CN216870792U - Radar and movable platform - Google Patents

Abstract

The embodiment of the application provides a radar and a movable platform. Wherein, the radar includes: the motor comprises a stator and a rotor which is rotatably connected with the stator; the rotor is provided with a controller, an antenna assembly in communication connection with the controller, a first optical communication assembly in communication connection with the controller and a first electric field communication assembly in communication connection with the antenna assembly; the stator is provided with a second optical communication component and a second electric field communication component which are respectively in communication connection with the data processor; the first optical communication component and the second optical communication component are used for carrying out wireless communication through light so as to establish wireless communication connection between the controller and the data processor; the first electric field communication assembly and the second electric field communication assembly are used for conducting wireless communication through an electric field, and a wireless communication connection is established between the antenna assembly and the data processor. The technical scheme provided by the embodiment of the application can reduce the transmission delay.

Description

Radar and movable platform

Technical Field

The embodiment of the application relates to the technical field of radars, in particular to a radar and a movable platform.

Background

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.

Generally, a radar includes a fixed part and a rotating part. Wherein, there is not electric contact between rotating part and the fixed part, need communicate through wireless. Currently, the wireless communication technology applied in radar is mainly WiFi.

SUMMERY OF THE UTILITY MODEL

The embodiment of the application provides a radar and movable platform, through optical communication, can reduce the communication delay between rotor side and the stator side, for example: the communication delay of the sampling trigger signal transmitted from the rotor side to the stator side can be reduced, so that the stator side can sample the obstacle information received by the second electric field communication assembly from the first electric field communication assembly in time.

An embodiment of the present application provides a radar, including:

the motor comprises a stator and a rotor which is rotatably connected with the stator;

the rotor is provided with a controller, an antenna assembly in communication connection with the controller, a first optical communication assembly in communication connection with the controller, and a first electric field communication assembly in communication connection with the antenna assembly;

the stator is provided with a second optical communication assembly and a second electric field communication assembly which are respectively in communication connection with the data processor;

the first optical communication component and the second optical communication component are used for carrying out wireless communication through light so as to establish wireless communication connection between the controller and the data processor; the first electric field communication component and the second electric field communication component are used for conducting wireless communication through an electric field, so that a wireless communication connection is established between the antenna component and the data processor.

Another embodiment of the present application provides a movable platform comprising the above-mentioned radar.

In the radar that this application embodiment provided, through the electric field coupling principle between first electric field communication subassembly and the second electric field communication subassembly, realize the signal transmission between the stator side and the rotor side of radar, increased the signal frequency range that can transmit. And moreover, the electric field coupling principle is adopted for signal transmission, encoding and decoding operations on signals are not needed, and as long as the first electric field communication assembly, the second electric field communication assembly and related wiring are fixed, signal transmission delay is fixed, and the fluctuation of transmission delay is reduced.

In addition, a first optical communication component is arranged on the side of the rotor, a second optical communication component is arranged on the side of the stator, and the controller on the rotor and the data processor on the stator realize wireless communication connection through optical communication between the first optical communication component and the second optical communication component. Because the optical transmission speed is fast, the communication delay between the controller on the rotor and the data processor on the stator can be reduced. When the first optical communication assembly and the second optical communication assembly are adopted to transmit the sampling trigger signal sent from the controller on the rotor to the data processor on the stator, the communication delay of the sampling trigger signal can be reduced, and therefore the fact that the obstacle information received by the second electric field communication assembly from the first electric field communication assembly can be sampled in time on the stator side is guaranteed.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.

FIG. 1a is a first cross-sectional view of a radar provided in accordance with an embodiment of the present application;

FIG. 1b is an enlarged view at H in FIG. 1;

fig. 2a is a block diagram of an optical communication apparatus according to an embodiment of the present disclosure;

FIG. 2b is a schematic diagram of a capacitor according to an embodiment of the present disclosure;

FIG. 3 is a first cross-sectional view of a first portion of the components of a radar provided in accordance with an embodiment of the present application;

FIG. 4 is a second cross-sectional view of a first portion of the components of the radar provided in accordance with an embodiment of the present application;

fig. 5 is a schematic structural diagram of a first part of components of a radar according to an embodiment of the present application;

FIG. 6 is a cross-sectional view of a first sub-assembly provided in accordance with an embodiment of the present application;

FIG. 7 is a cross-sectional view of a second subassembly of the first subassembly as provided by an embodiment of the present application;

FIG. 8 is a first exploded view of a first portion of the components of a radar provided in accordance with an embodiment of the present application;

fig. 9 is a second exploded view of a first portion of components of a radar provided in an embodiment of the present application;

fig. 10 is a second cross-sectional view of a radar according to an embodiment of the present application.

Detailed Description

Currently, most omnidirectional millimeter wave radars adopt a rotating structure, so data cannot be transmitted in a wired communication mode, and generally, barrier information acquired by a rotor end is transmitted to a stator end in a wireless communication mode such as Bluetooth (Bluetooth), WIFI (wireless fidelity) or ZigBee (ZigBee).

