CN210142185U - Radar system and movable platform - Google Patents
Radar system and movable platform Download PDFInfo
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- CN210142185U CN210142185U CN201920575425.3U CN201920575425U CN210142185U CN 210142185 U CN210142185 U CN 210142185U CN 201920575425 U CN201920575425 U CN 201920575425U CN 210142185 U CN210142185 U CN 210142185U
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Abstract
The embodiment of the utility model provides a radar system and movable platform. The embodiment of the utility model provides a motor through among the rotating device drives radar detection equipment and rotates for this radar detection equipment is rotatable, this radar detection equipment includes treater, a plurality of analog/digital converter and a plurality of antenna, be connected with every analog/digital converter electricity in a plurality of analog/digital converter through the treater, every analog/digital converter is connected with at least one antenna electricity, make every analog/digital converter can convert the reflected signal that at least one antenna that it connects received into digital signal, that is to say, every analog/digital converter can convert the reflected signal in at least one passageway into digital signal, through this treater synchronous acquisition a plurality of analog/digital converter digital signal after the conversion, make this radar detection equipment can obtain the data of a plurality of passageways at the same moment, the efficiency, the synchronism and the real-time performance of data acquisition are improved.
Description
Technical Field
The embodiment of the utility model provides a relate to the radar field, especially relate to a radar system and movable platform.
Background
Among the prior art movable platform, for example, movable robot, unmanned aerial vehicle etc. all are provided with the radar, and the radar can survey the object around the movable platform for the movable platform keeps away the barrier.
The present radar has a plurality of antennas, and a plurality of antennas can launch the detected signal simultaneously, also can receive the reflected signal simultaneously, and the processor in the radar is before handling the reflected signal that a plurality of antennas received, and the reflected signal that a plurality of antennas received need be gathered to this processor.
In the prior art, reflected signals received by each antenna are sequentially acquired by an Advanced reduced instruction set computer (ARM) processor or a Digital Signal Processing (DSP) processor, which results in low data acquisition efficiency, synchronization and real-time performance.
SUMMERY OF THE UTILITY MODEL
An embodiment of the utility model provides a radar system and movable platform to improve radar system data acquisition's efficiency, synchronism and real-time.
In a first aspect, an embodiment of the present invention provides a radar system, which includes: the device comprises radar detection equipment and a rotating device, wherein the rotating device is arranged on a movable platform, the radar detection equipment is loaded on the rotating device, and the rotating device comprises a motor for driving the radar detection equipment to rotate;
the radar detection device includes a processor electrically connected to each of the plurality of analog-to-digital converters, each of the analog-to-digital converters being electrically connected to at least one antenna, a plurality of analog-to-digital converters, and a plurality of antennas;
the analog-to-digital converter is used for converting a reflection signal received by the at least one antenna into a digital signal, and the processor is used for synchronously acquiring the digital signals converted by the plurality of analog-to-digital converters.
In a second aspect, an embodiment of the present invention provides a movable platform, including:
a body;
the power system is arranged on the machine body and used for providing moving power;
the main control system is in communication connection with the power system and is used for controlling the movable platform to move;
and the radar system of the first aspect, configured to detect position information of an obstacle in a moving direction of the movable platform.
The embodiment of the utility model provides a radar system and movable platform, motor through among the rotating device drives radar detection equipment and rotates for this radar detection equipment is rotatable, this radar detection equipment includes treater, a plurality of analog/digital converter and a plurality of antenna, through every analog/digital converter electricity connection in treater and a plurality of analog/digital converter, every analog/digital converter is connected with at least one antenna electricity, make every analog/digital converter can convert the reflection signal that at least one antenna that it connects received into digital signal, that is to say, every analog/digital converter can convert the reflection signal in at least one passageway into digital signal, through this treater synchronous acquisition a plurality of analog/digital converter digital signal after the conversion, make this radar detection equipment can obtain the data of a plurality of passageways at the same moment, the efficiency, the synchronism and the real-time performance of data acquisition are improved.
Drawings
Fig. 1 is a schematic structural diagram of a radar system according to an embodiment of the present invention;
fig. 2 is an installation manner of the radar system on the unmanned aerial vehicle according to the embodiment of the present invention;
fig. 3 is another installation manner of the radar system on the unmanned aerial vehicle according to the embodiment of the present invention;
fig. 4 is a schematic structural diagram of a radar detection device provided in an embodiment of the present invention;
fig. 5 is another schematic structural diagram of a radar detection device according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a radar detection device according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a power supply system according to an embodiment of the present invention;
fig. 8 is another schematic structural diagram of a radar system according to an embodiment of the present invention;
fig. 9 is the embodiment of the utility model provides an unmanned aerial vehicle's schematic structure diagram.
