CN217213137U - Radar and unmanned vehicle - Google Patents

Abstract

The utility model provides a radar is applied to unmanned equipment technical field. The radar includes: the radar device comprises a radar shell, a radar plate rotating in the radar shell and a driving component for driving the radar plate to rotate; wherein both ends of the radar housing are connected with the housing of the support arm of the unmanned vehicle, so that the radar is disposed in a portion of the support arm parallel to and higher than the base of the unmanned vehicle. The embodiment of the utility model provides an in, through above-mentioned connected mode, with the radar setting in the support arm with the parallel part that just is higher than the base of base, compare with the direct front end that sets up at unmanned car base of radar among the prior art, the radar can be located higher height to make the detection range grow of radar, effectively promote the detection effect of radar then.

Description

Radar and unmanned vehicle

Technical Field

The utility model relates to an unmanned equipment technical field, concretely relates to radar and unmanned car.

Background

In recent years, unmanned vehicles have been used in various industries, and for example, in the field of plant protection, various working devices are mounted on unmanned vehicles to perform works such as spraying chemicals, seeds, and dusts. Compare in traditional manual type, can improve the operating efficiency, use manpower sparingly.

In the moving process of the unmanned vehicle, in order to ensure the movement safety, a radar on the unmanned vehicle is required to detect obstacles in the moving process. However, the radar on the unmanned vehicle in the related art is not only difficult to install but also has a limited detection range.

SUMMERY OF THE UTILITY MODEL

In view of this, the embodiment of the utility model provides a radar and unmanned car to solve the technical problem that radar installation difficulty and detection range are limited on the unmanned car among the prior art.

According to an aspect of the present invention, an embodiment of the present invention provides a radar, including: the radar device comprises a radar housing, a radar plate rotating in the radar housing, and a driving component driving the radar plate to rotate. Wherein both ends of the radar housing are connected with the housing of the support arm of the unmanned vehicle, so that the radar is disposed in a portion of the support arm parallel to and higher than the base of the unmanned vehicle.

In one embodiment, the central axis of the radar housing and the central axis of the part of the support arm connected to the radar coincide.

In one embodiment, the support arm comprises a support arm main arm and a support arm end arm, and the two ends of the radar housing are connected with the support arm main arm and the support arm end arm respectively.

In one embodiment, the housing of the support arm main arm comprises a supporting part connected with the base, and a connecting part connected with the supporting part and having a corner connecting function; the first end of the radar shell is connected with the connecting part through the connecting seat, and the second end, opposite to the first end, of the radar shell is connected with the shell of the support arm end arm through the fixing seat; the radar board passes through drive assembly and is connected with the fixing base to under drive assembly's drive, rotate around radar shell's axis in the installation cavity that radar shell formed.

In one embodiment, the support portion is vertically connected to the base.

In one embodiment, a radar enclosure includes: a cylindrical peripheral wall forming a mounting cavity; the plane of the side end wall is perpendicular to the central axis of the radar shell, the side end wall divides the installation cavity into a first cavity and a second cavity, the radar board and the driving assembly are arranged in the first cavity, and the second cavity is used for accommodating the connecting portion.

In one embodiment, a first positioning part is arranged on one side of the side end wall close to the connecting part, and the first positioning part is connected with a second positioning part which is arranged on the connecting seat and matched with the first positioning part, so that the connection between the first end and the connecting part is realized; and a third positioning part is arranged on the peripheral wall of one side of the second cavity close to the support arm end arm, and the third positioning part is connected with a fourth positioning part which is arranged on the fixing seat and matched with the third positioning part, so that the second end is connected with the support arm end arm.

In one embodiment, the drive assembly includes a drive motor and a drive control circuit; wherein, driving motor includes stator, rotor and pivot, and driving motor passes through the stator to be fixed at the fixing base, and the radar board is fixed on the rotor and is connected with the pivot, and driving motor rotates the rotation of drive rotor to it rotates to drive the radar board.

In one embodiment, a radar panel includes: a transmitting antenna for transmitting an electromagnetic wave signal; a receiving antenna for receiving electromagnetic wave signals; the signal processing circuit is electrically connected with the receiving antenna and is used for processing the electromagnetic wave signals received by the receiving antenna; and the signal transmission circuit is electrically connected with the signal processing circuit and is used for transmitting the processed electromagnetic wave signal to an external terminal.