In the existing wireless communication modes, encoding and decoding operations need to be performed on original analog signals in the communication process, which requires that a sampling module and a digital processing module are arranged at a rotor end of a millimeter wave radar, that is, a whole set of digital processing module, including an FPGA chip integrating PS and PL, DDR and the like, needs to be configured at the rotor end, and high-speed links, such as WIFI or Ethernet and the like, need to be configured at the periphery to transmit point cloud data to a stator end. If can place digital processing module and sampling module at the stator end, then can multiplexing unmanned aerial vehicle's main control chip and running partial algorithm, the stator end only need contain PL the FPGA can, this cost that can reduce whole radar by a wide margin. The embodiment of the application provides that: a first electric field communication assembly is disposed on the rotor in communication with the antenna assembly and a second electric field communication assembly is disposed on the stator in communication with the data processor. After the antenna assembly receives the reflected beams, an analog signal is generated, the analog signal is transmitted to the second electric field communication assembly through the electric field by the first electric field communication assembly, and the data processor samples the analog signal aiming at the second electric field communication assembly 20, so that the obstacle information can be obtained. Like this, just need not to set up digital processing module and sampling module at the rotor end, only need operate partial algorithm at the multiplexing unmanned aerial vehicle's of stator end main control chip, can effectively reduce the cost of whole radar. In addition, in the existing wireless communication modes, the original analog signals are required to be coded and decoded in the communication process, so that the problems of unfixed transmission delay, narrow frequency range of the signals capable of being transmitted and the like are caused. The final calculated obstacle distance is not accurate enough due to the fact that the transmission delay is not fixed, because the obstacle distance is calculated according to the difference between the absolute value of the difference between the transmission time point of the antenna assembly and the receiving time point of the signal received by the stator end and the transmission delay. In the embodiment of the application, the signal transmission between the stator side and the rotor side of the radar is realized through the electric field coupling principle of the capacitor, so that the frequency range of the transmitted signal can be enlarged, and the fluctuation of transmission delay can be reduced.

In the above scheme of communication through an electric field, a controller at the rotor end, for example, an MCU (Micro Control Unit), needs to send a sampling trigger signal to the stator end to inform the stator end of a sampling time at which the stator end samples information received by the second electric field communication component from the first electric field communication component. In order to ensure that the stator side can sample the obstacle information received by the second electric field communication assembly from the first electric field communication assembly in time, the low communication delay of the sampling trigger signal needs to be ensured. Therefore, the embodiment of the present application further provides: the first optical communication component is arranged on the side of the rotor, the second optical communication component is arranged on the side of the stator, and the controller on the rotor and the data processor on the stator realize wireless communication connection through optical communication between the first optical communication component and the second optical communication component. Because the optical transmission speed is very fast, the communication delay between the controller on the rotor and the data processor on the stator can be reduced, and therefore the situation that when the second optical communication assembly receives the obstacle information from the first optical communication assembly due to the communication delay, the sampling trigger signal is not transmitted to the stator side, and therefore the stator side cannot acquire the obstacle information received by the second optical communication assembly from the first optical communication assembly in time is avoided. Note: the sampling in time is not only to be able to sample the complete obstacle information, but also to reduce the sampling of the interfering signal.

In addition, the existing wireless communication method generally works in a frequency band of 2.4G or 5.8G, which may cause low noise rise and communication interference of SDR (Software defined Radio) mapping in the field of drone application, because the frequency band used by the existing wireless communication method is relatively close to or even overlaps with the frequency band used by SDR mapping. According to the technical scheme, the light and the electric field are used for communication, the corresponding frequency band is not overlapped with the frequency band used by SDR image transmission and is far away from the frequency band used by the SDR image transmission, and low-noise lifting and communication interference of the SDR image transmission cannot be caused.

The technical solutions in the embodiments of the present application will be described below clearly with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

In the following description and in the claims, the terms "include" and "comprise" are used in an open-ended fashion, and thus should be interpreted to mean "include, but not limited to. "substantially" means within an acceptable error range, and a person skilled in the art can solve the technical problem within a certain error range to substantially achieve the technical effect.

Furthermore, the term "coupled" is intended to include any direct or indirect coupling. Thus, if a first device couples to a second device, that connection may be through a direct connection, or through an indirect connection via other devices.

It should be understood that the term "and/or" is used herein only to describe an association relationship of associated objects, and means that there may be three relationships, for example, a1 and/or B1, which may mean: a1 exists alone, A1 and B1 exist simultaneously, and B1 exists alone. In addition, the character "/" herein generally indicates that the former and latter associated objects are in an "or" relationship.

Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. Various embodiments or examples and features of various embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Fig. 1a shows a first cross-sectional view of a radar provided by an embodiment of the present application and fig. 1a is an enlarged view at H in fig. 1 b. As shown in fig. 1a and 1b, the radar includes: the motor comprises a stator and a rotor which is rotatably connected with the stator; a controller (not labeled), an antenna assembly (not labeled) in communication with the controller, a first optical communication assembly 30 in communication with the controller, and a first electric field communication assembly 10 in communication with the antenna assembly are disposed on the rotor; the stator is provided with a second optical communication component 40 and a second electric field communication component 20 which are respectively in communication connection with the data processor; wherein, the first optical communication assembly 30 and the second optical communication assembly 40 are used for performing wireless communication through light so as to establish a wireless communication connection between the controller and the data processor; the first electric field communication component 10 and the second electric field communication component 20 are used for wireless communication through an electric field to establish a wireless communication connection between the antenna component and the data processor.

