RU2788928C1 - Radar sensor for automation of production and logistics - Google Patents

Abstract

FIELD: production automation.

SUBSTANCE: invention relates to a radar sensor for automation of production and logistics. The radar sensor has a radar circuit system, which has a radar chip for creation, emission, reception, and assessment of radar measuring signals, having an opening angle of less than 5°, the radar chip has a cross-sectional area of less than 1 cm² and generates radar measuring signals having a frequency more than 200 GHz, while a width of a modulation band for modulation of radar measuring signals generated by the radar circuit system is more than 10 GHz.

EFFECT: provision of miniaturization of a measuring system in a combination with high resolution of a radar.

16 cl, 16 dwg

Description

Link to related applications

The present invention claims the priority of German Patent Application No. 10 2019 202 144.1, filed February 18, 2019, which is incorporated herein by reference in its entirety.

Field of invention

The invention relates to the automation of production and logistics. In particular, the invention relates to a radar sensor for factory automation and logistics, the use of such a radar sensor to replace an optical sensor in the field of factory automation and logistics, and the use of such a radar sensor to replace a light barrier laser sensor.

State of the art

In the automation of production and logistics, optical sensors are used, for example, to measure distances or angles. Other application examples are rotational speed sensors or sensors for detecting the presence of personnel. These optical sensors can be made, for example, in the form of a light barrier to detect the approach of a person to a dangerous area.

Summary

The object of the invention is to provide an economical alternative to known optical sensors, and in particular to light barriers.

This problem is solved with the help of features of independent claims. Improved embodiments of the invention follow from the dependent claims and the following description of the embodiments.

The first aspect concerns the radar sensor for the automation of production and logistics. The radar sensor comprises a radar circuit system that has a radar chip for generating, emitting, receiving and evaluating radar measurement signals. A housing is provided in which the radar circuit system is located, wherein the radar chip has a cross-sectional area of less than 1 cm ² and the generated radar measurement signals have a frequency of over 160 GHz, in particular over 200 GHz, and are focused so that the resulting beam opening angle is less than 5°, or at least less than 10°, in particular even less than 3°.

For example, a radar chip has a cross-sectional area of less than 0.25 cm ² .

According to one embodiment of the invention, the body has a width of 2 cm or less, a height of 5 cm or less, and a depth of 5 cm or less.

In this case, the housing height extends in the measurement direction, i.e. in the direction in which the radar sensor emits its measurement signal.

For example, the housing has a screw-in thread having a diameter of at least 1.91 cm or 0.75 inches. It may also be provided that the housing has a screw-in thread having a diameter of at least 1.27 cm or 0.5 inches.

For example, the body is made cylindrical.

According to another embodiment, the modulation bandwidth for modulating the radar measurement signals generated by the radar circuit system is over 4 GHz, in particular over 10 GHz, in particular 19.5 GHz or 31.4 GHz.

The radar sensor according to one of the embodiments is designed to create and send an FMCW signal (Frequency Modulated Continuous Wave Signal, frequency modulated continuously emitted signal).

In another embodiment, the frequencies of the generated radar measurement signals lie between 231.5 GHz and 250 GHz.

According to another embodiment, the housing has a lens (or two or more consecutive lenses) that is designed to focus the emitted and/or received radar measurement signals.

The lens has, for example, a diameter of 20 mm or less than 20 mm.

In another embodiment, the radar circuit system (alternatively or in addition to the body lens) has an (additional) lens configured to focus emitted radar measurement signals before they hit the body lens.

This lens has, for example, a diameter of 10 mm or less than 10 mm.

For example, it is mounted directly on the emitter element of the radar circuit system.

In another embodiment, the body lens is between 5 mm and 50 mm, in particular 30 mm or less, from the radar chip and/or other lens.

According to another embodiment of the invention, the radar circuit system has a radar chip having an antenna integrated therein, on which a lens is then attached, if provided.

According to another embodiment, the radar sensor has a communication circuit, wherein the radar sensor is designed to register real-time changes in the physical measurand that is measured by the radar sensor and output via the communication circuit, i.e., for example, be transferred to a remote control device.