In one embodiment, the radar further comprises a wiring slot disposed outside the radar housing for receiving electrical wiring for the connection and/or other components on the end arm of the support arm.

In one embodiment, the radar further comprises a first mounting portion disposed outside the radar housing for mounting a sensor module for detecting a form of the obstacle.

In one embodiment, the radar further comprises a second installation part arranged on the outer side of the radar shell, the second installation part and the first installation part are respectively arranged on two sides of a central axis of the radar shell, and the second installation part is used for installing lighting equipment.

According to another aspect of the present invention, an embodiment of the present invention provides an unmanned vehicle, including any one of the above-mentioned embodiments.

An embodiment of the utility model provides a radar, this radar include the radar shell, at the radar board of radar shell internal rotation and drive radar board pivoted drive assembly. Both ends of the radar housing are connected with the housing of the support arm of the unmanned vehicle so that the radar is disposed in a portion of the support arm of the unmanned vehicle that is parallel to and higher than the base. Because the radar setting is in the support arm with the base parallel and be higher than the part of base, compare with the direct front end that sets up at unmanned vehicle base of radar among the prior art, the radar can be located higher height to make the detection range grow of radar, then effectively promote the detection effect of radar.

Drawings

Fig. 1 is an exploded view of a radar according to an embodiment of the present invention.

Fig. 2 is a schematic structural view of the embodiment shown in fig. 1 when the radar is mounted on an unmanned vehicle.

Figure 3 is a schematic view of the embodiment of figure 1 in a single view, providing attachment of the radar to the support arm.

Figure 4 is a schematic view of the embodiment of figure 1 from another perspective when the radar is provided in connection with the support arm.

Fig. 5 is a schematic structural diagram of a housing of a support arm main arm according to an embodiment of the present invention.

Fig. 6 is an exploded view of a radar according to an embodiment of the present invention.

Fig. 7 is a schematic structural diagram of a radar housing in the radar provided by the embodiment shown in fig. 6 under a viewing angle.

Fig. 8 is a schematic structural diagram of a radar housing in the radar provided in the embodiment shown in fig. 6 from another view angle.

Fig. 9 is a schematic structural diagram of an end arm of a support arm in the radar provided in the embodiment shown in fig. 6.

Fig. 10 is a schematic structural view of an unmanned vehicle according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Summary of the application

With the continuous development of science and technology, the application of the unmanned vehicle in various industries is more and more extensive, and the unmanned vehicle can be applied to the scenes of agriculture, industry and the like. For example: in the field of industrial carrying, the traditional manual carrying is replaced by the cooperation of an unmanned vehicle and a mechanical arm; in the field of plant protection, various operation devices are mounted on unmanned vehicles to spray medicines, seeds, powder and the like. Compared with the traditional manual mode, the application of the unmanned vehicle in the fields can improve the operation efficiency and save the manpower.

To the unmanned vehicle who is applied to the plant protection field, receive the operation environment restriction, the barrier can appear in unmanned vehicle operation in-process, for guaranteeing motion safety, can set up the radar on unmanned vehicle usually, reconnoiters the barrier in unmanned vehicle motion process through the radar. However, in the prior art, the radar needs to be fixed to the front end of the vehicle body of the unmanned vehicle through a complex structure, so that not only is the loading and unloading complex, but also the height of the unmanned vehicle body is limited, thereby causing the height of the radar to be also limited, and further affecting the radar detection range.

Based on this, the utility model provides a radar to solve above-mentioned problem. Specifically, the radar includes: the radar device comprises a radar shell, a radar plate rotating in the radar shell and a driving component for driving the radar plate to rotate; wherein both ends of the radar housing are connected with the housing of the support arm of the unmanned vehicle, so that the radar is disposed in a portion of the support arm parallel to and higher than the base of the unmanned vehicle. Through above-mentioned connected mode, with the radar setting in the support arm with the base parallel and be higher than the part of base, compare with the direct front end that sets up at unmanned vehicle base of radar among the prior art, the radar can be located higher height to make the detection range grow of radar, then effectively promote the detection effect of radar.

The radar and the unmanned vehicle according to the present invention will be further illustrated with reference to fig. 1 to 10.

