CN206990798U - Radar - Google Patents
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- CN206990798U CN206990798U CN201621484205.2U CN201621484205U CN206990798U CN 206990798 U CN206990798 U CN 206990798U CN 201621484205 U CN201621484205 U CN 201621484205U CN 206990798 U CN206990798 U CN 206990798U
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Abstract
The utility model discloses a kind of radar.Wherein, the radar includes：At least one transmitting antenna, for electromagnetic signals, wherein, the wavelength band of electromagnetic wave signal is millimeter wave frequency band, to detect the object around the vehicles；At least one reception antenna, for receiving the echo-signal reflected through the object around the vehicles, the wavelength band of echo-signal is millimeter wave frequency band；Wherein, at least one transmitting antenna is arranged on same straight line with least one reception antenna according to preset distance, so as to generate two-dimensional radar image after the object around the radar detection vehicles.The utility model solves in correlation technique and obtains the two-dimensional image data of environment surrounding automobile by the big technical problem of inside even from weather by sensor of camera.
Description
Technical field
Field of radar is the utility model is related to, in particular to a kind of radar.
Background technology
Using vehicle-mounted sensor, gather at any time in the process of moving and analyze the two dimensional image number of motor vehicle environment
According to, so as to allow in advance driver perceive may generation danger, the comfortableness and security of car steering can be effectively increased.
In prior art, mainly environment surrounding automobile is perceived with vision camera.Its technical principle is, by taking the photograph
As head is monitored in real time to motor vehicle environment object, while the distance that algorithm calculates object and vehicle is equipped with, so as to realize car
Deviate the functions such as warning, front truck anticollision, pedestrian detection in road.But obtain environment surrounding automobile using vision camera as sensor
Two-dimensional image data, have a disadvantage in that：It is vulnerable to the influence of the factors such as illumination, weather, such as in night, Qiang Guang, dense fog, sleet
Deng under environment, it is virtually impossible to normal work.In addition, it is big as the data volume that sensor obtains using vision camera, produced because calculating
Loss it is serious.
For it is above-mentioned the problem of, not yet propose effective solution at present.
Utility model content
The utility model embodiment provides a kind of radar, at least to solve to obtain by sensor of camera in correlation technique
The two-dimensional image data of environment surrounding automobile is taken by the big technical problem of inside even from weather.
According to the one side of the utility model embodiment, there is provided a kind of radar, including：At least one transmitting antenna,
For electromagnetic signals, wherein, the wavelength band of above-mentioned electromagnetic wave signal is millimeter wave frequency band, to detect vehicles week
The object enclosed；At least one reception antenna, for receiving the echo reflected through the object around the above-mentioned vehicles
Signal, the wavelength band of above-mentioned echo-signal is millimeter wave frequency band, wherein, above-mentioned at least one transmitting antenna and above-mentioned at least one
Individual reception antenna is arranged on same straight line according to preset distance, so that the mesh around the above-mentioned vehicles of above-mentioned radar detection
Two-dimensional radar image is generated after marking thing.
Further, above-mentioned radar is arranged on the front end of the above-mentioned vehicles, with to the target in front of the above-mentioned vehicles
Thing is detected.
Further, above-mentioned radar also includes：Radio-frequency module, with above-mentioned at least one transmitting antenna and above-mentioned at least one
Reception antenna couples, for the electromagnetic wave signal for handling above-mentioned at least one transmitting antenna transmitting and above-mentioned at least one reception day
The echo-signal that line receives.
Further, above-mentioned radio-frequency module includes：Voltage controlled oscillator, believe for producing transmission signal, and by above-mentioned transmitting
Number transmit to above-mentioned at least one transmitting antenna, so that electromagnetic wave signal corresponding to above-mentioned at least one transmitting antenna transmitting.
Further, above-mentioned radio-frequency module includes：Multiple first power amplifiers, are coupled respectively to above-mentioned voltage controlled oscillator
With each transmitting antenna in above-mentioned at least one transmitting antenna, for amplifying to transmission signal caused by above-mentioned voltage controlled oscillator
And the transmission signal after amplification is transmitted to above-mentioned each transmitting antenna and launched；Multiple second power amplifiers, difference coupling
The each reception antenna being bonded in frequency mixer and above-mentioned at least one reception antenna, for being connect to above-mentioned at least one reception antenna
The echo-signal of receipts is amplified, and the echo-signal after amplification is transmitted to above-mentioned frequency mixer；Above-mentioned frequency mixer, with above-mentioned pressure
Controlled oscillator couple, for by transmission signal caused by above-mentioned voltage controlled oscillator and through above-mentioned power amplifier amplification after it is above-mentioned
The echo-signal mixing that at least one reception antenna receives, the echo data after being mixed.
