WO2022000378A1

WO2022000378A1 - Radar apparatus and mobile device

Info

Publication number: WO2022000378A1
Application number: PCT/CN2020/099772
Authority: WO
Inventors: 庄彬; 李博文; 赖雪聪
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-07-01
Filing date: 2020-07-01
Publication date: 2022-01-06
Also published as: CN113874752A

Abstract

A radar apparatus and a mobile device, comprising: an antenna board (10), the antenna board (10) comprising a first surface (A) on which an antenna array is provided, and a second surface (B) opposite to the first surface (A); a first housing (20) arranged opposite to the first surface (A) of the antenna board (10), the first housing (20) being directly and fixedly connected to the antenna board (10), and a preset gap being formed between the first housing (20) and the first surface (A); and a second housing (30) arranged opposite to the second surface (B) of the antenna board (10), the second housing (30) being directly and fixedly connected to the first housing (20), and the first housing (20) and the second housing (30) defining an accommodation space for accommodating the antenna board (10). An air gap between the antenna board (10) and an antenna cover of the radar apparatus can be accurately controlled, thereby ensuring the antenna performance.

Description

Radar installations and movable equipment

technical field

Embodiments of the present invention relate to the technical field of mechanical structures, and in particular, to a radar device and a movable device.

Background technique

In the related art, radar devices are installed on movable equipment such as automobiles and unmanned aerial vehicles to achieve basic obstacle avoidance functions. The air gap between the antenna plate in the radar device and the casing covering the top must meet the design requirements. Only in order to achieve the preset antenna performance, in the related art, the fixing method of the antenna board and the housing has a multi-level dimension chain, which causes the air gap between the antenna board and the housing to be poorly controlled, thereby affecting the antenna performance.

SUMMARY OF THE INVENTION

In view of the above-mentioned defects in the prior art, embodiments of the present invention provide a radar apparatus and a movable device.

A first aspect of the embodiments of the present invention provides a radar device, including:

an antenna board, the antenna board comprising a first surface provided with an antenna array, and a second surface opposite to the first surface;

a first shell, disposed opposite to the first surface of the antenna board, the first shell and the antenna board are directly and fixedly connected, and there is a preset space between the first shell and the first surface gap;

A second casing, disposed opposite to the second surface of the antenna board, the second casing and the first casing are directly and fixedly connected, and the first casing and the second casing are enclosed to form A accommodating space for accommodating the antenna board.

A second aspect of the embodiments of the present invention provides a movable device, including a main body on which a radar device is mounted, and the radar device includes:

In the radar device and the movable device provided by the embodiments of the present invention, the radar device includes an antenna plate, a first casing and a second casing, the first casing and the antenna plate are directly fixed, and the first surface of the antenna plate with the antenna array faces The first shell has a preset gap between the first shell and the first surface; and then the second shell is fixed on the first shell, so that the antenna board is accommodated in the first shell and the second shell. In the combined accommodating cavity, since the antenna board and the first housing are directly fixed, the assembly dimension chain between the two is the smallest, so the air gap between the antenna board and the housing can be precisely controlled to ensure the performance of the antenna.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings used in the description of the embodiments. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative labor.

FIG. 1 is a schematic structural diagram of a radar device provided by an embodiment of the present invention;

FIG. 2 is a cross-sectional view of a first housing and an antenna plate of a radar device provided in an embodiment of the present invention in an assembled state;

3 is a cross-sectional view of the antenna plate of the radar device provided in the embodiment of the present invention before being installed on the first housing;

4 is a cross-sectional view of a first casing of a radar device provided by an embodiment of the present invention;

FIG. 5 is a cross-sectional view of the connecting wire of the radar device provided by the embodiment of the present invention before being installed on the first housing;

FIG. 6 is an axonometric view of a radar device provided in an embodiment of the present invention before the connecting wire is installed on the first housing.

detailed description

The technical solutions in the embodiments of the present invention will be clearly described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

Unless otherwise defined, 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 invention belongs. The terms used herein in the description of the present invention are for the purpose of describing specific embodiments only, and are not intended to limit the present invention.

The "including" mentioned throughout the specification and claims is an open-ended term, so it should be interpreted as "including but not limited to". "Approximately" means that within an acceptable error range, those skilled in the art can solve the technical problem within a certain error range, and basically achieve the technical effect.