Exemplary Radar

Fig. 1 is a structural exploded view of a radar according to an embodiment of the present invention. Fig. 2 is a schematic structural view of the embodiment shown in fig. 1 when the radar is mounted on an unmanned vehicle. Figure 3 is a schematic view of the embodiment of figure 1 in a single view, providing attachment of the radar to the support arm. Fig. 4 is a schematic view of the embodiment of fig. 1 in another view when the radar is connected to the support arm. As shown in fig. 1 to 4, the radar 30 includes: the radar apparatus includes a radar housing 31, a radar plate 32 rotating within the radar housing 31, and a driving assembly (not shown in the drawings) driving the radar plate 32 to rotate. Both ends of the radar housing 31 are connected to the housing of the support arm 20 of the unmanned vehicle so that the radar 30 is disposed in a portion of the support arm 20 parallel to the base 10 of the unmanned vehicle and higher than the base 10.

Specifically, the radar 30 is used for detecting an obstacle in the working scene of the mobile device, after the radar 30 transmits an electromagnetic wave signal through the radar plate 32, if an obstacle in the traveling distance of the unmanned vehicle touches the radar 30, an echo is reflected, and a receiver of the radar 30 receives the echo signal, so that information such as the distance, the direction and the speed of the obstacle is obtained according to the echo signal.

The unmanned vehicle 1 is provided with a supporting arm 20, the part of the supporting arm 20, which is parallel to the base 10 of the unmanned vehicle and is higher than the base 10, is a radar installation area, and the two ends of the radar shell 31 are connected with the shell of the supporting arm 20 of the unmanned vehicle, so that the radar 30 is installed in the radar installation area.

The embodiment of the utility model provides an in, both ends through radar shell 31 are connected with the shell of the support arm 20 of unmanned car, set up radar 30 in the support arm 20 with base 10 parallel and be higher than the part of base 10, compare with the front end that radar 30 directly set up at unmanned car base 10 among the prior art, radar 30 can be located higher height to make radar 30's detection range grow, effectively promote radar 30's detection effect then.

In a further embodiment, the central axis of the radar housing 31 and the central axis of the part of the support arm 20 to which the radar 30 is connected coincide.

For example, as shown in fig. 2, the support arm 20 has an inverted "L" shape, and the top position of the inverted "L" is a radar installation area in the drawing. By connecting both ends of the radar housing 31 to the housing of the support arm 20 of the unmanned vehicle, and the central axis of the radar housing 31 and the central axis of the portion of the radar mounting area of the support arm 20 coincide, the radar housing 31 is mounted in the radar mounting area of the support arm 20, that is, the coaxial connection of the radar housing 31 and the housing of the support arm 20 is realized.

The embodiment of the utility model provides an in, through above-mentioned connected mode, with radar shell 31 and support arm 20's shell coaxial coupling for it is more convenient to assemble and dismantle between radar 30 and the support arm 20.

In one embodiment, as shown in fig. 4, the support arm 20 includes a support arm main arm 21 and a support arm end arm 22, and both ends of the radar housing 31 are connected to the support arm main arm 21 and the support arm end arm 22, respectively.

The embodiment of the utility model provides an in, be connected respectively through the both ends of support arm main arm 21 and support arm end arm 22 with radar housing 31, realize setting up radar 30 in the support arm 20 with the parallel purpose that just is higher than in the part of base 10.

Fig. 5 is a schematic structural diagram of a housing of a main arm of a support arm according to an embodiment of the present invention. As shown in fig. 2 to 5, the support arm 20 includes a support arm main arm 21 and a support arm end arm 22. The support arm 20 comprises a support arm main arm 21 and a support arm end arm 22, and the housing of the support arm 20 comprises a housing supporting the arm main arm 21 and a housing supporting the arm end arm 22. The housing of the support arm main arm 21 includes a support portion 211 connected to the base 10, and a connecting portion 212 connected to the support portion 211 and having a corner connecting function.

It is understood that in some embodiments of the present invention, the supporting portion 211 is vertically connected to the base 10.