By "real time" for the purposes of this disclosure, it is to be understood that changes in a physical measurand are reliably recorded and reported within a predetermined amount of time. In this regard, one can also speak of a soft real-time requirement. It must be ensured by hardware and software that no unreasonable delays occur which, for example, could prevent the real-time condition from being met. In this case, data processing should not be arbitrarily fast; however, it must be guaranteed to be fast enough for each application.

In another embodiment, the radar sensor has multiple independent transmit/receive channels and/or multiple radar chips to provide redundancy for safety critical applications.

In another embodiment, the radar sensor has a two-wire 4-20 mA interface that is designed to transmit measurements to an external process control system and to receive the power required to operate the radar sensor.

In another embodiment, the radar sensor is in the form of a filling level radar.

In particular, the radar sensor may have a plug for mounting the radar sensor with a spanner wrench in a vessel (which contains the filling material) provided with an internal thread.

Another aspect relates to the use of the radar sensor described above and below to replace an optical sensor in the field of factory automation and logistics, in particular in a safety-critical area such as automated emergency shutdown of machines or installations.

Another aspect concerns the use of the radar sensor described above and below to replace the laser light barrier sensor.

Further, with reference to the figures, other embodiments of the invention are described. The representations in the figures are schematic and not to scale. When the same reference designations are used in the following description of the figures, they designate the same or similar elements.

Brief description of the figures

Figure 1 shows a production plant having radar sensors according to one embodiment.

2 shows a logistics automation plant according to another embodiment.

Figure 3 shows the application of a radar sensor in the field of factory automation and safety engineering.

Figure 4 shows the radar measuring device sorting plant.

Figure 5 shows the basic design of the radar sensor according to one of the embodiments.

Figure 6 shows another embodiment of the radar sensor.

Figure 7 shows another embodiment of the radar sensor.

Figure 8 shows another embodiment of the radar sensor.

Figure 9 shows the application of a radar sensor for automation of production and/or logistics.

FIG. 10A shows a cylindrical radar sensor according to one embodiment.

FIG. 10B shows a cylindrical radar sensor according to another embodiment.

FIG. 11 shows a cylindrical radar sensor according to another embodiment.

On figa shows a radar sensor having a housing in the form of a rectangular parallelepiped.

FIG. 12B shows the radar sensor of FIG. 12A in side view.

FIG. 13A shows a radar guard grill according to one embodiment.

FIG. 13B shows a cascading radar guard array of individual modules.

Detailed description of embodiments

Figure 1 shows a manufacturing system having radar sensors 102, 103 according to one embodiment. By moving to radar frequencies above 200 GHz and integrating antennas into the radar chip, a miniaturized, cost-effective measurement system can be provided that can fulfill all the requirements of factory automation and/or logistics, and thus can replace existing optical sensors with their known shortcomings.

In particular, a radar-based measurement device 102, 103 is provided that is capable of replacing most of the optical sensors used so far in the field of factory automation and logistics. To this end, the measuring device can be configured, in particular, to provide distance or angle values. It can also be in the form of a rotation speed sensor, a presence sensor or a fill level radar.

By reducing the wavelength of the radar signal by using higher frequencies, it becomes possible to simplify the design of the radar measuring device by embedding at least one primary emitter on the radar chip.

Whereas up to now radar-based measurement methods could only be applied in the field of process automation due to the size of the antenna and the size of the switching loops, the devices proposed here will in the future make it possible to create small and high-performance radar sensors for applications in the field of factory automation and/or or logistics automation.

Due to the many advantages of radar measuring technology, radar-based level measuring devices have gained popularity in the field of process automation in recent years. If the term automation technology is understood as a separate field of technology, which includes all measures for the operation of machines and plants without human assistance, then the separate field of process automation can be understood as the lowest degree of automation. The goal of process automation is to automate the interaction of the components of an entire production plant in the fields of chemistry, oil, paper, cement, shipping or mining. To this end, a variety of sensors are known which, in particular, have been adapted to the specific requirements of the process industry (mechanical strength, insensitivity to contamination, extreme temperatures, extreme pressures). The measurement results of these sensors are usually transmitted to the control room, where process parameters such as fill level, flow rate, pressure or density can be monitored and the settings for the entire production plant can be changed manually or automatically.