It should be understood that the term "and/or, and/or" used in this document is only an association relationship to describe associated objects, indicating that there may be three relationships, for example, A1 and/or B1, which may indicate that A1 exists alone, A1 and B1 exist at the same time, and there are three cases of B1 alone. In addition, the character "/" in this document generally indicates that the related objects are an "or" relationship.

Some embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Those skilled in the art may combine and combine the different embodiments or examples described in this specification, as well as the features of the different embodiments or examples, without conflicting each other.

Through creative work, the inventor found that the radar device in the related art is applied to movable devices, such as unmanned aerial vehicles, autonomous/assisted driving vehicles, ordinary vehicles, etc. When these movable devices are used in an outdoor environment, they are exposed to water vapor. , dust, etc. Radar devices have high requirements for waterproof and dustproof. The influence of water vapor and dust on the radar device exceeds a predetermined value, and the performance of the radar device will be affected. The radar device includes an upper radome, an antenna plate, a middle frame and a bottom cover. The upper radome, the antenna plate and the bottom cover are respectively mounted on the middle frame, and the surface with the antenna array on the antenna board is opposite to the surface of the upper radome. According to the standard of radar design, a preset gap needs to be left between the antenna plate and the upper radome to form an air gap layer. By setting the air gap to ensure the air medium, the size of the air gap directly affects the performance of the antenna. If the antenna performance is high, the size of the air gap must be strictly controlled.

However, in the related art, since the upper radome and the antenna plate are respectively connected to the middle frame, this will lead to many assembly size chains. When the size of any one of the upper radome, the middle frame and the antenna plate changes, or the upper Changes in the assembly dimensions of the radome and the middle frame, as well as changes in the assembly dimensions of the antenna plate and the middle frame, will affect the air gap between the upper radome and the antenna plate, so the antenna performance cannot be guaranteed.

In order to solve the above technical problems, the present invention provides the following embodiments to provide a radar device, which can reliably control the air gap above the surface of the antenna plate with the antenna array to ensure the performance of the antenna.

FIG. 1 is a schematic structural diagram of a radar apparatus according to an embodiment of the present invention. FIG. 2 is a cross-sectional view of a radar device provided in an embodiment of the present invention in an assembled state of a first housing and an antenna plate; FIG. 3 is a cross-sectional view of the radar device provided by an embodiment of the present invention before the antenna plate is installed on the first housing. ; Please refer to FIG. 1 to FIG. 3 , this embodiment provides a radar device. In this embodiment, the radar device may be a millimeter wave radar. In this embodiment, the radar apparatus includes an antenna plate 10 , a first casing 20 and a second casing 30 .

The antenna board 10 includes a first surface A on which the antenna array is provided, and a second surface B opposite to the first surface A. As shown in FIG. The first housing 20 is disposed opposite to the first surface A of the antenna board 10 , the first housing 20 is directly and fixedly connected to the antenna board 10 , and there is a predetermined gap between the first housing 20 and the first surface A.

Specifically, the antenna board 10 can be a printed circuit board, the first surface A and the second surface B of the antenna board 10 are arranged substantially parallel, an antenna array can be provided on the antenna board 10, and the antenna array can be welded or printed on the antenna board 10 On the first surface A, the antenna array includes a transmitting antenna array and a receiving antenna array, the transmitting antenna array is used for transmitting electromagnetic waves, and the receiving antenna array is used for receiving electromagnetic waves.

As shown in FIG. 1, the antenna board 10 is also provided with a main chip 11 and an arithmetic chip 12. The main chip 11 and the arithmetic chip 12 are responsible for completing the collection of radar data and preprocessing calculations. Through the comparative analysis of the transmitted wave and the received wave, we can obtain Know the obstacle information to achieve the purpose of obstacle avoidance.

In some embodiments, the second surface B of the antenna board 10 may or may not be provided with related electronic components, which is not limited in this embodiment.

The first housing 20 is arranged opposite to the first surface A, which means that the first housing 20 and the first surface A may be arranged relatively parallel, or the first housing 20 may have a certain inclination angle relative to the first surface A, as long as The first housing 20 only needs to face the first surface A. In this embodiment, since the air gap between the first shell 20 and the first surface A needs to be ensured, the gaps between the first shell 20 and the first surface A should be equal everywhere, so that the first shell 20 and the first surface A should be equal. The air gaps between the housing 20 and the first surface A are uniform everywhere. Therefore, in some embodiments, the first housing 20 and the first surface A may be arranged in parallel and opposite to each other. The preset gap size between the casing 20 and the first surface A can be 1.8 mm. During the processing and assembly of the first casing 20 and the antenna board 10, the gap between the first casing 20 and the antenna board 10 is strictly controlled. A prescribed air gap is maintained between them. In this embodiment, the air gap between the first housing 20 and the antenna board 10 is 1.8 mm, thereby ensuring the required antenna performance.