Further, above-mentioned radar also includes：Signal processing module, coupled with above-mentioned radio-frequency module, for receiving and locating
Manage the echo data after above-mentioned frequency mixer mixing.
Further, above-mentioned signal processing module includes：Transformation submodule, for the echo after above-mentioned frequency mixer is mixed
Data carry out Fourier transformation, the first echo data after being converted by the very first time；Calculating sub module, for according to conversion
Above-mentioned first echo data afterwards determines pixel, and calculates apart from history and scatter strong according to the above-mentioned pixel determined
Degree；Submodule is generated, for generating two-dimensional radar image apart from history and above-mentioned scattering strength according to above-mentioned.
Further, the echo data after above-mentioned frequency mixer is mixed by above-mentioned transformation submodule according to below equation presses first
Time carries out Fourier transformation, the first echo data after being converted：
S(f；K, l)=∫ s (t；K, l) exp (- j2 π ft) dt,
Wherein, k represents k-th of transmitting antenna, and l represents l-th of reception antenna, s (t；K, l) above-mentioned echo data is represented,
Wherein t represents fast time, S (f；K, l) represent the first echo data after conversion.
Further, it is right after above-mentioned calculating sub module determines pixel according to the first echo data after above-mentioned conversion
Above-mentioned pixel calculates above-mentioned apart from history according to below equation：
Wherein, above-mentioned pixel is expressed as (xn,yn) (n=1,2 ..., N)；Definition y-axis is above-mentioned vehicle motion side
To vector；X-axis is the direction vector that the above-mentioned vehicles are vertical with y-axis at it and are located in ground level；Represent k-th of transmitting
Antenna cuts course position；Represent l-th reception antenna cuts course position；xnAnd ynRepresent respectively above-mentioned pixel in x and
The coordinate of y-axis.
Further, it is right after above-mentioned calculating sub module determines pixel according to the first echo data after above-mentioned conversion
Above-mentioned pixel calculates above-mentioned scattering strength according to below equation to be included：
Wherein, above-mentioned pixel is expressed as (xn,yn) (n=1,2 ..., N)；B is transmitted signal bandwidth；T represents transmitting letter
Number time width；fcRepresent above-mentioned radar operating frequency；C represents propagation velocity of electromagnetic wave.
In the utility model embodiment, using a kind of radar, including：At least one transmitting antenna, for launching electromagnetism
Ripple signal, wherein, the wavelength band of above-mentioned electromagnetic wave signal is millimeter wave frequency band, to detect the object around the vehicles；
At least one reception antenna, the echo-signal reflected for reception through the object around the above-mentioned vehicles, above-mentioned time
The wavelength band of ripple signal is millimeter wave frequency band；Wherein, above-mentioned at least one transmitting antenna and above-mentioned at least one reception antenna
It is arranged according to preset distance on same straight line, so as to be generated after the object around the above-mentioned vehicles of above-mentioned radar detection
Two-dimensional radar image, reached millimeter wave two-dimensional imaging radar obtain environment surrounding automobile two-dimensional image data not by weather because
Element influence purpose, it is achieved thereby that can under any photoenvironment, any weather environment normal work；Its data transmitted
Amount is much smaller than the prior art of view-based access control model camera, and the technique effect that amount of calculation is moderate, and then solves in correlation technique
The two-dimensional image data of environment surrounding automobile is obtained by the big technical problem of inside even from weather by sensor of camera.
Brief description of the drawings
Accompanying drawing described herein is used for providing further understanding to of the present utility model, forms the part of the application,
Schematic description and description of the present utility model is used to explain the utility model, does not form to of the present utility model improper
Limit.In the accompanying drawings：
Fig. 1 is the schematic diagram according to a kind of optional radar of the utility model embodiment；
Fig. 2 is the structured flowchart according to a kind of optional radar of the present embodiment；
Fig. 3 is the structural representation according to a kind of optional radio-frequency module of the utility model embodiment；
Fig. 4 is the flow chart according to a kind of optional signal processing module inter-process method of the present embodiment.