Reference numerals:
11: a radar detection device; 12: a rotating device; 111: an angle sensor;
112: a control system; 121: a motor; 20: an unmanned aerial vehicle;
21: a rotating shaft; 122: an electric tuning board; 123: a turntable;
100: an unmanned aerial vehicle; 106: a propeller; 107: a motor;
117: an electronic governor; 118: a flight controller; 102: a radar system.
With the foregoing drawings in mind, certain embodiments of the disclosure have been shown and described in more detail below. These drawings and written description are not intended to limit the scope of the disclosed concepts in any way, but rather to illustrate the concepts of the disclosure to those skilled in the art by reference to specific embodiments.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
The embodiment of the utility model provides a radar system aims at solving prior art's above technical problem.
The following describes the technical solution of the present invention and how to solve the above technical problems with specific embodiments. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present invention will be described below with reference to the accompanying drawings.
An embodiment of the utility model provides a radar system. Fig. 1 is a schematic structural diagram of a radar system provided by an embodiment of the present invention, as shown in fig. 1, the radar system includes: a radar detection device 11 and a rotation device 12; the rotating device 12 is arranged on the movable platform, the radar detection device 11 is mounted on the rotating device 12, and the rotating device 12 includes a motor 121 for driving the radar detection device 11 to rotate. As shown in fig. 1, the motor 121 rotates to drive the radar detection device 11 to rotate, and the motor may rotate continuously or discontinuously. For example, the radar detection device 11 may be continuously rotated around a predetermined rotation axis while the motor is continuously rotated. The radar detection device 11 may include an angle sensor 111 that may detect an angle of rotation of the radar detection device 11, and a control system 112 that may be configured to further control the rotation of the motor according to the angle detected by the angle sensor, and may also synchronously acquire reflected signals received by a plurality of antennas in the radar detection device 11. The specific structure and function of the control system will be described in detail in the following embodiments.
In this embodiment, the movable platform comprises at least one of: mobile robot, unmanned aerial vehicle, autopilot vehicle. Here, taking the drone as an example, as shown in fig. 2, the radar system may be vertically installed above the fuselage of the drone 20, at which time the rotation axis 21 of the radar detection device 11 is parallel to the yaw axis of the drone 20, and the attitude of the radar system with respect to the drone 20 is as shown in fig. 2. Alternatively, as shown in fig. 3, the radar system may be horizontally installed below the main body of the drone 20, and at this time, the rotation axis of the radar detection device 11 is perpendicular to the yaw axis of the drone 20, and the attitude of the radar system relative to the drone 20 is as shown in fig. 1.
It can be understood that fig. 2 and fig. 3 are only two different installation manners of the radar system on the unmanned aerial vehicle, and this embodiment is not limited to these two installation manners, and other installation manners are also possible.
In the present embodiment, the radar detection device 11 includes a processor, a plurality of Analog-to-Digital converters (ADCs), and a plurality of antennas, the processor being electrically connected to each of the plurality of Analog-to-Digital converters, each of the Analog-to-Digital converters being electrically connected to at least one of the antennas; the analog-to-digital converter is used for converting a reflection signal received by the at least one antenna into a digital signal, and the processor is used for synchronously acquiring the digital signals converted by the plurality of analog-to-digital converters.
Fig. 4 is a schematic structural diagram of a radar detection device provided by an embodiment of the present invention. The control system as described above may be specifically a portion other than the angle sensor in the radar detection device as shown in fig. 4. As shown in fig. 4, the radar detection device includes a processor, a plurality of analog/digital converters, for example, an analog/digital converter 1, an analog/digital converter 2, an analog/digital converter 3, an analog/digital converter 4, … …, an analog/digital converter N, respectively, that is, the radar detection device includes N analog/digital converters, N being greater than or equal to 2, and a plurality of antennas. In addition, the radar system provided in this embodiment is also applicable to a scenario where N is equal to 1, and only an example where N is greater than or equal to 2 is taken as an example for illustrative purposes. As shown in fig. 4, the processor is electrically connected to each analog/digital converter in the N analog/digital converters, and each analog/digital converter is electrically connected to one antenna, which is only schematically illustrated here, and the number of antennas connected to each analog/digital converter is not limited, that is, each analog/digital converter is not limited to being connected to one antenna, and in some scenarios, each analog/digital converter may be connected to multiple antennas, and in general, 4 antennas may be connected to one analog/digital converter.