Figure 1 shows an example of such an installation 101. Two process measuring devices 102, 103, which are illustrated, register the filling level of the containers 104, 105 using radar signals. The recorded measurement results are transmitted to the control post 108 using special communication lines 106, 107.

Both wired and wireless communication standards are used to transmit measurement results over communication lines 106, 107, which have been optimized for the specific requirements of process measurement technology (signal reliability against interference, long distances, low data rates, low energy densities in connection with explosion protection requirements).

The measuring devices 102, 103 therefore include at least one communication unit to support communication standards suitable for the process industry. Examples of such communication standards are purely analog standards such as the 4…20 mA interface, or also digital standards such as HART, Wireless HART or PROFIBUS.

At the post 108 control coming from the system 110 process control data is processed and visually displayed on the system 109 monitoring. The process control system 110 or the user 111 can, on the basis of this data, make changes to the settings that can optimize the operation of the entire plant 101. In the simplest case, when the tank 104, 105 threatens to empty, a supply order is initiated from an external supplier.

Since the cost of the sensors 102, 103 is of secondary importance in the process industry compared to the entire plant 101, a higher cost can be accepted in order to optimally meet requirements such as thermal stability or mechanical strength. Therefore, the sensors 102, 103 have expensive components such as stainless steel radar antennas 112. Therefore, the usual price of a sensor 102, 103 suitable for technological processes is usually in the range of several thousand euros. The hitherto known radar measuring devices 102, 103 from the technology industry are used to measure radar signals in the 6 GHz, 24 GHz or 80 GHz range, the radar signals being frequency modulated in the FMCW manner in the range of the previously presented mid frequencies. It is technically difficult to adapt the antennas 112 to the higher modulation bandwidths desired in the measurement technology. Bandwidths of up to 4 GHz can currently be realized with 112 antenna designs suitable for technological processes.

A completely different and distinct area of automation technology concerns logistics automation. Distance and angle sensors in the field of logistics automation automate processes within a building or within a single logistics installation.

Typical applications are systems for the automation of logistics in the field of baggage and cargo handling at airports, in the field of transport monitoring (customs systems), in trade, distribution of parcels or also in the field of building security (access control). Common to the above examples is that each implementing party is required to recognize the presence in combination with an accurate measurement of the size and position of any object. At the same time, known radar systems are still not able to fulfill these requirements, which is why various sensors based on optical principles (lasers, LEDs, cameras, time-of-flight cameras) are used in the prior art.

Figure 2 shows an example of an installation for logistics automation. Within the parcel sorting plant 201, the parcels 202, 203 are sorted by means of a sorting crane 204. In this case, the parcels enter the sorting plant via a conveyor belt 205. Using one or more laser sensors 206 and/or camera sensors 206, both the position and the size of the parcel 203 are determined in a non-contact manner and transmitted via fast data lines 207 to a control system 208, such as an SPS 208 (Programmable Memory System), which is usually part of the installation 201. Since the transmission of measurements over the lines 207 is time critical and the distances covered are rather within a few meters, fast digital protocols such as Profinet or Ethercat, which, in contrast to known process automation protocols, have real-time capability, i.e. guaranteed data transfer for a given time. This real-time communication capability, which can be achieved with both wired and wireless communication standards, is the basis for controlling the sorting crane 204 via the control line 209 . In contrast to known radar measuring devices, optical sensors 206 provide the ability to accurately determine the size and position of the object 203, since the design of miniaturized sensors having an extremely small beam angle is technically not a problem in the field of optics. In addition, such systems can also be manufactured very economically compared to process measuring devices.

A third distinct area of automation technology concerns factory automation. Its applications are found in a wide variety of industries, such as the automotive industry, the food industry, the pharmaceutical industry or the packaging industry in general. The purpose of factory automation is to automate the production of goods by machines, production lines and/or robots, i.e. forced to be performed without the assistance of a person. The sensors used and the specific requirements regarding measurement accuracy when registering the position and size of an object are comparable to those in the previous example of logistics automation. Therefore, sensors based on optical measuring methods are also commonly used in the field of factory automation.