Embodiment
In order that those skilled in the art more fully understand the utility model, it is real below in conjunction with the utility model
The accompanying drawing in example is applied, the technical scheme in the embodiment of the utility model is clearly and completely described, it is clear that be described
Embodiment is only the embodiment of the utility model part, rather than whole embodiments.Based on the reality in the utility model
Example is applied, the every other embodiment that those of ordinary skill in the art are obtained under the premise of creative work is not made, all should
When the scope for belonging to the utility model protection.
It should be noted that term " first " in specification and claims of the present utility model and above-mentioned accompanying drawing,
" second " etc. is for distinguishing similar object, without for describing specific order or precedence.It should be appreciated that so
The data used can exchange in the appropriate case, so that embodiment of the present utility model described herein can be with except at this
In diagram or description those beyond order implement.In addition, term " comprising " and " having " and their any deformation, meaning
Figure be to cover it is non-exclusive include, for example, containing the process of series of steps or unit, method, system, product or equipment
Be not necessarily limited to those steps or the unit clearly listed, but may include not list clearly or for these processes,
The intrinsic other steps of method, product or equipment or unit.
Embodiment 1
According to the utility model embodiment, there is provided a kind of radar, Fig. 1 is can according to one kind of the utility model embodiment
The schematic diagram of the radar of choosing, as shown in figure 1, the radar includes：At least one transmitting antenna, for electromagnetic signals, its
In, the wavelength band of electromagnetic wave signal is millimeter wave frequency band, to detect the object around the vehicles；At least one reception day
Line, for receiving the echo-signal reflected through the object around the vehicles, the wavelength band of echo-signal is millimeter
Wave frequency section；Wherein, at least one transmitting antenna is arranged on same straight line with least one reception antenna according to preset distance,
So as to two-dimensional radar image is generated after object around the radar detection vehicles.
That is, the radar including one or more transmitting antennas and one or more reception antennas can be to vehicles week
Object, the object such as pedestrian, animal enclosed is detected, by the electromagnetic wave signal of the radar emission and reception through target
The wavelength band for the echo-signal that thing reflects is millimeter wave frequency band, due to the radar operating wave length of millimeter wave frequency band, compared with
Small antenna size can obtain higher angular resolution.Millimeter wave two-dimensional imaging mentioned by the utility model embodiment
Radar, distance is formed to high-resolution using broadband signal, high-resolution is formed using one-dimensional real array of apertures and cuts course, realize radar
Two-dimensional imaging, as shown in Figure 1.Wherein, illustrate in one-dimensional real array of apertures such as Fig. 1, several transmitting antennas and several receptions
Antenna alignment point-blank, using millimetre-wave radar two-dimensional imaging radar, can realize distance to the high score of cutting course
Distinguish.Wherein, the big bandwidth signal of radar emission, realize distance to high-resolution using pulse compression technique；Utilize one-dimensional real aperture battle array
Row, have differences to the phase of different azimuth target echo, carry out Wave beam forming processing to it, can realize the high score for cutting course
Distinguish.
By the above-mentioned means, using a kind of radar, including：At least one transmitting antenna, for electromagnetic signals, its
In, the wavelength band of above-mentioned electromagnetic wave signal is millimeter wave frequency band, to detect the object around the vehicles；It is at least one to connect
Antenna is received, for receiving the echo-signal reflected through the object around the above-mentioned vehicles, the ripple of above-mentioned echo-signal
Long frequency range is millimeter wave frequency band；Wherein, above-mentioned at least one transmitting antenna and above-mentioned at least one reception antenna are according to pre- spacing
From being arranged on same straight line, so as to generate two-dimensional radar figure after the object around the above-mentioned vehicles of above-mentioned radar detection
Picture, millimeter wave two-dimensional imaging radar is reached and has obtained the two-dimensional image data of environment surrounding automobile not by the mesh of inside even from weather
, it is achieved thereby that can under any photoenvironment, any weather environment normal work；Its data volume transmitted is much smaller than base
In the prior art of vision camera, and the technique effect that amount of calculation is moderate, so solve in correlation technique using camera as
Sensor obtains the two-dimensional image data of environment surrounding automobile by the big technical problem of inside even from weather.