Specifically, the processor may control the plurality of antennas to simultaneously transmit the detection signal, for example, during the rotation of the radar detection device, the plurality of antennas may simultaneously transmit the detection signal, and after the detection signal is reflected by the target object, the plurality of antennas may also simultaneously receive the reflected signal. Optionally, one antenna corresponds to one channel, and the channel may be specifically a channel between the processor and the antenna. When the plurality of antennas receive the reflected signals at the same time, the channel corresponding to each antenna can receive the reflected signals. The reflected signal may specifically be an analog signal, and the analog signal may therefore be converted into a digital signal by an analog/digital converter. As shown in fig. 4, each analog/digital converter is connected to an antenna, and each analog/digital converter can convert a reflected signal received by the antenna to which it is connected into a digital signal. In other embodiments, each analog-to-digital converter may further be connected with a plurality of antennas, and each analog-to-digital converter may convert the reflected signals received by the plurality of antennas connected thereto into digital signals, respectively. The processor can synchronously acquire the digital signals respectively converted by the plurality of analog-to-digital converters. That is, the input of each analog-to-digital converter is an analog reflected signal received by at least one antenna connected to the analog-to-digital converter, the output of each analog-to-digital converter is a digital signal, the output end of each analog-to-digital converter is connected to the processor, and the processor can synchronously acquire the digital signals respectively output by the analog-to-digital converters at the same time.
In this embodiment, a motor in a rotating device drives a radar detection device to rotate, so that the radar detection device can rotate, the radar detection device includes a processor, a plurality of analog-to-digital converters and a plurality of antennas, the radar detection device is electrically connected to each of the plurality of analog-to-digital converters through the processor, each analog-to-digital converter is electrically connected to at least one antenna, so that each analog-to-digital converter can convert a reflected signal received by at least one antenna connected to the analog-to-digital converter into a digital signal, that is, each analog-to-digital converter can convert a reflected signal in at least one channel into a digital signal, the processor synchronously collects the digital signals converted by the plurality of analog-to-digital converters at the same time, so that the radar detection device can obtain data of the plurality of channels at the same time, the efficiency, the synchronism and the real-time performance of data acquisition are improved.
On the basis of the above embodiments, the processor includes a Field-Programmable Gate Array (FPGA) device, which is electrically connected to each of the plurality of analog/digital converters, and synchronously collects the digital signals converted by the plurality of analog/digital converters through the FPGA device.
In addition, as shown in fig. 4, the radar detection apparatus further includes: the angle sensor is electrically connected with the processor and is used for detecting the rotating angle of the radar detection equipment; the processor is further configured to: acquiring the rotation angle of the radar detection equipment detected by the sensor; and determining the azimuth angle of the transmitting signal of the radar detection equipment according to the angle.
In this embodiment, the angle sensor may specifically be a grating sensor, the processor may obtain a current rotation angle of the radar detection device detected by the grating sensor, and the processor may determine, according to the current rotation angle, an azimuth angle of a current transmission signal of the radar detection device, that is, a current transmission signal of multiple antennas. Further, the processor can control the motor in the rotating device to rotate by different angles according to the azimuth angles of the current transmitting signals of the multiple antennas so as to adjust the azimuth angles of the transmitting signals of the multiple antennas at the next moment, so that the radar detection equipment can realize the scanning of the omnidirectional angle.
On the basis of the above embodiment, the radar detection device further includes: the first memory and the second memory are respectively and electrically connected with the processor; the first memory is used for storing program codes called by the processor; the second memory is used for storing digital signals synchronously acquired by the processor from the plurality of analog-to-digital converters.
As shown in fig. 5, on the basis of fig. 4, the radar detection device further includes: the first memory and the second memory are respectively electrically connected with the processor, the first memory can store program codes called by the processor, the second memory can be a high-capacity height data memory, and when the processor synchronously collects digital signals output by a plurality of analog-to-digital converters, the processor can store the digital signals in the high-capacity height data memory. In this embodiment, the high-capacity height data storage device can rotate together with the radar system, and compared with the method that data collected by the processor is transmitted back to a main control system or other communication equipment of the movable platform through cables, the problem of cable winding in the rotating process is solved, and the portability, configurability and maintainability of the radar detection equipment are improved. It will be appreciated that the radar system described in the above embodiments may be considered a subsystem in comparison to the main control system of the movable platform. In other embodiments, the radar detection device further comprises a memory, as shown in fig. 5, electrically connected to the processor.