The first optical communication module 30 and the second optical communication module 40 can perform wireless communication through one of visible light, ultraviolet light, and infrared light, which is not particularly limited in this embodiment of the application. In one example, the first optical communication component 30 and the second optical communication component 40 can communicate wirelessly through blue light.

The controller may be specifically an MCU, and the antenna assembly may include: radar radio frequency board.

In practical application, the controller generates a sampling trigger signal when the rotor end antenna assembly emits a beam, and the sampling trigger signal is transmitted to the second optical communication assembly 40 from the first optical communication assembly 30 and then transmitted to the data processor from the second optical communication assembly 40. The data processor determines a sampling instant for the second electric field communication assembly 20 from the sampling trigger signal. After receiving the reflected wave, the antenna assembly produces an analog signal, the analog signal is transmitted to the second electric field communication assembly 20 through the electric field by the first electric field communication assembly 10, and the data processor samples the analog signal for the second electric field communication assembly 20 when the sampling time comes, so that the obstacle information is obtained. By optically transmitting the sampling trigger signal, low time delay in transmission is ensured, thereby ensuring that the data processor can sample the obstacle information on the second electric field communication component 20 in time.

In the radar that this application embodiment provided, through the electric field coupling principle between first electric field communication subassembly and the second electric field communication subassembly, realize the signal transmission between the stator side and the rotor side of radar, increased the signal frequency range that can transmit. And moreover, the electric field coupling principle is adopted for signal transmission, encoding and decoding operations on signals are not needed, and as long as the first electric field communication assembly, the second electric field communication assembly and related wiring are fixed, signal transmission delay is fixed, and the fluctuation of transmission delay is reduced.

In addition, a first optical communication component is arranged on the side of the rotor, a second optical communication component is arranged on the side of the stator, and the controller on the rotor and the data processor on the stator realize wireless communication connection through optical communication between the first optical communication component and the second optical communication component. Because the optical transmission speed is fast, the communication delay between the controller on the rotor and the data processor on the stator can be reduced. When the first optical communication assembly and the second optical communication assembly are adopted to transmit the sampling trigger signal sent from the controller on the rotor to the data processor on the stator, the communication delay of the sampling trigger signal can be reduced, and therefore the fact that the obstacle information received by the second electric field communication assembly from the first electric field communication assembly can be sampled timely on the stator side is guaranteed.

Fig. 2a shows a block diagram of an optical communication according to an embodiment of the present application. As shown in fig. 2a, the first optical communication assembly 30 includes: a first optical transmitter 301 communicatively connected to the controller 700; the second optical communication module 40 includes: a first optical receiver 401 communicatively coupled to the data processor 800; the first optical transmitter 301 is disposed on the rotor, and the first optical receiver 401 is disposed on the stator; the first optical transmitter 301 and the first optical receiver 401 are located within a predetermined range centered on the rotation axis of the rotor, so that the light emitted from the first optical transmitter 301 can reach the first optical receiver 401 when the rotor rotates to any angle relative to the stator.

Since the light emitted by the first optical transmitter 301 has a certain divergence angle, even though the first optical transmitter 301 and the first optical receiver 401 are not disposed opposite to each other when the rotor rotates to any angle relative to the stator, the light emitted by the first optical transmitter 301 can reach the first optical receiver 401 as long as the first optical transmitter 301 and the first optical receiver 401 are located within a predetermined range centered on the rotation axis of the rotor. The preset range may be determined according to a divergence angle of the light emitted from the first light emitter 301.

In another example, the first optical transmitter 301 and the first optical receiver 401 may be disposed opposite to each other on the rotation axis of the rotor, and when the rotor rotates to any angle relative to the stator, the first optical transmitter 301 and the first optical receiver 401 are maintained in an opposite state, so that the light emitted from the first optical transmitter 301 can reach the first optical receiver 401.

In a specific implementation, the first light emitter 301 may specifically include a blue light emitting diode; the first light receiver 401 may specifically comprise a blue light photodiode.

In a specific embodiment, the first optical communication assembly 30 further includes: a driving circuit 302 for driving the first light emitter 301; the driver circuit 302 is communicatively coupled to the controller 700.

The driving circuit 302 is communicatively connected to the controller 700 and the first light emitter 301, and the driving circuit 302 drives the first light emitter 301 to emit light under the control of the controller 700.

In another specific embodiment, the second optical communication module 40 includes: a signal conditioning circuit 402 communicatively coupled to the first optical receiver 401 and the data processor 800, respectively.

The signal conditioning circuit 402 is used to convert analog signals into digital signals for data acquisition, process control, performing computational display readout, or other purposes. The output of the first optical receiver 401 is an analog signal, and therefore, it needs to be converted into a digital signal (i.e., a sampling trigger signal) by the signal conditioning circuit 402 and transmitted to the data processor 800.