Fig. 6 is an exploded view of a radar according to an embodiment of the present invention. As shown in fig. 6, a first end of the radar housing 31 is connected to the connecting portion 212 through the connecting seat 40, and a second end of the radar housing 31 opposite to the first end is connected to the housing of the support arm end arm 22 through the fixing seat 50. The radar plate 32 is connected with the fixed seat 50 through a driving assembly, and is driven by the driving assembly to rotate around the central axis of the radar housing 31 in the installation cavity 310 formed by the radar housing 31.

Illustratively, the radar board 32 is a circuit board in which an antenna, a signal transmission circuit, and a signal processing circuit are integrally formed. The radar board 32 includes a transmitting antenna, a receiving antenna, a signal processing circuit electrically connected to the receiving antenna, and a signal transmission circuit electrically connected to the signal processing circuit. The transmitting antenna is used for transmitting electromagnetic wave signals, the receiving antenna is used for receiving echo signals, the signal processing circuit is used for processing the echo signals, and the signal transmission circuit is used for sending the processed echo signals to an external terminal.

After the transmitting antenna transmits electromagnetic wave signals, if an obstacle in the traveling distance of the unmanned vehicle touches the electromagnetic wave signals, echo waves are reflected, the receiving antenna receives the echo wave signals, the signal processing circuit obtains information such as the distance, the direction and the speed of the obstacle according to the echo wave signals, and the signal transmission circuit sends the information to the communication module of the supporting arm control unit so as to send the information to an external terminal.

Illustratively, the drive assembly includes a drive motor and a drive control circuit. Driving motor includes stator, rotor and pivot, and driving motor passes through the stator to be fixed at fixing base 50, and radar board 32 is fixed on the rotor and is connected with the pivot, and drive control circuit control driving motor rotates, and drive electrode rotates the rotation of drive rotor to drive radar board 32 and rotate.

The embodiment of the utility model provides an in, radar housing 31's both ends are connected with connecting portion 212 and support arm end arm 22's shell through connecting seat 40 and fixing base 50 respectively for radar 30 both ends are fixed by support arm main arm 21 and support arm end arm 22, and pass through drive assembly through radar board 32 and be connected with fixing base 50, under drive assembly's drive, radar board 32 can rotate around radar housing 31's axis in the installation cavity 310 that radar housing 31 formed, in order to accomplish the detection to the barrier.

Fig. 7 is a schematic structural diagram of a radar housing in the radar provided by the embodiment shown in fig. 6 under one viewing angle. Fig. 8 is a schematic structural diagram of a radar housing in the radar provided in the embodiment shown in fig. 6 from another view angle. Fig. 9 is a schematic structural diagram of an end arm of a support arm in the radar provided in the embodiment shown in fig. 6. As shown in fig. 6 to 9 in conjunction, the radar housing 31 includes a cylindrical peripheral wall 311 and a side end wall 312 connected to the inside of the peripheral wall 311. The peripheral wall 311 forms the mounting cavity 310, a plane of the side end wall 312 is perpendicular to a central axis of the radar housing 31, the side end wall 312 divides the mounting cavity 310 into a first cavity 3102 and a second cavity 3101, the radar board 32 and the driving assembly are disposed in the first cavity 3102, and the second cavity 3101 is used for accommodating the connecting portion 212.

Specifically, as shown in fig. 7 and 8, the peripheral wall 311 is a main body structure of the radar housing 31, i.e., a cylindrical structure. The side end wall 312 is a cross-section perpendicular to the axis within the cylindrical structure shown, and the side end wall 312 may be patterned in a planar fashion as shown in the cross-shaped structure of fig. 7, or may be otherwise configured.

The embodiment of the utility model provides an in, side end wall 312 divides installation cavity 310 that perisporium 311 formed into first cavity 3102 and second cavity 3101, and radar board 32 and drive assembly set up in first cavity 3102, and second cavity 3101 is used for holding connecting portion 212 when radar casing 31 and connecting portion 212 coaxial coupling, through reasonable division and reasonable layout, reduces the support arm 20 area that radar 30 occupy as far as possible.

In one embodiment, as shown in fig. 6 to 9, a first positioning portion 3121 is disposed on a side of the side end wall 312 close to the connecting portion 212, and the first positioning portion 3121 is connected to a second positioning portion 41 disposed on the connecting seat 40 and matched with the first positioning portion 3121, so as to connect the first end to the connecting portion 212. A third positioning portion 3111 is arranged on the peripheral wall of the second cavity 3101 on the side close to the support arm end arm 22, and the third positioning portion 3111 is connected with a fourth positioning portion 51 matched with the third positioning portion 3111 and arranged on the fixing seat 50, so as to connect the second end with the support arm end arm 22.