In addition, the radar detection device further includes: a wireless transmission system electrically connected with the processor; and the wireless transmission system is used for sending the digital signals synchronously acquired by the processor from the plurality of analog-to-digital converters to a main control system in the movable platform.
For example, on the basis of fig. 5, as shown in fig. 6, the radar detection device further includes a wireless transmission system, and the embodiment does not limit the wireless transmission protocol adopted by the wireless transmission system, for example, the wireless transmission protocol may be a private protocol or another standard protocol. The wireless transmission system can transmit the digital signals synchronously acquired by the processor from the plurality of analog-to-digital converters to a main control system in the movable platform. In addition, as shown in fig. 6, the radar detection device further includes: the external communication system may specifically communicate with other devices other than the mobile platform, for example, the external communication system may communicate with a user terminal corresponding to the mobile platform, and specifically, the external communication system sends the digital signals synchronously acquired by the processor from the plurality of analog/digital converters to the user terminal.
In the embodiment, the digital signals synchronously acquired by the processor from the plurality of analog-to-digital converters are sent to the main control system in the movable platform through the wireless transmission system, that is, the data can be transmitted through the wireless transmission system, so that the main control system in the movable platform can monitor or process the data in real time.
On the basis of the above embodiment, the radar detection device further includes: a plurality of filters, each of the plurality of filters connected to one of the analog-to-digital converters; each filter is used for carrying out filtering pretreatment on the reflected signals received by the at least one antenna.
As shown in fig. 6, the radar detection device further includes a plurality of filters, each of the filters is connected to an analog-to-digital converter, when an antenna is connected to one of the analog-to-digital converters, the filter connected to the analog-to-digital converter performs filtering preprocessing on a reflected signal received by the antenna, and then the analog-to-digital converter performs analog-to-digital conversion on the reflected signal after filtering preprocessing by the filter. When one A/D converter is connected with a plurality of antennas, a filter connected with the A/D converter can simultaneously carry out filtering pretreatment on the reflected signals received by the antennas, and then the A/D converter carries out A/D conversion on the reflected signals subjected to filtering pretreatment by the filter.
Optionally, the filter is a programmable filter. That is, the filter shown in fig. 6 may be controlled by a processor.
Optionally, the processor is further configured to: sending a control instruction to at least one of the plurality of filters, the control instruction being used to control parameters of the filter. Optionally, the parameter of the filter includes at least one of: filter gain, cut-off frequency.
For example, the processor may adjust at least one of the plurality of filters before the processor synchronously acquires the digital signals output by the plurality of analog-to-digital converters; alternatively, the processor may adjust at least one of the plurality of filters after the processor synchronously acquires the digital signals output from the plurality of analog-to-digital converters. When at least one of the plurality of filters is adjusted, the processor may send a control instruction to the filter to be adjusted, where the control instruction may be used to adjust parameters such as gain and cut-off frequency of the filter.
As shown in fig. 4-6, the radar detection device includes a plurality of analog-to-digital converters, and in some embodiments, clocks of at least some of the analog-to-digital converters may be asynchronous with a clock of the processor, so that the processor can synchronously acquire digital signals converted by the analog-to-digital converters at the same time, the processor is further configured to: sending a configuration instruction to at least one analog-to-digital converter in the plurality of analog-to-digital converters before synchronously acquiring the digital signals converted by the plurality of analog-to-digital converters, wherein the configuration instruction is used for synchronizing the analog-to-digital converters and the clocks of the processor. And after the configuration is finished, the processor synchronously acquires the digital signals converted by the plurality of analog-to-digital converters.
In addition, as shown in fig. 4 to 6, the radar detection device further includes: and the power supply system is electrically connected with the processor and is used for supplying power to the radar detection equipment. Taking fig. 6 as an example, the power supply system may supply power to the processor, the angle sensor, the external communication system, the second storage, the wireless transmission system, the memory, the first storage, and the plurality of analog/digital converters.
Optionally, the power supply system includes: the low dropout regulator comprises a controller, a plurality of Direct Current (DC/DC) voltage reducers and a plurality of low dropout regulators (LDOs), wherein the controller is electrically connected with each of the plurality of DC voltage reducers, and the controller is electrically connected with each of the plurality of LDOs; each direct current voltage reducer in the plurality of direct current voltage reducers is electrically connected with the plurality of low dropout linear voltage regulators; each of the plurality of low dropout linear regulators connected to each of the dc voltage reducers is electrically connected to one of the analog-to-digital converters.