The first housing 20 and the antenna board 10 maintain a preset gap and are directly and fixedly connected. In some embodiments, the first housing 20 and the antenna board 10 can be detachably connected with detachable fasteners such as screws and bolts. , so as to repair or replace the electronic components on the antenna board 10 , or directly replace the antenna board 10 . Alternatively, the first housing 20 and the antenna board 10 are non-detachably connected, for example, the first housing 20 and the antenna board 10 are bonded and fixed, or the first housing 20 and the antenna board 10 are snap-fastened and fixed. The detachable connection between the first housing 20 and the antenna board 10 can facilitate maintenance or replacement of the antenna board 10 , while the first housing 20 and the antenna board 10 are non-detachably connected, which can stably maintain the first housing 20 and the antenna board 10 The air gap between the first surfaces A of the antennas ensures the performance of the antenna, and those skilled in the art can specifically select and design them according to actual needs, which is not limited in this embodiment.

The second housing 30 is disposed opposite to the second surface B of the antenna board 10 , the second housing 30 is directly and fixedly connected to the first housing 20 , and the first housing 20 and the second housing 30 are enclosed to form a housing for the antenna board 10 accommodating space.

Specifically, the second casing 30 is disposed opposite to the second surface B of the antenna board 10, which means that the second casing 30 and the second surface B can be disposed relatively parallel, or the second casing 30 can be opposite to the second surface B There is a certain inclination angle, as long as the second housing 30 faces the second surface B. In this embodiment, in some embodiments, the first casing 20 and the second casing 30 may be detachably connected with detachable fasteners such as screws and bolts. Optionally, the first casing 20 is connected to the The second casing 30 may also be connected in a non-detachable manner, which is not limited in this embodiment.

The first casing 20 and the second casing 30 can be fastened together to enclose an accommodation space for the antenna board 10 to be accommodated. The first casing 20 and the second casing 30 can be sealed to prevent the outside water vapor and dirt from entering between the first casing 20 and the second casing 30 to affect the performance of the electronic components on the internal antenna board 10 , This in turn affects the accuracy and service life of the entire radar.

It should be noted that the direct fixed connection described in this embodiment means that the two components are directly connected together through a detachable or non-detachable connecting piece, and there is no intermediate connecting component between the two components.

The radar device provided by the embodiment of the present invention includes an antenna board, a first housing and a second housing, the first housing and the antenna board are directly fixed, the first surface on the antenna board with the antenna array faces the first housing, and the first housing is directly fixed to the antenna board. There is a preset gap between the shell and the first surface; and then the second shell is fixed on the first shell, so that the antenna board is accommodated in the accommodating cavity enclosed by the first shell and the second shell, Since the antenna board and the first housing are directly fixed, the assembly dimension chain between the two is minimal, so the air gap between the antenna board and the housing can be precisely controlled to ensure the performance of the antenna.

Further, as shown in FIG. 1 , the first casing 20 may be covered above the first surface A of the antenna board 10 . In this way, the antenna board 10 can be completely shielded and protected by the first casing 20 to ensure that the electronic components on the antenna board 10 are not damaged.

More specifically, as shown in FIG. 1 , the first housing 20 may include a top wall 21 and a side wall 22 connected around the top wall 21 . in the chamber X. In this embodiment, the top wall 21 and the side wall 22 may be perpendicular to each other, and the cross-sectional shape of the accommodating cavity X may match the shape of the antenna board 10 . For example, in some embodiments, the cross-sectional shape of the accommodating cavity X may be The antenna board 10 is also square.

In some other embodiments, the top wall 21 and the side wall 22 may not be perpendicular to each other, but have an acute angle or an obtuse angle therebetween, as long as the top wall 21 and the side wall 22 can be enclosed to form the accommodating cavity X .

In some embodiments, the cross-sectional shape of the first casing 20 can also be in any shape such as a circle, a hexagon, an ellipse, a diamond, etc., and the number and arrangement positions of the side walls 22 of the first casing 20 can also be According to the specific design of the shape of the first housing 20, this embodiment does not limit it. The shape of the antenna board 10 may also not match the cross-sectional shape of the accommodating cavity X. For example, the shape of the antenna board 10 is square, and the cross-section of the accommodating cavity X is any shape such as circle, hexagon, ellipse, and rhombus.