It should be noted that the first positioning portion 3121 on the side end wall 312 and the second positioning portion 41 on the connection seat 40 may be a snap-fit mechanism provided on the side end wall 312 and the connection seat 40, or may be a magnetic attraction structure, as long as the two can be adapted to each other, and the first end of the radar housing 31 and the connection portion 212 can be connected by matching. The fitting between the third positioning portion 3111 on the peripheral wall 311 and the fourth positioning portion 51 on the fixing base 50 is similar to the first positioning portion 3121 and the second positioning portion 41, and therefore is not described in detail.

The embodiment of the present invention provides an embodiment, through set up the first location portion 3121 and with second location portion 41 that match on side end wall 312 and connecting seat 40 respectively, realize being connected of the first end of radar housing 31 and support arm 20 connecting portion 212, through set up third location portion 3111 and fourth location portion 51 on perisporium 311 and fixing base 50 respectively, realize being connected of the second end of radar housing 31 and support arm end arm 22 to it is spacing to realize the accurate of radar 30.

In one embodiment, as shown in fig. 7 and 8, the radar 30 further includes a wiring slot 80 disposed outside the radar housing 31 for receiving electrical wiring for the connection portion 212 and/or other components on the support arm end 22.

Specifically, other components, such as an RTK antenna, a 4G antenna, a WIFI antenna, or the like, may be disposed on the connecting portion 212 and the support arm end arm 22, circuit wiring of these components is to be connected to each other through an internal installation cavity of the radar 30, and since the radar plate 32 needs to rotate continuously during operation of the radar 30, in order to avoid friction wiring, the wiring groove 80 is disposed outside the radar housing 31, so that friction can be reduced, and meanwhile, the wiring is fixed, which is not only beautiful but also neat.

The wiring groove 80 may be a rectangular groove as shown in fig. 7, or may be a groove with other shapes, and the embodiment of the present invention does not limit the specific shape of the wiring groove 80.

In one embodiment, as shown in fig. 7 and 8, the radar 30 further includes a first mounting portion 60 disposed outside the radar housing 31 for mounting a sensor module for detecting the form of an obstacle.

Specifically, the first mounting portion 60 is extended outside the peripheral wall 311 of the mounting case, and is used for mounting a sensor module for detecting the form of an obstacle. For example, the first mounting portion 60 may be a mounting bracket and the sensor module may be a vision sensor module.

The embodiment of the utility model provides an in, through set up first installation department 60 in the radar shell 31 outside to set up sensor module, through radar 30 and sensor module synergism, detect the barrier more accurately.

In one embodiment, as shown in fig. 7 and 8, the radar 30 further includes a second mounting portion 70 disposed outside the radar housing 31, the second mounting portion 70 and the first mounting portion 60 being disposed on both sides of a central axis of the radar housing 31, respectively, the second mounting portion 70 being used for mounting a lighting device.

Specifically, the mounting housing further extends on the outer side of the peripheral wall 311 to form a second mounting portion 70 for mounting a lighting device, the lighting device may be a searchlight, and the second mounting portion 70 may be a mounting post or a mounting protrusion.

The embodiment of the utility model provides an in, through set up second installation department 70 in the radar shell 31 outside to installation lighting apparatus provides the illumination for unmanned vehicle works at night.

In one embodiment, the cavity of the housing supporting the arm end 22 is further capable of accommodating an audio device, such as a speaker, which is capable of providing a warning sound to the drone vehicle operator when the radar 30 and sensor module detect an obstacle.

Exemplary unmanned vehicle

Fig. 10 is a schematic structural view of an unmanned vehicle according to an embodiment of the present invention. As shown in fig. 10, the unmanned vehicle includes a base 10; a support arm 20 connected to the base 10, a portion of the support arm 20 being parallel to the base 10 and higher than the base 10, on which portion the radar 30 as provided in any of the embodiments described above is disposed.