Fig. 7 is a schematic structural diagram of a power supply system according to an embodiment of the present invention. As shown in fig. 7, the power supply system includes a controller, N dc voltage reducers and a plurality of low dropout regulators, where each of the N dc voltage reducers is connected with N low dropout regulators, for example, the dc voltage reducer 1 is connected with the low dropout regulator 1, the low dropout regulators 2 and …, and the low dropout regulator N, and similarly, the dc voltage reducer 2, the dc voltage reducer 3, and the dc voltage reducer … may be connected with N low dropout regulators respectively.
The dc voltage reducer may convert a high-voltage dc power into a low-voltage dc power, or the dc voltage reducer may convert a low-voltage dc power into a high-voltage dc power. The controller is electrically connected to each of the N dc voltage reducers, and the controller is electrically connected to each of the plurality of low dropout regulators. Each of the N low dropout linear regulators to which each dc voltage dropper is connected may be electrically connected to an analog-to-digital converter. For example, the dc voltage reducer 1 is connected to a low dropout regulator 1, a low dropout regulator 2, …, and a low dropout regulator N, the low dropout regulator 1 may be connected to an analog-to-digital converter 1 as shown in fig. 6, the low dropout regulator 2 may be connected to an analog-to-digital converter 2 as shown in fig. 6, and so on, the low dropout regulator N may be connected to an analog-to-digital converter N as shown in fig. 6. Similarly, each of the N low dropout linear regulators respectively connected to the dc voltage reducer 2, the dc voltage reducer 3, and the … dc voltage reducer N may also be correspondingly connected to an analog-to-digital converter. The description is only illustrative, and the correspondence between the ldo linear regulator and the analog-to-digital converter is not limited. In this embodiment, the controller in the power supply system may perform power management. The controller is electrically connected to the processor of the radar detection device according to the above-mentioned embodiment. The input as shown in fig. 7 may be a power input of the power supply system.
In the embodiment, the voltage input range of the radar system can be expanded by the power supply system which is realized by combining the direct-current voltage reducer and the low-dropout linear regulator.
Fig. 8 is another schematic structural diagram of a radar system according to an embodiment of the present invention. On the basis of the above embodiment, the rotating device includes: the rotary table is used for bearing the radar detection equipment; and the electric adjusting plate is electrically connected with the motor and used for driving the motor to rotate and controlling the rotating state of the motor, and the motor is used for driving the rotary table to rotate.
As shown in fig. 8, the rotating device 12 further includes, in addition to fig. 1: the radar detection device comprises an electric tuning board 122 and a rotary table 123, wherein the rotary table 123 is used for bearing the radar detection device 11; the electric adjusting plate 122 is electrically connected with the motor 121, the electric adjusting plate 122 drives the motor 121 to rotate and controls the rotation state of the motor 121, and the motor 121 is used for driving the rotary table 123 to rotate.
The embodiment of the utility model provides a movable platform. The movable platform comprises: the radar system comprises a machine body, a power system, a master control system and the radar system, wherein the power system is arranged on the machine body and used for providing moving power; the main control system is in communication connection with the power system and is used for controlling the movable platform to move; the radar system is used for detecting position information of an obstacle of the movable platform in a moving direction. The specific structure, implementation principle and technical effect of the radar system are similar to those described in the above embodiments, and are not described herein again.
Optionally, the movable platform includes at least one of: mobile robot, unmanned aerial vehicle, autopilot vehicle.
Use unmanned aerial vehicle as example, fig. 9 does the utility model provides an unmanned aerial vehicle's schematic structure diagram, as shown in fig. 9, unmanned aerial vehicle 100 includes: a fuselage, a power system, a flight controller 118, and a radar system 102, the power system including at least one of: a motor 107, a propeller 106 and an electronic speed regulator 117, wherein a power system is arranged on the airframe and used for providing flight power; flight controller 118 with the driving system communication is connected for control the unmanned aerial vehicle flight. The flight controller 118 may be the main control system of the drone. Radar system 102 may be in communication with the flight controller 118. The specific structure, implementation principle and technical effect of the radar system 102 are similar to those described in the above embodiments, and are not described herein again. In addition, the drone shown in fig. 9 is only an illustrative example, and does not limit the installation manner of the radar system 102 on the drone, nor the installation position of the radar system 102 on the drone.