The antenna board 10 and the top wall 21 may be directly and fixedly connected, and/or the antenna board 10 and the side wall 22 may be directly and fixedly connected. Specifically, the antenna board 10 may only be connected to the top wall 21 of the first housing 20 , or the antenna board 10 may only be connected to the side wall 22 of the first housing 20 , or the antenna board 10 may be connected to both the first housing 20 . The top wall 21 of the first housing 20 is connected to the side wall 22 of the first housing 20 . It should be noted that when the antenna board 10 is connected to the side wall 22 of the first housing 20, the edge of the antenna board 10 may have a connecting portion facing the side wall 22 of the first housing 20. In some embodiments, the The connecting portion may be a snap, and correspondingly, a snap slot or a snap hole may be provided on the side wall 22 of the first housing 20 . Regardless of whether the antenna board 10 is connected to the top wall 21 or the side wall 22 of the first housing 20 , as long as the antenna board 10 can be completely and stably fixed in the accommodating cavity X of the first housing 20 .

Specifically, the gap between the antenna board 10 and the first housing 20 refers to the gap between the first surface A of the antenna board 10 and the inner surface of the top wall 21 of the first housing 20 . The antenna board 10 is firmly fixed in the accommodating cavity X of the first casing 20 and maintains a stable gap with the inner surface of the top wall 21 of the first casing 20 to form a stable air gap layer.

In a preferred embodiment, as shown in FIG. 1 , the antenna board 10 can be directly and fixedly connected with the top wall 21 , and the connection point connecting the antenna board 10 and the top wall 21 is located at the edge of the antenna board 10 . In a specific embodiment, the edge position of the antenna plate 10 may be provided with a connection hole, which may be a screw hole or an optical hole, and the inner surface of the top wall 21 of the first housing 20 may be provided with a connection hole extending toward the antenna plate 10 . Alternatively, the thickness of the top wall 21 of the first housing 20 is sufficient, and threaded blind holes are provided on the inner surface of the top wall 21 of the first housing 20, and fasteners such as screws can pass through the antenna board 10 The connection holes are connected to the studs or blind threaded holes on the first housing 20 , so as to connect and fix the first housing 20 and the antenna board 10 .

It should be noted that when the first housing 20 is provided with studs to connect to the antenna board 10 , the height of the studs can be based on the air gap that needs to be reserved between the first housing 20 and the first surface A of the antenna board 10 . It is determined that when the first housing 20 is provided with blind threaded holes to connect with the antenna board 10, the first housing 20 and/or the antenna board 10 have pads that restrict the fit between the two, so that the two The above-mentioned air gap can be maintained therebetween.

In this embodiment, the connection point between the antenna board 10 and the first housing 20 is set at the edge of the antenna board 10, which can effectively avoid occupying the middle position of the antenna board 10, and prevent the hole in the middle of the antenna board 10 from affecting the antenna. performance of the board 10.

Further, the antenna board 10 may be substantially rectangular, the edge positions of the antenna board 10 include corner positions and side positions, and the connection point connecting the antenna board 10 and the top wall 21 is located at the corner position. The so-called "substantially rectangular" means that the antenna board 10 is not necessarily a standard rectangle, and four corners thereof may be rounded or chamfered. As shown in FIG. 1 , the four corners of the antenna board 10 are designed with rounded corners. In this embodiment, in some embodiments, the connection point connecting the antenna plate 10 and the top wall 21 is located at a corner position, the number of connection holes M1 opened on the antenna plate 10 may be four, and the four connection holes M1 are respectively located at the corners. At the four corners of the antenna board 10 , when the fastener passes through the antenna board 10 and is connected to the top wall 21 through the connecting holes M1 at the four corners, the pre-tightening force applied by the fastener is close to the antenna board 10 The angle of rotation of the antenna board 10 is minimal, so that the distance between the first surface A of the antenna board 10 and the top wall 21 is as equal as possible, so as to ensure that the first surface A of the antenna board 10 and the top wall are as equal as possible. Air gap uniformity between 21.

In order to ensure the tightness between the first casing 20 and the second casing 30, a sealing ring 40 may also be provided between the first casing 20 and the second casing 30. The sealing ring 40 makes the first casing 20 is in sealing connection with the second housing 30 . Specifically, the sealing ring 40 may be provided on the first housing 20, or the sealing ring 40 may be provided on the second housing 30, or, in some embodiments, between the first housing 20 and the second housing The body 30 can be provided with a sealing ring. When the first casing 20 and the second casing 30 are fastened together, the sealing ring 40 is subjected to the pressing force between the two, so that the sealing ring 40 is deformed to block the first casing. 20 and the connection gap between the second shell 30, so as to ensure the sealing between the first shell 20 and the second shell 30.