Another field of application for optical sensors concerns safety engineering, which includes both applications in the field of logistics automation and in the field of factory automation. Figure 3 shows a corresponding example. As soon as human interaction is to be expected in the field of fully or partially automated production or sorting plants, the legislator provides for the integration of appropriate safety devices for the automated shutdown of machines and plants. The punching machine 301 in the present example punches round shapes 302 from the sheet material 303. The worker 304 is responsible for monitoring the process. To prevent a worker from being injured when tampering with the machine 301, the machine 301 has a safety light barrier 305 or a safety light curtain 305, which is connected to the machine 301 by a communication line 306. The safety light barrier 305 measures the distance d1, d2 to the underlying object and can prevent the stamp 307 from being lowered, either in the absence of the sheet 303 or if the user 304 inadvertently intervenes in the stamp area. One of the basic prerequisites for the safe operation of an installation is that the 305 can determine the distance with high accuracy and reliability, combined with an extremely short measurement time to recognize dangerous situations.

Both in the field of logistics automation, and in the field of factory automation and safety technology, optical sensors still dominate. They are fast and economical and can reliably determine the position and/or distance of an object based on the relatively easily focused optical radiation that underlies the measurement. But one of the significant drawbacks of optical sensors is their increased need for maintenance, since also in the areas listed above, after several thousand hours of operation, contamination of the sensor can be observed, which significantly impairs the measurement. In addition, especially in production line applications, the measurement can be impaired by oil vapors or other mist-forming aerosols and lead to additional contamination of the optical sensors.

The disadvantages mentioned earlier can be overcome by using radar-based measuring devices. Before dwelling on the embodiments in detail, FIG. 4 once again summarizes the problems addressed by the present disclosure.

If the known radar measuring device 102 were integrated, for example, in the sorting plant 201 instead of the optical sensor 206, then its radar signal 401, due to the large opening angle 402, usually 8° or more, at a distance of several meters would simultaneously register both conveyor belt 205 of the parcels 202, 203. The registered reflections of the parcels are converted by known methods by the radar measuring device 102 into an echo curve 403. If the radar measuring device 102 operates, for example, with a frequency of 23.5 GHz to 24.5 GHz, then the width one single echo 405 is already 15 cm. If the distance dRR 406 between two bursts 202, 203 is less than the radar resolution 404 of the measuring device 102, then it can no longer be recognized by the measuring technology that these are two bursts. It should be pointed out that this problem occurs due to the increased registration area 402 in combination with the reduced resolution 404 of the radar. Ultimately, the use of the radar measuring device 102 in a sorting plant, even if the above problems were neglected, would fail already due to the fact that the communication device 407 of the measuring device 102 is not capable of transmitting the measurement result over the communication channel 410 in real time. The above drawbacks also appear when trying to apply in the field of safety engineering (figure 3).

The radar sensors described above and below provide high radar resolution and very good beam focusing in combination with a real-time communication device of a miniaturized design at a reasonable cost.

FIG. 5 shows the principle design of a radar system that is suitable for industrial and/or logistics or safety automation applications. The radar measuring device 501 has a housing 510 that includes a communication unit 502, a processor 504, and a high frequency unit 505. This high frequency unit 505 has at least one integrated radar chip 506 that can generate and emit high frequency signals having a frequency greater than 200 GHz. These radar signals penetrate the radar sensor housing 501 at a predetermined location 507, wherein the sensor housing 501 is, at least in the area of penetration, permeable to electromagnetic waves above 200 GHz. Radar signals 508 are focused by focusing elements or lenses 512, 513, respectively, on the integrated radar chip 506 and/or in the penetration region 507 and/or in the region between the radar chip and the penetration in such a way that the resulting beam opening angle 509 becomes very small, for example , less than 5°. The measurement results determined by the measuring device are transmitted over a wired or wireless data link 503 at a high data rate to the local switch cabinet 208 or machine 301. Optionally, this data transfer can be performed in such a way that it is possible in real time, and at the same time achieving a timely impact, for example, on a production line or a sorting device, or timely shutdown of the machine before a person is endangered. Standards such as Profinet, Power over Ethernet, Ethernet, Ethercat or IO-Link can be used here.

