the corresponding PCB surface of the base circuit board 144, and then the third radar base 143 and the base circuit board 144 are electrically connected by filling a conductive adhesive therebetween. Also, in this embodiment, ground holes around the pads may also be provided to allow grounding of the internal circuitry.
As shown in fig. 6, 8 and 9, a groove surrounding the outer circumference, for example, a circular semicircular groove (160, 170) (a partial and enlarged view of the semicircular groove D, E is shown in fig. 8 and 9) is formed at a side where the rotary mount 111 and the shield can 117 are opposite to each other, and a circular copper exposed pad is formed at a corresponding position on the upper and lower surfaces of the signal transmission circuit board 114, and then, a connection is made between the circular semicircular groove of the rotary mount 111 and the PCB copper exposed pad, the circular semicircular groove of the shield can 117 and the PCB copper exposed pad, respectively, by filling a conductive paste, and the pads are electrically connected to the shield can 117 and the rotary mount 111 through the conductive paste. Also, in this embodiment, ground holes around the pads may also be provided to allow grounding of the internal circuitry.
It should be understood that, in the present embodiment, through the above measures, a closed cavity which is continuous in conduction is formed from top to bottom (the third radar base 143, the base circuit board 144, the second radar base 142, the first radar base 141, the motor base 131, the motor rolling bearing 133, the motor rotor 132, the rotary mounting base 111, the signal transmission circuit board 114, and the shielding case 117), so that the signal transmission circuit board 114 (including the WiFi chip), the base circuit board 144 (including the WiFi chip), and the wireless coil and the wireless transmission antenna inside the cavity are shielded from the outside, and do not interfere with the outside.
FIG. 10 is a schematic block diagram of a movable platform according to an embodiment of the present invention. Although movable platform 300 is depicted as an unmanned aerial vehicle, such depiction is not intended to be limiting, as any suitable type of movable object may be used, for example, movable platform 300 may be a drone, an autonomous automobile, or a ground-based remotely controlled robot.
As shown in fig. 10, the movable platform 300 includes a body 301 and a rotary radar 200, and the microwave rotary radar 200 is mounted on the body 301. Specifically, the body 301 includes a frame 302 and a foot rest 303 mounted on the frame 302. The gantry 302 may serve as a mounting carrier for the flight control system, processor, video camera, still camera, etc. of the movable platform 300. A foot rest 303 is mounted below the frame 302 and the rotary radar 200 is mounted on the foot rest 303. The foot rest 303 may be used to provide support for the movable platform 300 when it is lowered, and in one embodiment, the foot rest 303 may also carry a water tank and be used to spray pesticides, fertilizers, etc. to the plants through a spray head. The structure of the rotary radar 200 is the rotary radar 100 as described above, and will not be described herein.
Further, the movable platform 300 further comprises a horn 304 extending from the fuselage 301, the horn 304 being operable to carry a motive device 305 for providing motive power for flight of the movable platform 300. The onboard power plant 305 may include one or more of a rotor, propeller, blade, engine, motor, wheel, axle, magnet, or nozzle. The movable platform 300 may have one or more, two or more, three or more, or four or more onboard power plants 305. The power plants 305 may all be of the same type. Alternatively, one or more of the power plants 305 may be a different type of power plant 305. The power plant 305 may be mounted on the movable platform 300 using any suitable means.
Further, the movable platform 300 further includes a control system electrically connected to the rotary radar 200, the rotary radar 200 acquires position information of an obstacle around the movable platform 300 and transmits the position information of the obstacle to the control system, and the control system controls the power device 305 to change the moving direction of the movable platform 300 to avoid the obstacle according to the position information of the obstacle.
Although the illustrative embodiments have been described herein with reference to the accompanying drawings, it is to be understood that the foregoing illustrative embodiments are merely exemplary and are not intended to limit the scope of the invention thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the scope or spirit of the present invention. All such changes and modifications are intended to be included within the scope of the present invention as set forth in the appended claims.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described device embodiments are merely illustrative, and for example, the division of the units is only one logical functional division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another device, or some features may be omitted, or not executed.
In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the invention and aiding in the understanding of one or more of the various inventive aspects. However, the method of the present invention should not be construed to reflect the intent: that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
It will be understood by those skilled in the art that all of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where such features are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the claims, any of the claimed embodiments may be used in any combination.
The various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functionality of some of the modules according to embodiments of the present invention. The present invention may also be embodied as apparatus programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present invention may be stored on computer-readable media or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
The above description is only for the specific embodiment of the present invention or the description thereof, and the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and the changes or substitutions should be covered within the protection scope of the present invention. The protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (27)
- A rotary radar, comprising:the rotary antenna assembly comprises a rotary mounting seat, and an antenna circuit board, a signal processing circuit board and a signal transmission circuit board which are mounted on the rotary mounting seat, wherein the signal processing circuit board and the signal transmission circuit board are electrically connected through a first flexible circuit board, and the antenna circuit board and the signal processing circuit board are electrically connected through a second flexible circuit board;the driving assembly comprises a motor and a motor control circuit board for driving the motor, and the motor is in mechanical coupling connection with the rotary mounting seat so as to drive the rotary mounting seat to rotate;the radar base is fixedly connected with the motor and used for supporting the motor, a cavity is formed inside the radar base, a base circuit board is arranged in the cavity, the motor control circuit board is electrically connected with the base circuit board through a third flexible circuit board,the rotary mounting seat, the motor and the radar base form a conductive continuous closed cavity.