Alternatively, radar is arranged on the front end of the vehicles, to be detected to the object in front of the vehicles.This reality
With the millimeter wave two-dimensional imaging radar mentioned by new embodiment, vehicle front is placed in, distance is formed to height using broadband signal
Differentiate, forming high-resolution using one-dimensional real array of apertures cuts course, realizes radar two-dimensional imaging.
Alternatively, radar also includes：Radio-frequency module, coupled with least one transmitting antenna and at least one reception antenna,
The echo-signal received for the electromagnetic wave signal and at least one reception antenna that handle at least one transmitting antenna transmitting.
Specifically, as shown in Fig. 2 Fig. 2 is according to a kind of structured flowchart of optional radar of the present embodiment, wherein, thunder
Up to including K transmitting antenna and L reception antenna.Radio-frequency module configures transmission signal, launches electromagnetic wave by transmitting antenna；Electromagnetism
Ripple receives target scattering signal, i.e. echo-signal via the scattering of object in observation area by reception antenna), and by radio frequency
Echo data after module converts echo-signal is transmitted to signal processor (i.e. signal processing module).The reception of radio-frequency module
High with transmitting chip integrated level, whole radar radio-frequency front-end can be completed with a mm wave RF chip, based on highly integrated
The radar radio-frequency front-end of degree, complete machine radar cost are relatively low.
Alternatively, radio-frequency module includes：Voltage controlled oscillator, transmitted for producing transmission signal, and by transmission signal to extremely
A few transmitting antenna, so that electromagnetic wave signal corresponding to the transmitting of at least one transmitting antenna.Alternatively, radio-frequency module includes：
Multiple first power amplifiers, each transmitting antenna being coupled respectively in voltage controlled oscillator and at least one transmitting antenna, use
Sent out in transmission signal caused by voltage controlled oscillator is amplified and transmitted the transmission signal after amplification to each transmitting antenna
Penetrate；Multiple second power amplifiers, each reception antenna being coupled respectively in frequency mixer and at least one reception antenna, are used for
The echo-signal received at least one reception antenna is amplified, and the echo-signal after amplification is transmitted to frequency mixer；It is mixed
Frequency device, is coupled with voltage controlled oscillator, for by transmission signal caused by voltage controlled oscillator and after power amplifier amplifies extremely
The echo-signal mixing that a few reception antenna receives, the echo data after being mixed.
The implementation of radio-frequency module also has many kinds, provides a kind of optional embodiment in the present embodiment, tool
Body, as shown in figure 3, Fig. 3 is the structural representation according to a kind of optional radio-frequency module of the utility model embodiment；Can be with
Transmission signal is produced by voltage controlled oscillator, launched by power amplifier by transmitting antenna.Reception antenna receives target echo, warp
Overpower amplifier, and with voltage controlled oscillator caused by transmission signal be mixed, finally by the radar return data transfer after mixing
To signal processor.
Alternatively, radar also includes：Signal processing module, couple with radio-frequency module, mixed for receiving and handling frequency mixer
Echo data after frequency.Wherein, the internal processing mode of signal processing module (i.e. signal processor) also has many kinds, and Fig. 4 is carried
A kind of optional mode is supplied, Fig. 4 is the stream according to a kind of optional signal processing module inter-process method of the present embodiment
Cheng Tu, k-th transmitting antenna electromagnetic signals, and the radar return data s received by l-th reception antenna
(t；K, l) represent, wherein t represents the fast time.
Alternatively, signal processing module includes：Transformation submodule, for the echo data after frequency mixer is mixed by first
Time carries out Fourier transformation, the first echo data after being converted；Calculating sub module, for according to first time after conversion
Wave number is calculated apart from history and scattering strength according to determination pixel, and according to the pixel determined；Submodule is generated, for root
According to apart from history and scattering strength generation two-dimensional radar image.
Alternatively, the echo data after frequency mixer is mixed by transformation submodule according to below equation carries out Fu by the very first time
In leaf transformation, the first echo data after being converted：
S(f；K, l)=∫ s (t；K, l) exp (- j2 π ft) dt, wherein, k represents k-th of transmitting antenna, and l represents to connect for l-th
Receive antenna, s (t；K, l) echo data is represented, wherein t represents fast time, S (f；K, l) represent the first echo data after conversion.