In another specific embodiment, the first optical communication assembly 30 further includes: a driving circuit 302 for driving the first light emitter 301; the driving circuit 302 is in communication connection with the controller 700; the second optical communication module 40 includes: a signal conditioning circuit 402 communicatively coupled to the first optical receiver 401 and the data processor 800, respectively.

The controller 700 at the rotor end sends a sampling trigger signal in a pulse width form to the driving circuit 302, so as to generate a driving current, so that the first optical transmitter 301 emits light (for example, blue light), the first optical receiver 401 at the stator end generates a corresponding photocurrent after receiving the light, and after the photocurrent is amplified and compared by the signal conditioning circuit 402, the sampling trigger signal is restored and sent to the data processor 800, so as to complete the transmission of the sampling trigger signal with low delay from the rotor end to the stator end.

In a specific implementation, the first light emitter 301 may specifically include a blue light emitting diode; the first light receiver 401 may specifically comprise a blue light photodiode. In this example, the blue light diode, the driving circuit, the blue light photodiode, and the signal conditioning circuit constitute a blue light communication link for transmitting the low-delay sampling trigger signal.

At unmanned aerial vehicle application, unmanned aerial vehicle is at the flight in-process, and the fuselage can incline, and the target of barrier observation is the flight path dead ahead, consequently, need transmit rotor end from stator end through wireless communication with unmanned aerial vehicle's gesture, and the controller of rotor end receives unmanned aerial vehicle gesture information back, adjusts the beam transmission angle to ensure that the beam transmitting direction is flight path dead ahead. Thus, in one example, a third optical communication assembly 50 is also disposed on the rotor; a fourth optical communication assembly 60 is also arranged on the stator; wherein the third optical communication module 50 and the fourth optical communication module 60 are in optical wireless communication with each other to establish a wireless communication connection between the controller and the data processor.

In order to avoid the interference of the optical communication between the third optical communication module 50 and the fourth optical communication module 60 on the optical communication between the first optical communication module 30 and the second optical communication module 40, a wavelength interval between a wavelength of light used for the communication between the third optical communication module 50 and the fourth optical communication module 60 and a wavelength of light used for the communication between the first optical communication module 30 and the second optical communication module 40 is greater than or equal to a first preset threshold. The first preset threshold may be 100 nm. In a specific example, the first optical communication module 30 and the second optical communication module 40 can communicate with each other through blue light, and the third optical communication module 50 and the fourth optical communication module 60 can communicate with each other through infrared light, wherein a wavelength interval between a wavelength of the blue light and a wavelength of the infrared light is greater than 100 nm. In another specific example, the first optical communication module 30 and the second optical communication module 40 can communicate with each other through green light, and the third optical communication module 50 and the fourth optical communication module 60 can communicate with each other through infrared light, wherein the wavelength interval between the wavelength of the green light and the wavelength of the infrared light is greater than 100 nm. In yet another specific example, the first optical communication component 30 and the second optical communication component 40 can communicate with each other through red light, and the third optical communication component 50 and the fourth optical communication component 60 can communicate with each other through infrared light, wherein the wavelength interval between the wavelength of the red light and the wavelength of the infrared light is greater than 100 nm.

In one specific configuration, the third optical communication assembly 50 includes: a first infrared transceiver 501 and a first infrared communication codec 502 respectively connected with the first infrared transceiver 501 and the controller 700 in a communication manner; the fourth optical communication module 60 includes: a second infrared transceiver 601 and a second infrared communication codec 602 respectively connected to the second infrared transceiver 601 and the data processor 800 in communication; the first infrared transceiver 501 and the second infrared transceiver 601 are located within a predetermined range centered on the rotation axis of the rotor so that the light emitted from the second infrared transceiver 601 can reach the first infrared transceiver 501 when the rotor rotates to any angle relative to the stator.

Since the light emitted by the second ir transceiver 601 has a certain divergence angle, the light emitted by the second ir transceiver 601 can reach the first ir transceiver 501 even though the second ir transceiver 601 and the first ir transceiver 501 are not disposed opposite to each other when the rotor is rotated to any angle relative to the stator, as long as the first ir transceiver 501 and the second ir transceiver 601 are located within a predetermined range centered on the rotation axis of the rotor. The predetermined range may be determined according to a divergence angle of the light emitted from the second infrared transceiver 601.

In another example, the first infrared transceiver 501 and the second infrared transceiver 601 may be disposed opposite to each other on the rotation axis of the rotor, and when the rotor rotates to any angle relative to the stator, the first infrared transceiver 501 and the second infrared transceiver 601 are maintained in an opposite state, so that the light emitted from the second infrared transceiver 601 can reach the first infrared transceiver 501.

The infrared communication coder-decoder and the infrared transceiver of the rotor end and the stator end form an infrared communication link for transmitting the attitude information of the unmanned aerial vehicle.

Further, for the Infrared communication link, serial port communication of UART (Universal Asynchronous Receiver/Transmitter) is adopted between the Data processor 800 and the second Infrared communication codec, IrDA (Infrared Data Association) communication is adopted between the second Infrared communication codec and the second Infrared transceiver, serial port communication of UART (Universal Asynchronous Receiver/Transmitter) is adopted between the controller 700 and the first Infrared communication codec, and IrDA (Infrared Data Association) communication is adopted between the first Infrared communication codec and the first Infrared transceiver, so as to complete Data interaction between the rotor terminal and the stator terminal.