Figure 6 shows in detail another embodiment of the sensor 501. The microprocessor 504 controls the PLL (eng. Phase Locked Loop, phase locked loop) 601, performing integer or preferably fractional division. This PLL is in turn coupled to a voltage controlled oscillator 602 which, when coupled to the PLL, outputs at its output 603 a frequency modulated signal having a center frequency in the range of 10 GHz to 60 GHz and a bandwidth between 5 GHz and 10 GHz. The above parameters may change during the operating phase of the measuring device. The generated VCO (Voltage Controlled Oscillator) signal 603 is input to a frequency converter 604 which converts the input signal to a target frequency range greater than 200 GHz. In this case, several stages of transformation are usually performed in a cascade, i.e. the signal is boosted in its frequency in at least two separate steps by doubling circuits.

But it can also be envisaged to transmit the signal to the target frequency range above 200 GHz by single or multi-stage mixing. The resulting signal 605 is preferably in the range above 200 GHz, frequencies between 230 GHz and 250 GHz have proven to be particularly preferred. This signal is then introduced into the splitter module 606, after which some of the high frequency signals are emitted through the primary radiator 607 outward in the direction of penetration 507. Using the receiving antenna 608, the radar signals reflected in each application are again recorded and converted in the mixing module 609 to the low frequency range. An analog filter 610 and an analog-to-digital converter 611 detect the signals and input them for further processing to the processor 504.

The main idea of the present disclosure is that increased radar resolution 404 is only achievable by reducing the echo width 405. By increasing the modulation bandwidth to more than 4 GHz, preferably more than 10 GHz, or especially preferably up to 19.5 GHz, the possibility of reducing the width can be achieved. echo in the millimeter range. In this way also closely spaced reflectors 202, 203, which can be encountered in the automation of production and logistics, can be reliably detected by the measurement technology. In circuitry, the implementation of these increased modulation bandwidths can only be economically controlled when the fundamental frequency of the radar signal lies high, preferably above 200 GHz. Since the wavelength of the radar signals on the semiconductor chip then also moves into the millimeter or submillimeter range, common designs of communication structures or the primary emitter 607 or the receiving antenna 608 can be implemented directly on the semiconductor substrate 612 of the integrated radar chip 613, resulting in an economical design. In addition, radiated or received radar signals can be bundled in the region of the antennas 607, 608 by beam-influencing lens elements 614, 615 to achieve a reduced radar signal opening angle 509.

7 shows another embodiment of a radar device for use in factory automation and/or logistics or safety engineering. The proposed measuring device 701 differs from the previously presented design by using a combined transmitting and receiving antenna 703, which, due to the high operating frequency of more than 200 GHz, is implemented preferably on a semiconductor substrate 612 of an integrated radar chip. An additional transmit/receive crossover filter 702, which is also integrated on chip 612, serves to separate the signals. Optionally, in this case, too, a reduction in the aperture angle 509 of the measuring device can be achieved, when a lens element 704 influencing the beam is installed directly on the chip in the region of the primary emitter 703. In this example, in addition, joint integration of PLL 601, ADC (English analog -to-digital converter) 611, as well as the analog filter 610 into the radar chip 705, for example, by mounting various structural units in one common node 705. It may also be envisaged to integrate the previously named structural nodes directly on a single semiconductor substrate 612. The last mentioned embodiments lead to a significant reduction in the cost of building such a system.

8 illustrates the benefits in safety applications. The radar measuring device 701, having the above features, monitors the dangerous area under the stamping machine 301. Thanks to the extremely high resolution of the radar of a few millimeters, now for the first time when the user's hand 304 penetrates the dangerous area, it becomes possible to register the corresponding reflection 801 on the echo curve 803 recorded by the measuring device 701 and reliably distinguish it from the reflection 802 of the sheet material 303. The measuring device 701 in another embodiment, when implementing an appropriate protective function, for example, in the processor 704, can be equipped in such a way that it monitors at least a parameterizable hazardous area SAFE 804, and when detection of any object in this area initiated a targeted, critical, real-time defensive response. This can be done by transmitting an appropriate signal through the communication device 503 directly to the machine. However, it can also be provided for the integration directly into the measuring device 701 of appropriate circuit elements, for example force-operated relays. Depending on the level of safety achieved, a redundant implementation of the radar measurement can also be provided, for example by embedding several radar chips in the measuring device 701.