Alternatively, after calculating sub module determines pixel according to the first echo data after conversion, to pixel according to
Below equation is calculated apart from history：
Wherein, pixel is expressed as (xn,yn)(n
=1,2 ..., N)；Definition y-axis is vehicle motion direction vector；X-axis be the vehicles it is vertical with y-axis at it and positioned at ground
Direction vector in plane；Represent k-th transmitting antenna cuts course position；Represent l-th reception antenna cuts course
Position；xnAnd ynRepresent pixel in x and the coordinate of y-axis respectively.
Alternatively, after calculating sub module determines pixel according to the first echo data after conversion, to pixel according to
Below equation, which calculates scattering strength, to be included：
Wherein, pixel is expressed as (xn,yn) (n=1,2 ..., N)；B is transmitted signal bandwidth；When T represents transmission signal
It is wide；fcRepresent radar operating frequency；C represents propagation velocity of electromagnetic wave.
Above-mentioned the utility model embodiment sequence number is for illustration only, does not represent the quality of embodiment.
In above-described embodiment of the present utility model, the description to each embodiment all emphasizes particularly on different fields, in some embodiment
The part not being described in detail, it may refer to the associated description of other embodiment.
In several embodiments provided herein, it should be understood that disclosed technology contents, others can be passed through
Mode is realized.Wherein, device embodiment described above is only schematical, such as the division of the module, Ke Yiwei
A kind of division of logic function, can there is an other dividing mode when actually realizing, for example, multiple module or components can combine or
Person is desirably integrated into another system, or some features can be ignored, or does not perform.Another, shown or discussed is mutual
Between coupling or direct-coupling or communication connection can be INDIRECT COUPLING or communication link by some interfaces, unit or module
Connect, can be electrical or other forms.
Described above is only preferred embodiment of the present utility model, it is noted that for the common skill of the art
For art personnel, on the premise of the utility model principle is not departed from, some improvements and modifications can also be made, these improve and
Retouching also should be regarded as the scope of protection of the utility model.
Claims (10)
- A kind of 1. radar, it is characterised in that including：At least one transmitting antenna, for electromagnetic signals, wherein, the wavelength band of the electromagnetic wave signal is millimeter wave Frequency range, to detect the object around the vehicles；At least one reception antenna, for receiving the echo-signal reflected through the object around the vehicles, institute The wavelength band for stating echo-signal is millimeter wave frequency band,Wherein, it is straight with least one reception antenna to be arranged in same according to preset distance at least one transmitting antenna On line, so as to generate two-dimensional radar image after object described in the radar detection around the vehicles, broadband signal is utilized Distance is formed to high-resolution, high-resolution is formed using one-dimensional real array of apertures and cuts course, realize radar two-dimensional imaging, the radar Launch big bandwidth signal, realize distance to high-resolution using pulse compression technique；Using one-dimensional real array of apertures, to different azimuth The phase of target echo is had differences, and Wave beam forming processing is carried out to the different azimuth target echo, and course is cut to realize High-resolution.
- 2. radar according to claim 1, it is characterised in thatThe radar is arranged on the front end of the vehicles, to be detected to the object in front of the vehicles.
- 3. radar according to claim 1, it is characterised in that the radar also includes：Radio-frequency module, coupled with least one transmitting antenna and at least one reception antenna, for handle it is described extremely The echo-signal that the electromagnetic wave signal and at least one reception antenna of few transmitting antenna transmitting receive.
- 4. radar according to claim 3, it is characterised in that the radio-frequency module includes：Voltage controlled oscillator, transmitted for producing transmission signal, and by the transmission signal at least one transmitting antenna, with Make electromagnetic wave signal corresponding at least one transmitting antenna transmitting.
- 5. radar according to claim 4, it is characterised in that the radio-frequency module includes：Multiple first power amplifiers, it is coupled respectively to each in the voltage controlled oscillator and at least one transmitting antenna Transmitting antenna, for amplifying to transmission signal caused by the voltage controlled oscillator and transmitting the transmission signal after amplification to described Each transmitting antenna is launched；Multiple second power amplifiers, each reception day being coupled respectively in frequency mixer and at least one reception antenna Line, the echo-signal for being received at least one reception antenna is amplified, and the echo-signal after amplification is transmitted To the frequency mixer；The frequency mixer, coupled with the voltage controlled oscillator, for by transmission signal caused by the voltage controlled oscillator and through institute State the echo-signal mixing that at least one reception antenna after power amplifier amplification receives, the number of echoes after being mixed According to.