The second infrared coder-decoder is used for coding the digital signal and controlling the second infrared transceiver to emit light or not according to the coded digital signal. The first infrared transceiver generates a digital signal according to the received optical signal, and the first infrared codec decodes the digital signal to obtain a decoded digital signal and sends the decoded digital signal to the controller.

In one embodiment, as shown in fig. 1a, the first electric field communication assembly 10 comprises: a first rotor-side pole plate 11; the first rotor side plate 11 is connected with the antenna component in communication, and is arranged on the rotor so as to drive the first rotor side plate 11 to rotate by the rotor; the second electric field communication assembly 20 comprises a first stator side plate 21; the first stator side polar plate 21 is in communication connection with the data processor and is arranged on the stator; the first stator side plate 21 is opposite to the first rotor side plate 11 and is arranged at an interval so as to form a first capacitor structure for transmitting data acquired by the antenna assembly to the data processor; and the first stator-side pole plate 21 and the first rotor-side pole plate 11 are maintained in a state of being opposed to each other and spaced apart from each other while the rotor is rotated relative to the stator.

Wherein the stator and the rotor may be coupled together by a bearing.

During the rotation of the rotor relative to the stator, the first rotor-side pole plate 11 also rotates with the rotation of the rotor. The process of rotating the rotor relative to the stator, i.e. the process of rotating the first rotor side plate 11 relative to the first stator side plate 21. In this process, the first rotor-side plate 11 and the first stator-side plate 21 are kept in a state of being opposite and spaced from each other, which indicates that a capacitor structure is always kept between the two, so that continuous communication between the rotor side and the stator side can be ensured in the rotating process. The antenna assembly transmits the acquired barrier information to the data processing module through the first capacitor structure.

In the technical scheme provided by the embodiment of the application, the principle of the capacitor is utilized, namely, the electric field coupling principle between the polar plates is utilized to realize the transmission of the alternating signal. Fig. 2b shows a schematic diagram of signal coupling provided by the embodiment of the present application. The first polar plate 1 and the second polar plate 2 form a plate capacitor, the impedance of the plate capacitor to the alternating current signal is 1/j omega C, and C is the capacitance value of the plate capacitor. In fig. 2b, R is a sampling resistor, dividing the alternating signal together with the capacitive impedance 1/j ω C. According to the coupling principle, the communication device has strong adaptability to the dynamic range of signals and has small limitation on the frequency range of the signals. In addition, as can be seen from theoretical analysis, the higher the signal frequency, the smaller the capacitance impedance, and the better the signal coupling performance of the device. In addition, in the transmission process, the original signal (namely, the analog signal AC) does not need to be digitally processed, the transmitted signal does not need to be digitally encoded, carrier modulation is not needed, the original signal AC only needs to be transmitted to the first amplifier 3 for amplification, then is directly transmitted to the second amplifier 4 through the parallel plate capacitor, and then is transmitted to the digital-to-analog converter 6 after being amplified by the second amplifier 4. In the embodiment of the present application, the first rotor-side plate 11 corresponds to the first plate 1 in fig. 2 b; the first stator-side plate 21 corresponds to the second plate 2 in fig. 2 b.

In the technical scheme provided by the embodiment of the application, the signal transmission can be realized by utilizing the capacitive electric field coupling principle without carrying out coding and decoding operations on signals, and when a polar plate and a wiring are fixed, the signal transmission delay is also fixed. In addition, the technical scheme provided by the embodiment of the application does not need signal coding and decoding operation and carrier modulation, and is only based on capacitance coupling, so that a larger dynamic transmission range of signal frequency can be provided.

In the prior art, a series of data processing modules such as an analog-digital converter, a digital encoder, a carrier modulator and the like need to be arranged on the rotor side of the radar, so that the radar has higher cost. In the embodiment of the application, the data processing module is designed on the stator side, so that the possibility of multiplexing the data processing module inside the movable platform (such as an unmanned aerial vehicle) is provided, and the cost of the whole radar can be reduced.

In practical application, the first rotor side polar plate 11 and the first stator side polar plate 21 are both in an annular structure; the peripheral edge region of the first rotor side plate 11 is fixedly arranged on the rotor; the inner peripheral edge region of the first stator-side plate 21 is fixedly disposed on the stator. Wherein, the annular structure may be a circular ring structure.

The first rotor side plate 11 includes a first inner circumferential surface, a first outer circumferential surface, and a first end surface connecting the first inner circumferential surface and the first outer circumferential surface; the first stator side plate 21 includes a second inner circumferential surface, a second outer circumferential surface, and a second end surface connecting the second inner circumferential surface and the second outer circumferential surface.

In one example, a first outer peripheral surface of the first rotor-side plate 11 is fixedly provided on the rotor; the second inner peripheral surface of the first stator-side pole plate 21 is fixedly arranged on the stator; the first inner peripheral surface of the first rotor-side plate 11 and the second outer peripheral surface of the first stator-side plate 21 are disposed opposite to each other at an interval (not shown) to form the first capacitor structure.