In the several embodiments provided in the present disclosure, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium, and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the method according to various embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
It is obvious to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional modules is merely used as an example, and in practical applications, the above function distribution may be performed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to perform all or part of the above described functions. For the specific working process of the device described above, reference may be made to the corresponding process in the foregoing method embodiment, which is not described herein again.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.
Claims (15)
1. A radar system, characterized in that the radar system comprises: the device comprises radar detection equipment and a rotating device, wherein the rotating device is arranged on a movable platform, the radar detection equipment is loaded on the rotating device, and the rotating device comprises a motor for driving the radar detection equipment to rotate;
the radar detection device includes a processor electrically connected to each of the plurality of analog-to-digital converters, each of the analog-to-digital converters being electrically connected to at least one antenna, a plurality of analog-to-digital converters, and a plurality of antennas;
the analog-to-digital converter is used for converting a reflection signal received by the at least one antenna into a digital signal, and the processor is used for synchronously acquiring the digital signals converted by the plurality of analog-to-digital converters.
2. The system of claim 1, wherein the processor comprises a field programmable gate array device electrically connected to each of the plurality of analog-to-digital converters and configured to synchronously acquire the digital signals converted by the plurality of analog-to-digital converters via the field programmable gate array device.
3. The system of claim 2, wherein the radar detection device further comprises: the angle sensor is electrically connected with the processor and is used for detecting the rotating angle of the radar detection equipment;
the processor is further configured to:
acquiring the rotation angle of the radar detection equipment detected by the sensor;
and determining the azimuth angle of the transmitting signal of the radar detection equipment according to the angle.
4. The system of claim 2, wherein the radar detection device further comprises: the first memory and the second memory are respectively and electrically connected with the processor;
the first memory is used for storing program codes called by the processor;
the second memory is used for storing digital signals synchronously acquired by the processor from the plurality of analog-to-digital converters.
5. The system of claim 1, wherein the radar detection device further comprises: a wireless transmission system electrically connected with the processor;
and the wireless transmission system is used for sending the digital signals synchronously acquired by the processor from the plurality of analog-to-digital converters to a main control system in the movable platform.
6. The system of claim 1, wherein the radar detection device further comprises: a plurality of filters, each of the plurality of filters connected to one of the analog-to-digital converters;
each filter is used for carrying out filtering pretreatment on the reflected signals received by the at least one antenna.
7. The system of claim 6, wherein the filter is a programmable filter.
8. The system of claim 7, wherein the processor is further configured to: sending a control instruction to at least one of the plurality of filters, the control instruction being used to control parameters of the filter.
9. The system of claim 8, wherein the parameters of the filter comprise at least one of:
filter gain, cut-off frequency.
10. The system of claim 1, wherein the processor is further configured to:
sending a configuration instruction to at least one analog-to-digital converter in the plurality of analog-to-digital converters before synchronously acquiring the digital signals converted by the plurality of analog-to-digital converters, wherein the configuration instruction is used for synchronizing the analog-to-digital converters and the clocks of the processor.
11. The system of claim 1, wherein the radar detection device further comprises: and the power supply system is electrically connected with the processor and is used for supplying power to the radar detection equipment.
12. The system of claim 11, wherein the power supply system comprises: the controller is electrically connected with each direct current voltage reducer in the direct current voltage reducers, and the controller is electrically connected with each low-voltage-difference linear voltage regulator in the low-voltage-difference linear voltage regulators;
each direct current voltage reducer in the plurality of direct current voltage reducers is electrically connected with the plurality of low dropout linear voltage regulators;
each of the plurality of low dropout linear regulators connected to each of the dc voltage reducers is electrically connected to one of the analog-to-digital converters.
13. The system of claim 1, wherein the rotating means comprises:
the rotary table is used for bearing the radar detection equipment;
and the electric adjusting plate is electrically connected with the motor and used for driving the motor to rotate and controlling the rotating state of the motor, and the motor is used for driving the rotary table to rotate.
14. A movable platform, comprising:
a body;
the power system is arranged on the machine body and used for providing moving power;
the main control system is in communication connection with the power system and is used for controlling the movable platform to move;
and a radar system according to any one of claims 1-13, for detecting position information of obstacles in the direction of movement of the movable platform.
15. The movable platform of claim 14, wherein the movable platform comprises at least one of:
mobile robot, unmanned aerial vehicle, autopilot vehicle.
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| CN112585497A (en) * | 2020-04-26 | 2021-03-30 | 深圳市大疆创新科技有限公司 | Radar system, movable platform and signal processing method |
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