- 6. radar according to claim 5, it is characterised in that the radar also includes：Signal processing module, coupled with the radio-frequency module, for receiving and handling the echo data after the frequency mixer is mixed.
- 7. radar according to claim 6, it is characterised in that the signal processing module includes：Transformation submodule, Fourier transformation is carried out by the very first time for the echo data after the frequency mixer is mixed, is obtained The first echo data after conversion；Calculating sub module, for determining pixel according to first echo data after conversion, and according to determining Pixel is calculated apart from history and scattering strength；Submodule is generated, for generating two-dimensional radar image apart from history and the scattering strength according to described.
- 8. radar according to claim 7, it is characterised in that the transformation submodule is according to below equation by the mixing Echo data after device mixing carries out Fourier transformation, the first echo data after being converted by the very first time：S(f；K, l)=∫ s (t；K, l) exp (- j2 π ft) dt,Wherein, k represents k-th of transmitting antenna, and l represents l-th of reception antenna, s (t；K, l) represent the echo data, wherein t Represent fast time, S (f；K, l) represent the first echo data after conversion.
- 9. radar according to claim 7, it is characterised in that the calculating sub module is according to first time after the conversion It is described apart from history according to below equation calculating to the pixel after wave number is according to pixel is determined：Wherein, the pixel is expressed as (xn,yn) (n=1,2 ..., N)；Y-axis is defined to swear for the vehicle motion direction Amount；X-axis is the direction vector that the vehicles are vertical with y-axis at it and are located in ground level；Represent k-th of transmitting antenna Cut course position；Represent l-th reception antenna cuts course position；xnAnd ynRepresent the pixel in x and y-axis respectively Coordinate.
- 10. radar according to claim 7, it is characterised in that the calculating sub module is according to first after the conversion After echo data determines pixel, calculating the scattering strength according to below equation to the pixel includes：Wherein, the pixel is expressed as (xn,yn) (n=1,2 ..., N)；B is transmitted signal bandwidth；When T represents transmission signal It is wide；fcRepresent the radar operating frequency；C represents propagation velocity of electromagnetic wave.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621484205.2U CN206990798U (en) | 2016-12-30 | 2016-12-30 | Radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621484205.2U CN206990798U (en) | 2016-12-30 | 2016-12-30 | Radar |
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| Publication Number | Publication Date |
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| CN206990798U true CN206990798U (en) | 2018-02-09 |
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ID=61423110
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| CN201621484205.2U Active CN206990798U (en) | 2016-12-30 | 2016-12-30 | Radar |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108267737A (en) * | 2016-12-30 | 2018-07-10 | 北京行易道科技有限公司 | Radar |
| CN110361071A (en) * | 2018-04-11 | 2019-10-22 | 英飞凌科技股份有限公司 | The device and method for carrying out liquid detecting using millimetre-wave radar sensor |
| CN112424629A (en) * | 2018-06-26 | 2021-02-26 | 苏州宝时得电动工具有限公司 | Radar-applied electric device |
-
2016
- 2016-12-30 CN CN201621484205.2U patent/CN206990798U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108267737A (en) * | 2016-12-30 | 2018-07-10 | 北京行易道科技有限公司 | Radar |
| CN108267737B (en) * | 2016-12-30 | 2024-03-22 | 北京行易道科技有限公司 | Radar |
| CN110361071A (en) * | 2018-04-11 | 2019-10-22 | 英飞凌科技股份有限公司 | The device and method for carrying out liquid detecting using millimetre-wave radar sensor |
| CN110361071B (en) * | 2018-04-11 | 2024-04-19 | 英飞凌科技股份有限公司 | Apparatus and method for liquid detection using millimeter wave radar sensor |
| CN112424629A (en) * | 2018-06-26 | 2021-02-26 | 苏州宝时得电动工具有限公司 | Radar-applied electric device |
| CN112424629B (en) * | 2018-06-26 | 2024-04-09 | 苏州宝时得电动工具有限公司 | Electric device using radar |
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