In another example, as shown in fig. 3, the first end surface is opposite to and spaced apart from the second end surface.

It is necessary to supplement that, by adopting the way that the first end face and the second end face are opposite and arranged at intervals to form the first capacitor, the number of the stator side pole plates and/or the rotor side pole plates can be conveniently expanded, the shapes and the sizes of all the stator side pole plates can be the same, the shapes and the sizes of all the rotor side pole plates can be the same, the batch production is convenient, and the production cost can be reduced. If the first inner circumferential surface of the first rotor-side electrode plate 11 is opposite to the second outer circumferential surface of the first stator-side electrode plate 21 and is disposed at an interval to form the first capacitor, that is, the stator-side electrode plate or the rotor-side electrode plate is sleeved, the diameter of the stator-side electrode plate or the rotor-side electrode plate to be expanded is different from the diameters of the first rotor-side electrode plate 11 and the first stator-side electrode plate 21, and the sleeved structure can be formed. The difference in size will undoubtedly increase the production cost.

In order to reduce the interference to the signal transmission, it is necessary to ensure that the impedance change of the first capacitor is small. The impedance of the first capacitor is related to the capacitance value, and the capacitance value is related to the relative area and the distance between the polar plates. In order to reduce the variation of the relative area of the first stator side plate 21 between the first rotor side plates 11 during the rotation process, the first stator side plate 21 and the first rotor side plate 11 may be configured as circular ring structures, and the two are coaxially arranged (i.e., a first axis perpendicular to the circle center of the first stator side plate 21 and the ring surface of the first stator side plate 21 coincides with a second axis perpendicular to the circle center of the first rotor side plate 21 and the ring surface of the first rotor side plate 21). Thus, variations in the relative area between the plates and variations in the spacing during rotation are reduced or avoided.

In one example, the first electric field communication assembly 10 may further include: a second rotor side plate 12. The second rotor side polar plate 12 is in communication connection with the antenna assembly and is arranged on the rotor so that the rotor drives the second rotor side polar plate 12 to rotate; the first stator side plate 21 is located between the first rotor side plate 11 and the second rotor side plate 12; the second rotor side polar plate 12 is opposite to the first stator side polar plate 21 and is arranged at an interval, so as to form a second capacitor structure for transmitting the data acquired by the antenna assembly to the data processing module; and the second rotor side pole plate 12 and the first stator side pole plate 21 are maintained in a state of being opposed to each other and spaced apart from each other while the rotor is rotated relative to the stator.

Wherein the second rotor side plate 12 may be an annular structure. The outer peripheral edge region of the second rotor side plate 12 is fixedly arranged on the rotor. In one embodiment, the second rotor side plate 12 may include a third inner circumferential surface, a third outer circumferential surface and a third end surface connecting the third inner circumferential surface and the third outer circumferential surface, the third end surface being opposite to and spaced apart from the opposite end surface of the first stator side plate 21 opposite to the second end surface thereof.

In order to reduce interference to signal transmission, the second rotor side plate 12 is a circular ring structure, and the second rotor side plate 12, the first rotor side plate 11, and the first stator side plate 21 are coaxially disposed (i.e., a first axis of a circle center of the first stator side plate 21 and perpendicular to a ring surface of the first stator side plate 21, a second axis of a circle center of the first rotor side plate 11 and perpendicular to a ring surface of the first rotor side plate 11, and a third axis of a circle center of the second rotor side plate 12 and perpendicular to a ring surface of the second rotor side plate 21 coincide).

Mechanical errors cannot be avoided in the production and subsequent installation processes of each component of the radar. Due to the existence of mechanical errors, in the process that the rotor rotates relative to the stator, the distance between two adjacent polar plates and the relative area can not be guaranteed to be kept unchanged, and the capacitance impedance can not be guaranteed to be unchanged. In order to reduce the negative effect of mechanical error, the impedance of the capacitor can be reduced. In the above embodiment, a second capacitor structure connected in parallel with the first capacitor structure is introduced through the second rotor side plate, and the total capacitance impedance in the circuit can be reduced through the parallel connection, so that the negative effect caused by mechanical error can be reduced.

In a specific structure, as shown in fig. 1a, the first electric field communication assembly 10 may further include: the rotor-side carrier 31; an accommodating space is formed inside the rotor-side bearing member 31, and two ends of the accommodating space are open; a first opening end of the rotor-side carrier 31 is fixedly provided on the rotor; the first rotor side pole plate 11 and the second rotor side pole plate 12 are accommodated in the accommodating space, and the peripheral edge region of the first rotor side pole plate 11 and the peripheral edge region of the second rotor side pole plate 12 are both fixedly arranged on the rotor side bearing member 31; the first stator side polar plate 21 is accommodated in the accommodating space and is located between the first rotor side polar plate 11 and the second rotor side polar plate 12.

In an achievable solution, the inner surface of the above-mentioned rotor-side carrier 31 is provided with an internal thread; the outer peripheral surfaces of the first rotor side pole plate 11 and the second rotor side pole plate 12 are provided with external threads used in cooperation with the internal threads. The first rotor side pole plate 11 and the second rotor side pole plate 12 are respectively fixedly connected to the rotor side carrier 31 by a screw thread.