- The rotary radar of claim 1, wherein the antenna circuit board and the signal processing circuit board are disposed in spaced relation to one another and are mounted on opposite sides of the rotary mount, respectively, the first flexible circuit board being disposed in a space between the antenna circuit board and the signal processing circuit board.
- The rotary radar of claim 1, wherein the signal transmission circuit board is disposed above the rotary mount and a shield is disposed above the signal transmission circuit board.
- The rotary radar of claim 3, wherein the shield is in direct or indirect electrical contact with the rotary mount, the shield and the rotary mount together forming a shielded cavity for receiving the signal transmission circuit board.
- The rotary radar according to claim 4, wherein a groove surrounding an outer periphery is formed on a side where the rotary mount and the shield case are opposed to each other, pads surrounding an outer periphery are formed at positions corresponding to the groove on upper and lower surfaces on the signal transmission circuit board, and a conductive adhesive is filled between the groove and the pads, and the pads are electrically conducted to the shield case and the rotary mount through the conductive adhesive.
- The rotary radar according to claim 4, wherein the signal processing circuit board and the signal transmission circuit board are provided with sockets into which the first flexible circuit board is inserted, and two ends of the first flexible circuit board are respectively provided with plugs matched with the sockets, so as to be inserted into the sockets on the signal processing circuit board and the signal transmission circuit board to electrically connect the signal processing circuit board and the signal transmission circuit board.
- The rotary radar according to claim 6, wherein said first flexible circuit board is press-fixed on said signal processing circuit board by a conductive pressing sheet, and said first flexible circuit board is press-fixed on said signal transmission circuit board by said shield case.
- The rotary radar of claim 1, wherein the first flexible circuit board is disposed obliquely with respect to a rotation axis of the motor.
- The rotary radar according to claim 1, wherein a socket is provided on the antenna circuit board and the signal processing circuit board for the second flexible circuit board to be inserted into, and two ends of the second flexible circuit board are respectively provided with a plug matched with the socket for being inserted into the sockets on the antenna circuit board and the signal processing circuit board to electrically connect the antenna circuit board and the signal processing circuit board.
- The rotary radar according to claim 9, wherein the second flexible circuit board is press-fixed on the signal processing circuit board by a conductive pressing piece, and the second flexible circuit board is fixed on the antenna circuit board by a conductive pressing piece;and the second flexible circuit board comprises a base body part and a connecting part extending perpendicular to the base body part, and the plug is arranged on the connecting part.
- The rotary radar of claim 1, wherein the motor comprises:a base of the motor is provided with a motor base,the motor stator is arranged on the motor base;the motor rotor is rotatably connected with the motor base so as to rotate around the motor stator, and is also connected with the rotary mounting seat so as to drive the rotary antenna component to rotate;the motor base and the rotary mounting base form a cavity, and the motor rotor, the motor stator and the motor control circuit board are arranged in the cavity.
- The rotary radar of claim 1, wherein the motor control circuit board is disposed on the motor base for powering the motor and controlling operation of the motor.
- The rotary radar of claim 1, wherein the radar mount comprises a first radar mount, a second radar mount, and a third radar mount connected in series, the second radar mount being located between the first radar mount and the third radar mount.
- The rotary radar of claim 13,the first radar base is connected with the motor, a first cavity is formed on the first radar base, a first wireless coil and a second wireless coil, a first wireless transmission antenna and a second wireless transmission antenna are arranged in the first cavity,the first wireless coil is electrically connected with the signal transmission circuit board, the second wireless coil is electrically connected with the base circuit board, and the base circuit board supplies power to the antenna circuit board, the signal processing circuit board and the signal transmission circuit board through the first wireless coil and the second wireless coil;the first wireless transmission antenna is electrically connected with the signal transmission circuit board, the second wireless transmission antenna is electrically connected with the base circuit board, and the base circuit board is communicated with the antenna circuit board, the signal processing circuit board and the signal transmission circuit board through the first wireless transmission antenna and the second wireless transmission antenna.
- The rotary radar of claim 14, wherein the first and second wireless transmission antennas comprise Wifi antennas or bluetooth antennas.
- The rotary radar of claim 14, wherein the second radar base and a third radar base together form a second cavity, the base circuit board is disposed in the second cavity, the second radar base has an opening formed therein to communicate the first cavity with the second cavity, and the third radar base has an opening formed therein to communicate the second cavity with an exterior.
- The rotary radar of claim 16, wherein an annular projection is provided inside the opening of the third radar base, and a groove is formed on the annular projection;and forming an annular pad on the base circuit board at a position corresponding to the annular bulge, and electrically connecting the third radar base and the base circuit board by filling conductive adhesive between the groove and the annular pad.