In the present invention, in some embodiments, the first casing 20 includes a top wall 21 and a side wall 22, the first casing 20 may form a receiving cavity X, and the second casing 30 may include a bottom wall and a side wall, The second casing 30 may also form an accommodating cavity (not shown in the figure), in this case, the accommodating cavity X of the first casing 20 may be formed together with the accommodating cavity of the second casing 30 for accommodating the antenna board 10 accommodating space. In some other embodiments, the first housing 20 includes a top wall 21 and a side wall 22, and the second housing 30 may be plate-shaped. In this case, the accommodating cavity X formed by the first housing 20 is The accommodating space for accommodating the antenna board 10 is directly constituted.

In this embodiment, the sealing ring 40 can be directly surrounding the antenna board 10 . Therefore, all-round protection is formed for the antenna board 10 to prevent external water vapor from entering the antenna board 10 and affecting the performance of the antenna board 10 . In addition, the shape enclosed by the sealing ring 40 can also be adapted to the outline shape of the antenna plate 10 , which effectively saves space and reduces the outer outline size of the entire radar device while protecting the antenna plate 10 in all aspects.

As shown in FIG. 1 , a sealing ring 40 may be provided on the second housing 30 , the sealing ring 40 extends into the first housing 20 , and the sealing ring 40 at least abuts against the top wall 21 of the first housing 20 . The sealing ring 40 is at least abutted against the top wall 21 of the first housing 20, thereby completely preventing external water vapor or dust from entering the accommodating space.

The second housing 30 may include a base 31 including a heat sink. The base 31 can be made of metal with good heat dissipation performance, such as metal aluminum, which is light in weight, low in cost and good in heat dissipation performance. The base 31 may be entirely made of heat-dissipating materials or partially made of heat-dissipating materials, which is not limited in this embodiment. In some embodiments, the base 31 may be a metal piece as a whole. 31 may include a base bottom wall 311 and a base side wall 312, and the base bottom wall 311 and the base side wall 312 may both be made of heat-dissipating materials, thereby making it possible to obtain good heat dissipation in both the up-down and lateral directions. heat dissipation. In some embodiments, the wall surface of the base 31 may further be provided with heat dissipation fins, and the heat dissipation fins can improve the overall heat dissipation effect.

The sealing ring 40 can be arranged on the base 31 , the sealing ring 40 can be bonded to the base 31 , or one end of the sealing ring 40 can be embedded in the base 31 , and the other end of the sealing ring 40 can be connected with the inner surface of the first housing 20 . Surface hits.

The connection point between the second shell 30 and the first shell 20 is located at the edge of the base 31 , so that the connection between the first shell 20 and the second shell 30 can be made more stable, and it is not necessary to connect the first shell 20 to the second shell 30 . A connection hole is provided in the middle of the casing 20 and the second casing 30 , which does not affect the performance of the first casing 20 and the second casing 30 . The first housing 20 and the second housing 30 may be connected by fasteners such as screws and bolts, or the two may be connected by snaps, which are not limited in this embodiment.

In this embodiment, in some embodiments, the outer contour of the base 31 is substantially rectangular. The so-called substantially rectangular means that the outer contour of the base 31 is not necessarily a standard rectangle, and four corners of the base 31 may be circles. corner or chamfer. As shown in FIG. 1 , the four corners of the base 31 are designed with rounded corners. The edge positions of the base 31 include a corner position and a side position, and the connection point where the second casing 30 and the first casing 20 are connected is located at the corner position. For example, for the second housing 30, the connecting hole M2 of the second housing 30 is located at the corner of the base 31, so the pre-tightening force of the fastener is not easy to cause the first housing 20 and the second housing 30 produces deformation to ensure assembly accuracy.

It should be noted that the sealing ring 40 may be located on the outer side of the base side wall 312 of the base 31 , and the height of the sealing ring 40 may be higher than or lower than the base side wall 312 . When it is lower than the base side wall 312, the inner surface of the first housing 20 may have a groove, and the top of the base side wall 312 may protrude into the groove, so that in the assembled state, the sealing ring 40 can abut against the groove. The top wall of the first housing 20 .