In another implementation, the method further comprises: a first spacer ring 32 and a first pressing member 33; a first bearing table 311 is arranged on the inner side surface of the rotor-side bearing member 31; the outer peripheral edge region of the first rotor-side plate 11 is carried on the first carrying stage 311; the first spacer ring 32 is carried on the peripheral edge region of the first rotor side plate 11; the outer peripheral edge region of the second rotor side plate 12 is carried on the first spacer ring 32; the first pressing member 33 is fixedly disposed on the rotor-side carrier 31, so as to press the first rotor-side pole plate 11, the first spacer ring 32, and the second rotor-side pole plate 12 against the first bearing table 311.

The first spacer ring 32 is used to define the size of the gap between the first rotor side plate 11 and the second rotor side plate 12.

Optionally, as shown in fig. 1a, the second electric field communication assembly 20 may further include: the second stator-side pole plate 22; a second stator side plate 22, communicatively connected to the data processing module, and disposed on the stator; the first rotor side plate 11 is located between the first stator side plate 21 and the second stator side plate 22; the second stator side polar plate 22 is opposite to the first rotor side polar plate 11 and is arranged at an interval so as to form a third capacitor structure for transmitting the data acquired by the antenna assembly to the data processing module; and the second stator-side pole plate 22 is maintained in a state of being opposed to and spaced from the first rotor-side pole plate 11 in the process of rotating the rotor relative to the stator.

Wherein the second stator side plate 22 may be a ring structure. The inner peripheral edge region of the second stator-side pole plate 22 is fixedly arranged on the stator. In a specific example, the second stator side plate 22 may include a fourth inner circumferential surface, a fourth outer circumferential surface, and a fourth end surface connecting the fourth inner circumferential surface and the fourth outer circumferential surface, the fourth end surface being opposite to and spaced apart from an opposite end surface of the first rotor side plate 11 opposite to the first end surface thereof.

In order to reduce interference to signal transmission, the second stator side plate 22 is a circular ring structure, and the second stator side plate 22, the first rotor side plate 11, and the first stator side plate 21 are coaxially disposed (i.e., a first axis of a circle center of the first stator side plate 21 and perpendicular to a ring surface of the first stator side plate 21, a second axis of a circle center of the first rotor side plate 11 and perpendicular to a ring surface of the first rotor side plate 11, and a third axis of a circle center of the second stator side plate 22 and perpendicular to a ring surface of the second stator side plate 22 coincide).

The third capacitor structure and the first capacitor structure form a parallel structure, so that the total capacitance impedance in the circuit can be reduced.

In one embodiment, as shown in fig. 1a, the second electric field communication assembly 20 may further include: the stator-side carrier 41; the stator-side carrier 41 is fixedly provided on the stator; both the inner peripheral edge region of the first stator-side pole plate 21 and the inner peripheral edge region of the second stator-side pole plate 22 are fixedly provided on the stator-side carrier 41.

In an implementable solution, the outer surface of the stator-side carrier 41 is provided with an external thread, and the inner circumferential surfaces of the first stator-side pole plate 21 and the second stator-side pole plate 22 are provided with an internal thread. The first stator-side pole plate 21 and the second stator-side pole plate 22 are each fixedly connected to the stator-side carrier 41 by a screw thread.

In another implementation, as shown in fig. 1a, the second e-field communication assembly 20 may further include: a second spacer ring 42 and a second pressing member 43; a second bearing table 411 is provided on the outer side surface of the stator-side carrier 41. The second stator side polar plate 22, the second spacer ring 42 and the first stator side polar plate 21 are sequentially sleeved on the stator side bearing piece 41; the inner peripheral edge region of the second stator-side plate 22 is borne on the second bearing table 411; the second spacer ring 42 is carried on an inner peripheral edge region of the second stator side plate 22; the inner peripheral edge region of the first stator side plate 21 is carried on the second spacer ring 42; the second pressing member 43 is fixedly disposed on the stator-side carrier 41, and is used for pressing the first stator-side pole plate 21, the second spacer ring 42, and the second stator-side pole plate 22 on the second carrier 411.

The second spacer ring 42 is used to define the size of the gap between the first stator-side plate 21 and the second stator-side plate 22.

As shown in fig. 1a, the second pressing member 43 comprises a pressing nut; an external thread used in cooperation with the compression nut is provided on the outer side surface of the stator-side carrier 41. The compression nut is fixedly connected to the stator-side carrier 41 by means of a screw thread.

In another example, the radar may further include: a first rotor side coil 51 in communication with the antenna assembly and disposed on the rotor for rotation of the first rotor side coil 51 by the rotor; a first stator side coil 52 communicatively connected to the data processing module and provided on the stator; the first stator side coil 52 is opposite to the first rotor side coil 51 and is arranged at an interval, so as to form a first transformer for transmitting a message, which is required to be sent to the data processing module, of the antenna assembly to the data processing module; and the first stator side coil 52 and the first rotor side coil 51 are maintained in a state of being opposed to each other and spaced apart from each other while the rotor is rotated relative to the stator.

The first transformer formed by the first stator side coil 52 and the first rotor side coil 51 can be used to charge the antenna assembly. The specific implementation process of charging can be referred to in the prior art, and is not described herein in detail.