- The rotary radar of claim 16, wherein one end of the third flexible circuit board is connected to the motor control circuit board, extends downward from the outer wall of the first radar base, enters the first cavity through the slot on the side wall of the first radar base, enters the second cavity through the hole on the bottom of the first radar base, and is electrically connected to the base circuit board.
- The rotary radar of claim 18, wherein a metallic shield is provided to close at the slot in the side wall of the first radar base.
- The rotary radar of claim 1, wherein the third flexible circuit board is in the shape of a broken line.
- The rotary radar according to claim 1, wherein a socket is disposed on the motor control circuit board and the base circuit board for the third flexible circuit board to be inserted into, and plugs matched with the socket are disposed at two ends of the third flexible circuit board respectively for being inserted into the sockets on the motor control circuit board and the base circuit board to electrically connect the motor control circuit board and the base circuit board.
- The rotary radar of claim 1, wherein the rotary mount comprises:the first bracket is used for bearing the antenna circuit board;the second bracket is used for bearing the signal processing circuit board, and the second bracket and the first bracket are arranged at intervals relatively;the middle bracket is used for being connected with the driving assembly, is positioned between the first bracket and the second bracket and is fixedly connected with the first bracket and the second bracket respectively,the motor drives the first support and the second support to rotate through the middle support, so that the antenna circuit board and the signal processing circuit board are driven.
- The rotary radar of claim 22, wherein the intermediate support is configured to carry the signal transmission circuit board.
- The rotary radar of claim 22, wherein two ends of the middle bracket are fixedly connected to the middle portions of the first bracket and the second bracket, respectively, to form an H-shaped structure together, so as to form two independent receiving slots, one of the receiving slots is used for receiving the signal transmission circuit board, and the other receiving slot is used for receiving the driving assembly.
- The rotary radar of claim 22, wherein the intermediate bracket is fixedly coupled at opposite ends thereof to respective ends of the first bracket and the second bracket to form a receiving slot for receiving the drive assembly.
- A movable platform, comprising:a body;the power device is arranged on the machine body and provides moving power for the machine body;the rotary radar of any one of claims 1 to 25, mounted on the fuselage; anda control system electrically connected to the rotary radar,the rotary radar acquires position information of obstacles around the movable platform and sends the position information of the obstacles to the control system;and the control system controls the power device according to the position information of the obstacle so as to change the moving direction of the movable platform to avoid the obstacle.
- The movable platform of claim 26, wherein the movable platform is a drone, an autonomous automobile, or a ground-based remotely controlled robot.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2020/088677 WO2021223082A1 (en) | 2020-05-06 | 2020-05-06 | Rotary radar and movable platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113767299A true CN113767299A (en) | 2021-12-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202080030084.7A Pending CN113767299A (en) | 2020-05-06 | 2020-05-06 | Rotary radar and movable platform |
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| Country | Link |
|---|---|
| CN (1) | CN113767299A (en) |
| WO (1) | WO2021223082A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115598607B (en) * | 2022-10-12 | 2023-10-27 | 扬州宇安电子科技有限公司 | Reconfigurable radar communication integrated signal direction finding positioning equipment debugging device |
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| US20100045544A1 (en) * | 2007-02-13 | 2010-02-25 | Thales | Airborne radar notably for a drone |
| CN103983950A (en) * | 2014-05-08 | 2014-08-13 | 成都雷电微力科技有限公司 | T/R module installation PCB structural component |
| CN108513620A (en) * | 2017-04-11 | 2018-09-07 | 深圳市大疆创新科技有限公司 | Radar component and unmanned plane |
| CN108700657A (en) * | 2017-12-18 | 2018-10-23 | 深圳市大疆创新科技有限公司 | Radar and movable equipment with the radar |
| CN211180184U (en) * | 2019-11-04 | 2020-08-04 | 深圳市大疆创新科技有限公司 | Mechanical rotation microwave radar and movable platform |
-
2020
- 2020-05-06 CN CN202080030084.7A patent/CN113767299A/en active Pending
- 2020-05-06 WO PCT/CN2020/088677 patent/WO2021223082A1/en active Application Filing
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100045544A1 (en) * | 2007-02-13 | 2010-02-25 | Thales | Airborne radar notably for a drone |
| CN103983950A (en) * | 2014-05-08 | 2014-08-13 | 成都雷电微力科技有限公司 | T/R module installation PCB structural component |
| CN108513620A (en) * | 2017-04-11 | 2018-09-07 | 深圳市大疆创新科技有限公司 | Radar component and unmanned plane |
| CN108700657A (en) * | 2017-12-18 | 2018-10-23 | 深圳市大疆创新科技有限公司 | Radar and movable equipment with the radar |
| CN211180184U (en) * | 2019-11-04 | 2020-08-04 | 深圳市大疆创新科技有限公司 | Mechanical rotation microwave radar and movable platform |
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| Publication number | Publication date |
|---|---|
| WO2021223082A1 (en) | 2021-11-11 |
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