Optionally, if the base 31 is a plate-like structure, and the base 31 does not include the base side wall 312, the sealing ring 40 is directly located on the base 31 near the edge, and between the first housing 20 and the first shell 20. In the assembled state of the second casing 30 , the sealing ring 40 is located in the accommodating cavity X of the first casing 20 .

As shown in FIG. 1 , further, the base 31 is provided with a raised portion 31a contacting the second surface B of the antenna board 10, and at least the top of the raised portion 31a is provided with a thermally conductive layer 311a, the thermally conductive layer 311a and the antenna At least one heat generating element on the board 10 is in contact. In this embodiment, the thermally conductive layer may include a thermally conductive silicone grease layer. The thermally conductive silicone grease layer can be fixed on the convex portion 31a by means of coating or adhesion. During the operation of the radar device, the electronic components on the antenna board 10 will generate heat more or less. In this embodiment, a raised portion 31 a is provided in the base 31 , and a thermally conductive layer 311 a is arranged on the raised portion 31 a to absorb the heat. The heat on the antenna board 10a can reduce the temperature of the antenna board 10 as much as possible, and effectively prevent the heating element on the antenna board 10 from heating up and increasing the overall temperature of the antenna board 10 to affect the antenna performance.

FIG. 4 is a cross-sectional view of a first housing of a radar device provided by an embodiment of the present invention; FIG. 5 is a cross-sectional view of a radar device provided by an embodiment of the present invention before the connecting wire is installed on the first housing; FIG. 6 is an embodiment of the present invention. Axonometric view of the provided connecting line of the radar unit before it is mounted to the first housing.

As shown in FIG. 1-FIG. 6, in some embodiments, the radar device provided by the present invention further includes: a connector 50, the connector 50 includes a connector housing 51 and a connecting wire 52, and the connecting wire 52 is at least partially accommodated in the connector within the space formed by the housing 51 . The cross-section of the outer contour of the housing of the connector housing 51 can be roughly rectangular or circular, etc., which can be related to the shape of the port of the external device to be connected. The connector 50 needs to be docked with the port of the external device, so that the entire radar device Connect external devices. The connector housing 51 protects the connecting wire 52 to prevent the user from accidentally touching the connecting wire 52 and causing danger or damage to the connecting wire 52 . The connector housing 51 can be integrally formed with the first housing 20, which saves the assembly process, ensures reliability, reduces costs, and reduces the size chain of the entire radar device. The connector housing 51 and the first housing 20 can both be plastic parts , to ensure the insulation performance, in a specific embodiment, the connector housing 51 and the first housing 20 can be integrally injection molded, the molding process is simple, and the cost is low.

The connection wire 52 may include pins, the first ends of the pins are connected to the antenna board 10 , and the second ends of the pins are used for contacting with external devices to establish electrical connections. Specifically, the first ends of the pins can be welded or plugged with the antenna board 10 . The pins can be soldered or plugged with the printed circuit on the antenna board 10 and electrically connected with one or more electronic components on the antenna board 10 through the printed circuit. In some embodiments, the first ends of the pins are non-detachably connected to the antenna board 10 to ensure electrical connection stability. After the first housing 20 , the connector 50 and the antenna board 10 are assembled, the three They cannot be disassembled to ensure the stability of the electrical connection between the three, as well as the stability of the air gap to ensure the performance of the antenna.

In this embodiment, the connector 50 may be located on one side of the whole formed by the first housing 20 and the second housing 30 . Specifically, the first housing 20 and the second housing 30 are formed to have an upper surface, a lower surface, and a side between the upper surface and the lower surface after being snapped together. The connector 50 can be located between the first housing 20 and the second housing 30. At the side position where the casing 30 is formed, the height of the entire radar device is thereby lowered.

The outline dimension of the connector 50 is smaller than the overall side surface dimension formed by the first housing 20 and the second housing 30, so that, for the entire radar device, the connector 50 will not be exposed from the side of the radar device, The height dimension of the radar device is not occupied, thereby effectively reducing the envelope size of the outer contour of the radar device, so that the structure of the radar device is as compact as possible, and the structure is simple and reasonable in layout.

As shown in FIG. 2 to FIG. 4 , the pins extend from the first end and are bent several times until the second end extends into the connector housing 51 . Since the connecting wire 52 is drawn out from the first surface A of the antenna board 10 , and the gap between the first surface A of the antenna board 10 and the first housing 20 is small, the connector housing 51 and the first housing 20 are integrally formed. , in order to enable the pins to extend into the connecting wire housing 51 and minimize the overall envelope size of the radar device, the pins are directly bent into the connector housing 51 without moving the position of the connector housing 51 to The upper position of the side surface of the first casing 20 can also effectively ensure the minimum envelope size of the entire radar device.