In another aspect, the present application provides a movable platform including the radar provided in the above embodiments. The specific structure of the radar can refer to the corresponding content in the above embodiments, and is not described herein again. Wherein the movable platform may comprise an unmanned automobile, an unmanned aerial vehicle, or the like.

Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill 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; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.

Claims (10)

1. A radar, comprising:

the motor comprises a stator and a rotor which is rotatably connected with the stator;

the rotor is provided with a controller, an antenna assembly in communication connection with the controller, a first optical communication assembly in communication connection with the controller, and a first electric field communication assembly in communication connection with the antenna assembly;

the stator is provided with a second optical communication assembly and a second electric field communication assembly which are respectively in communication connection with the data processor;

the first optical communication assembly and the second optical communication assembly are used for performing wireless communication through light to establish wireless communication connection between the controller and the data processor; the first electric field communication component and the second electric field communication component are used for conducting wireless communication through an electric field, so that a wireless communication connection is established between the antenna component and the data processor.

2. The radar of claim 1, wherein the first optical communication assembly comprises: a first optical transmitter communicatively coupled to the controller;

the second optical communication assembly includes: a first optical receiver communicatively coupled to the data processor;

the first optical transmitter is arranged on the rotor, and the first optical receiver is arranged on the stator; the first optical transmitter and the first optical receiver are located within a preset range centered on the rotation axis of the rotor so that the light emitted by the first optical transmitter can reach the first optical receiver when the rotor rotates to any angle relative to the stator.

3. The radar of claim 2, wherein the first optical communication assembly further comprises: a driving circuit for driving the first light emitter; the driving circuit is in communication connection with the controller; and/or the presence of a gas in the gas,

the second optical communication assembly includes: and the signal conditioning circuit is respectively in communication connection with the first optical receiver and the data processor.

4. A radar as claimed in any one of claims 1 to 3, wherein a third optical communication assembly is also provided on the rotor;

the stator is also provided with a fourth optical communication assembly;

the third optical communication assembly and the fourth optical communication assembly are in wireless communication through light, so that wireless communication connection is established between the controller and the data processor.

5. The radar of claim 4, wherein the third optical communication assembly comprises: the first infrared communication coder-decoder is in communication connection with the first infrared transceiver and the controller respectively;

the fourth optical communication assembly includes: the second infrared transceiver and a second infrared communication codec are respectively in communication connection with the second infrared transceiver and the data processor;

the first infrared transceiver and the second infrared transceiver are located within a predetermined range centered on the rotation axis of the rotor so that light emitted from the second infrared transceiver can reach the first infrared transceiver when the rotor rotates to any angle relative to the stator.

6. A radar as claimed in any one of claims 1 to 3, wherein the first electric field communication assembly comprises: a first rotor side plate; the first rotor side plate is in communication with the antenna assembly and is disposed on the rotor so as to be rotated by the rotor;

the second electric field communication assembly comprises a first stator side polar plate; the first stator side polar plate is in communication connection with the data processor and is arranged on the stator;

the first stator side polar plate and the first rotor side polar plate are opposite and arranged at intervals so as to form a first capacitor structure for transmitting data acquired by the antenna assembly to the data processor; and the first stator side pole plate and the first rotor side pole plate are kept in a state of being opposite to each other and arranged at intervals in the process that the rotor rotates relative to the stator.

7. A movable platform comprising a radar; the radar, comprising:

the motor comprises a stator and a rotor which is rotatably connected with the stator;

the rotor is provided with a controller, an antenna assembly in communication connection with the controller, a first optical communication assembly in communication connection with the controller, and a first electric field communication assembly in communication connection with the antenna assembly;

the stator is provided with a second optical communication assembly and a second electric field communication assembly which are respectively in communication connection with the data processor;

the first optical communication component and the second optical communication component are used for carrying out wireless communication through light so as to establish wireless communication connection between the controller and the data processor; the first electric field communication component and the second electric field communication component are used for conducting wireless communication through an electric field, so that a wireless communication connection is established between the antenna component and the data processor.

8. The movable platform of claim 7, wherein the first optical communication assembly comprises: a first optical transmitter communicatively coupled to the controller;

the second optical communication assembly includes: a first optical receiver communicatively coupled to the data processor;

the first optical transmitter is arranged on the rotor, and the first optical receiver is arranged on the stator; the first optical transmitter and the first optical receiver are located within a preset range centered on the rotation axis of the rotor so that the light emitted by the first optical transmitter can reach the first optical receiver when the rotor rotates to any angle relative to the stator.

9. The movable platform of claim 8, wherein the first optical communication assembly further comprises: a driving circuit for driving the first light emitter; the driving circuit is in communication connection with the controller; and/or the presence of a gas in the gas,

the second optical communication assembly includes: and the signal conditioning circuit is respectively in communication connection with the first optical receiver and the data processor.

10. The movable platform of any one of claims 7-9, wherein a third optical communication assembly is further disposed on the rotor;

the stator is also provided with a fourth optical communication assembly;

the third optical communication assembly and the fourth optical communication assembly are in wireless communication through light, so that wireless communication connection is established between the controller and the data processor.

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