Figure 9 shows the application of the above-described measuring device for automation of production and logistics. By using at least two focusing elements 904, 905, the radar signal generated by the measuring device 503 is focused in such a way that it has an opening angle 509 of several degrees. Due to this, the device, by means of appropriate orientation, can be brought into the position of accurately determining the position of the parcel 203 in the direction 510 of its beam. By using multiple sensors 701 or by using a beam deflecting element, an extended area of the conveyor belt 205 can also be monitored and the position and position of the parcels 202, 203 can be accurately determined. By means of a fast, real-time communication device 503, efficient control of the sorting plant is possible. The echo curve 901 registered by the measuring device 701, thanks to the high resolution of the radar of a few millimeters, can reliably separate the reflected signals 902, 903 even from closely spaced parcels 202, 203.

10A shows a radar sensor 1000 having a cylindrical body. At the rear end of the housing 1001, an electrical connector is provided, for example, for connection to a 4-20 mA two-wire cable or to an IO-Link interface, the connection plug of which, for example, is screwed onto the rear end of the housing.

The middle portion of the body 510 has a screw-in hex 513 to which a screw-in stop 514 is attached, followed by a screw-in thread 511 for screwing into the mount or opening of the container. This 511 male thread is half an inch or less in diameter. The screw-in thread can, for example, contain a radar lens and/or an antenna for emitting/receiving measurement signals.

Typically, the length (or, respectively, "height") of the housing is a maximum of 100 mm.

The FIG. 10B embodiment corresponds in many respects to the FIG. 10A embodiment. However, the screw-in thread 511 is located in the middle region of the housing 510, followed by the stop 514 and the hexagon 513 for screwing.

In the embodiment of FIG. 11, a screw-in thread 511 is also provided in the middle region of the body 510, with the body diameter being ≤22 mm. It can be provided that the radar sensor is screwed directly into the threaded socket of the machine in accordance with Fig. 11 and locked with a lock nut. However, provision can also be made for the radar sensor to be screwed into a threaded socket of the machine, forming a blind hole. The front end of the sensor 511 in the region of the radar lens in the mounted state lies flat against the microwave-permeable bottom surface of the blind hole of the machine. By screwing the sensor into a blind hole, a secure fastening can be achieved by being attracted to the bottom surface. It may be provided that the sensor 511 has a hex socket to facilitate screwing.

12A shows a radar sensor 1200 having a cuboid housing 510. The height of the housing is 5 cm, the width is 2 cm, and the depth is also 5 cm. A lens 513 is located in the front region of the housing. An electrical connector 1201 is located in the lower region. The housing is made of, for example, polyethylene or polypropylene.

13A shows a so-called radar guard array 1300 that has a plurality of radar chips 506, 1301-1305. Each radar chip has its own first lens 512 located in the region of the emitter element and a "body" lens 513, which is located along the beam of the first lens.

The multiple radar chips provide redundancy which may be advantageous in particular for safety-critical applications.

FIG. 13B shows a cascaded construction of a radar sensor from individual modules. Each individual module in this embodiment has two radar chips 506, 1301 or 1302, 1303, respectively, again having one first lens 512 and one second lens 513 in the housing wall. Each module has an input interface 1305 and an output interface 1306 through which the modules can be electronically connected to each other.

With the embodiments described, it is possible for the first time to replace optical measurement methods in the field of factory automation, logistics automation and safety engineering with radar-based measurement data recording, and thereby, in particular, to reduce maintenance costs due to the inherent, beneficial insensitivity of radar measurement technology to contamination. In addition, by moving to frequencies above 2000 GHz, the size and cost of sensors can be significantly reduced, which can provide adequate replacement for optical sensors.

In addition, it should be pointed out that "comprising" and "having" do not exclude the presence of other elements or steps, and the indefinite articles "any" or "any/any" do not exclude sets. Further, it should be pointed out that features or steps that have been described with reference to one of the above exemplary embodiments may also be used in combination with other features or steps of other exemplary embodiments described above. The reference designations in the claims are not to be considered as limitations.