The bending direction of the connecting wire 52 is adapted to the contour of the side surface of the first casing 20 and/or the second casing 30 . In this way, the number of times of bending of the connecting wire 52 can be minimized, and the length of the connecting wire 52 can be the shortest, which can effectively save processing and manufacturing costs.

Other embodiments of the present invention also provide a movable device. The movable device in this embodiment may include any movable device, such as an unmanned aerial vehicle, a car, and a mobile robot, that needs ranging and obstacle avoidance.

The movable device of this embodiment includes a main body, and a radar device is installed on the main body, and the radar device may be a millimeter wave radar. Please refer to FIG. 1 to FIG. 3 , the radar device includes: an antenna plate 10 , a first casing 20 and a second casing 30 .

Specifically, the antenna board 10 may be a printed circuit board, the first surface A and the second surface B of the antenna board 10 are arranged substantially parallel, and an antenna array (not shown in the figure) may be provided on the antenna board 10, and the antenna array may be Soldered or printed on the first surface A of the antenna board 10, the antenna array includes a transmitting antenna array and a receiving antenna array, the transmitting antenna array is used for transmitting electromagnetic waves, and the receiving antenna array is used for receiving electromagnetic waves.

As shown in FIG. 1, the antenna board 10 is also provided with a main chip 11 and at least one arithmetic chip 12. The main chip 11 and at least one arithmetic chip 12 are responsible for completing the collection of radar data and preprocessing calculations. The comparative analysis can obtain the obstacle information to achieve the purpose of obstacle avoidance.

The first housing 20 and the antenna board 10 maintain a preset gap and are directly and fixedly connected. In some embodiments, the first housing 20 and the antenna board 10 may be detachably detachable by using detachable fasteners Q1 such as screws and bolts. connection, so that the electronic components on the antenna board 10 can be repaired or replaced, or the antenna board 10 can be directly replaced. Alternatively, the first housing 20 and the antenna board 10 are non-detachably connected, for example, the first housing 20 and the antenna board 10 are bonded and fixed, or the first housing 20 and the antenna board 10 are snap-fastened and fixed. The detachable connection between the first housing 20 and the antenna board 10 can facilitate maintenance or replacement of the antenna board 10 , while the first housing 20 and the antenna board 10 are non-detachably connected, which can stably maintain the first housing 20 and the antenna board 10 The air gap between the first surfaces A of the antennas ensures the performance of the antenna, and those skilled in the art can specifically select and design them according to actual needs, which is not limited in this embodiment.

Specifically, the second casing 30 is disposed opposite to the second surface B of the antenna board 10, which means that the second casing 30 and the second surface B can be disposed relatively parallel, or the second casing 30 can be opposite to the second surface B There is a certain inclination angle, as long as the second housing 30 faces the second surface B. In this embodiment, in some embodiments, the first housing 20 and the second housing 30 may be detachably connected by detachable fasteners Q2 such as screws and bolts. Optionally, the first housing 20 It can also be non-detachably connected to the second housing 30, which is not limited in this embodiment.

The movable device provided by the embodiment of the present invention includes a radar device, and the radar device includes an antenna plate, a first casing and a second casing, the first casing and the antenna plate are directly fixed, and the antenna plate has a first surface of the antenna array Facing the first shell, there is a preset gap between the first shell and the first surface; then the second shell is fixed on the first shell, so that the antenna board is accommodated in the first shell and the second shell In the enclosed accommodating cavity, since the antenna plate and the first casing are directly fixed, the assembly dimension chain between the two is the smallest, so the air gap between the antenna plate and the casing can be precisely controlled to ensure the performance of the antenna.

Further, as shown in FIG. 1 , the first casing 20 may be covered above the first surface A of the antenna board 10 .

More specifically, as shown in FIG. 1 , the first housing 20 may include a top wall 21 and a side wall 22 connected around the top wall 21 . in the chamber X.

The antenna board 10 and the top wall 21 may be directly and fixedly connected, and/or the antenna board 10 and the side wall 22 may be directly and fixedly connected.

In a preferred embodiment, as shown in FIG. 1 , the antenna board 10 can be directly and fixedly connected with the top wall 21 , and the connection point connecting the antenna board 10 and the top wall 21 is located at the edge of the antenna board 10 .