The embodiment of the utility model provides an in, set up radar 30 in the support arm 20 with the base 10 parallel and be higher than the part of base 10, compare with the direct front end that sets up at unmanned car base 10 of radar 30 among the prior art, radar 30 can be located higher height to make radar 30's detection range grow, then effectively promote radar 30's detection effect.

It is to be understood that, as used herein, the term "includes" and variations thereof are open-ended, i.e., "including but not limited to". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment". In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Although the terms "first" or "second", etc. may be used in the present invention to describe various elements (e.g., cavities, positioning portions, mounting portions, etc.), these elements are not limited by these terms, which are only used to distinguish one element from another.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.

The above description is only for the preferred embodiment of the present invention, and should not be construed as limiting the present invention, and any modifications, equivalent replacements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (13)

1. A radar, comprising: the radar device comprises a radar housing, a radar plate rotating in the radar housing, and a driving component for driving the radar plate to rotate;

wherein both ends of the radar housing are connected with a housing of a support arm of an unmanned vehicle such that the radar is disposed in a portion of the support arm parallel to and higher than a base of the unmanned vehicle.

2. A radar as claimed in claim 1, wherein the central axis of the radar housing and the central axis of the part of the support arm to which the radar is attached coincide.

3. A radar as recited in claim 1, wherein said support arm comprises a support arm main arm and a support arm end arm, and wherein said radar housing is coupled at each end to said support arm main arm and support arm end arm, respectively.

4. The radar according to claim 3, wherein the housing of the support arm main arm includes a support portion connected to the base, and a link portion connected to the support portion and having a corner connecting function;

the first end of the radar shell is connected with the connecting part through a connecting seat, and the second end, opposite to the first end, of the radar shell is connected with the shell of the support arm end arm through a fixed seat;

the radar plate is connected with the fixed seat through a driving assembly, and rotates around the central axis of the radar shell in an installation cavity formed by the radar shell under the driving of the driving assembly.

5. Radar according to claim 4, wherein the support is connected vertically to the base.

6. The radar of claim 4, wherein the radar housing comprises:

a cylindrical peripheral wall forming the mounting cavity;

the plane of the side end wall is perpendicular to the central axis of the radar shell, the side end wall divides the installation cavity into a first cavity and a second cavity, the radar plate and the driving assembly are arranged in the first cavity, and the second cavity is used for accommodating the connecting portion.

7. The radar of claim 6, wherein a first positioning portion is provided on a side of the side end wall adjacent to the connecting portion, and the first positioning portion is connected to a second positioning portion provided on the connecting seat and matching with the first positioning portion, so as to connect the first end to the connecting portion; and a third positioning part is arranged on the peripheral wall of one side of the second cavity close to the support arm end arm, and the third positioning part is connected with a fourth positioning part which is arranged on the fixed seat and matched with the third positioning part, so that the second end is connected with the support arm end arm.

8. Radar according to any one of claims 4 to 7, wherein the drive assembly comprises a drive motor and a drive control circuit;

wherein, driving motor includes stator, rotor and pivot, driving motor passes through the stator to be fixed the fixing base, the radar board is fixed on the rotor and with the pivot is connected, driving motor rotates the drive the rotor rotates to it rotates to drive the radar board.

9. Radar according to any one of claims 1 to 7, characterised in that the radar panel comprises:

a transmitting antenna for transmitting an electromagnetic wave signal;

a receiving antenna for receiving an echo signal;

the signal processing circuit is electrically connected with the receiving antenna and is used for processing the echo signal;

and the signal transmission circuit is electrically connected with the signal processing circuit and is used for transmitting the processed echo signal to an external terminal.

10. A radar as claimed in any one of claims 4 to 7, further comprising wiring channels provided on the outside of the radar housing for receiving electrical wiring from the connection and/or other components on the end arm of the support arm.

11. A radar as claimed in any one of claims 1 to 7, further comprising a first mounting portion provided on the outside of the radar housing for mounting a sensor module for detecting the form of the obstacle.

12. The radar of claim 11, further comprising a second mounting portion disposed outside the radar housing, wherein the second mounting portion and the first mounting portion are disposed on two sides of a central axis of the radar housing, respectively, and the second mounting portion is configured to mount a lighting device.

13. An unmanned vehicle, comprising: a radar as claimed in any one of claims 1 to 12.

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