Claims (35)

1. Radar sensor (100, 102, 103, 501, 701, 1000, 1100, 1200) for automation of production and logistics, containing: a radar circuit system (505) with a radar chip (506, 612) configured to generate, emit, receive and evaluate radar measurement signals; a housing (510) in which the radar circuit system (505) is located, and wherein the radar chip has a cross-sectional area of less than 1 cm ² ; while the radar measurement signals have a frequency above 160 GHz and are focused in such a way that the resulting beam opening angle is less than 5 °, moreover, the body (510) is cylindrical and contains a screw-in thread (511) for screwing the body into the mount or opening of the container, wherein the modulation bandwidth for modulating the radar measurement signals generated by the radar circuit system (505) is over 10 GHz. 2. Radar sensor (100, 102, 103, 501, 701, 1000, 1100, 1200) according to claim 1, while the radar chip (506, 612) has a cross-sectional area of less than 0.25 cm ² . 3. Radar sensor (100, 102, 103, 501, 701, 1000, 1100, 1200) according to claim 1 or 2, wherein the housing (510) has a maximum width of 2 cm, a height of maximum 5 cm and a depth of maximum 5 cm. 4. Radar sensor (100, 102, 103, 501, 701, 1000, 1100, 1200) according to any of the previous paragraphs, whereby the screw-in thread (511) has a maximum diameter of 1.91 cm or 0.75 inches. 5. Radar sensor (100, 102, 103, 501, 701, 1000, 1100, 1200) according to any of the previous paragraphs, the frequencies of the generated radar measurement signals are between 231.5 GHz and 250 GHz. 6. Radar sensor (100, 102, 103, 501, 701, 1000, 1100, 1200) according to any of the previous paragraphs, while the housing (510) contains the first lens (507), made to focus the emitted radar measurement signals. 7. Radar sensor (100, 102, 103, 501, 701, 1000, 1100, 1200) according to claim 6, wherein the first lens (507) has a diameter of 20 mm or less. 8. Radar sensor (100, 102, 103, 501, 701, 1000, 1100, 1200) according to any of the previous paragraphs, while the radar circuit system (505) contains a second lens (512) made to focus the emitted radar measurement signals. 9. Radar sensor (100, 102, 103, 501, 701, 1000, 1100, 1200) according to claim 8, wherein the second lens (512) has a diameter of 10 mm or less. 10. Radar sensor (100, 102, 103, 501, 701, 1000, 1100, 1200) according to item 8 or 9, while the second lens (512) is at a distance of 5 mm to 50 mm from the radar chip (506, 612) and/or the first lens (507). 11. Radar sensor (100, 102, 103, 501, 701, 1000, 1100, 1200) according to any of the previous paragraphs, wherein the radar chip (506, 612) has an antenna (607) integrated therein. 12. Radar sensor (100, 102, 103, 501, 701, 1000, 1100, 1200) according to any of the previous paragraphs, containing a communication scheme (502), wherein the radar sensor is configured to detect changes in the physical measurand in real time, i.e., detect them reliably within a predetermined period of time, and transmit them via the communication circuit (502). 13. Radar sensor (100, 102, 103, 501, 701, 1000, 1100, 1200) according to any of the previous paragraphs, wherein the radar sensor contains several independent transmission/reception channels and/or several radar chips (506, 1301, 1302, 1303, 1304, 1305, 1306). 14. Radar sensor (100, 102, 103, 501, 701, 1000, 1100, 1200) according to any of the preceding paragraphs, containing: two-wire interface (106) 4-20 mA, designed to transmit measurement results to an external process control system (110) and to receive the energy required to operate the radar sensor. 15. Radar sensor (100, 102, 103, 501, 701, 1000, 1100, 1200) according to any of the previous paragraphs, made in the form of a filling level radar. 16. Radar sensor (100, 102, 103, 501, 701, 1000, 1100, 1200) according to any of the previous paragraphs, having a plug connector (511, 513, 514) made for mounting the radar sensor using a ring wrench in a provided inner threaded container opening.

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