In this embodiment, the connection point between the antenna board 10 and the first casing 20 is set at the edge of the antenna board 10, which can effectively avoid occupying the middle position of the antenna board 10, and prevent the hole in the middle of the antenna board 10 from affecting the antenna. performance of the board 10.

Further, the antenna board 10 may be substantially rectangular, the edge positions of the antenna board 10 include corner positions and side positions, and the connection point connecting the antenna board 10 and the top wall 21 is located at the corner position.

In order to ensure the tightness between the first casing 20 and the second casing 30, a sealing ring 40 may also be provided between the first casing 20 and the second casing 30. The sealing ring 40 makes the first casing 20 is in sealing connection with the second housing 30 .

In this embodiment, the sealing ring 40 can be directly surrounding the antenna board 10 . Therefore, all-round protection is formed for the antenna board 10 to prevent external water vapor from entering the antenna board 10 and affecting the performance of the antenna board 10 .

As shown in FIG. 1 , a sealing ring 40 may be provided on the second housing 30 , the sealing ring 40 extends into the first housing 20 , and the sealing ring 40 at least abuts against the top wall 21 of the first housing 20 . The second housing 30 may include a base 31 including a heat sink.

The connection point between the second casing 30 and the first casing 20 is located at the edge position of the base 31. In this embodiment, in some embodiments, the outer contour of the base 31 is substantially rectangular, so-called substantially rectangular , means that the outer contour of the base 31 is not necessarily a standard rectangle, and its four corners may be rounded or chamfered. As shown in FIG. 1 , the four corners of the base 31 are designed with rounded corners. The edge positions of the base 31 include a corner position and a side position, and the connection point where the second casing 30 and the first casing 20 are connected is located at the corner position. Therefore, the pre-tightening force of the fastener is not easy to cause deformation of the first housing 20 and the second housing 30, and the assembly accuracy is ensured.

As shown in FIG. 1 , further, the base 31 is provided with a raised portion 31a contacting the second surface B of the antenna board 10, and at least the top of the raised portion 31a is provided with a thermally conductive layer 311a, the thermally conductive layer 311a and the antenna At least one heat generating element on the board 10 is in contact.

As shown in FIG. 1-FIG. 6, in some embodiments, the radar apparatus in this embodiment further includes: a connector 50, the connector 50 includes a connector housing 51 and a connecting wire 52, and the connecting wire 52 is at least partially accommodated in the connection within the space formed by the device housing 51 . The connector housing 51 can be integrally formed with the first housing 20, which saves the assembly process, ensures reliability, reduces costs, and reduces the size chain of the entire radar device. The connector housing 51 and the first housing 20 can both be plastic parts , to ensure the insulation performance, in a specific embodiment, the connector housing 51 and the first housing 20 can be integrally injection molded, the molding process is simple, and the cost is low.

The connection wire 52 may include pins, the first ends of the pins are connected to the antenna board 10 , and the second ends of the pins are used for contacting with external devices to establish electrical connections. Specifically, the first ends of the pins can be welded or plugged with the antenna board 10 .

As shown in FIG. 2 to FIG. 4 , the pins extend from the first end and are bent several times until the second end extends into the connector housing 51 . The bending direction of the connecting wire 52 is adapted to the contour of the side surface of the first casing 20 and/or the second casing 30 .

It should be noted that the structure and function of the movable device provided in this embodiment may be the same as those of the radar apparatus provided in the above-mentioned embodiment. For details, reference may be made to the description of the above-mentioned embodiment, which will not be repeated here.

In several embodiments provided by the present invention, the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of devices or units, which may be electrical, mechanical or other forms.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features thereof can be equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present invention. Scope.

Claims

A radar device, characterized in that:

an antenna board, the antenna board comprising a first surface provided with an antenna array, and a second surface opposite to the first surface;

a first shell, disposed opposite to the first surface of the antenna board, the first shell and the antenna board are directly and fixedly connected, and there is a preset space between the first shell and the first surface gap;

A second casing, disposed opposite to the second surface of the antenna board, the second casing and the first casing are directly and fixedly connected, and the first casing and the second casing are enclosed to form A accommodating space for accommodating the antenna board.
The radar device according to claim 1, wherein the first casing is detachably connected to the antenna plate; or, the first casing and the antenna plate are non-detachable.
The radar device according to claim 1, wherein the first housing is disposed above the first surface of the antenna plate.
The radar device according to claim 1, wherein the first housing comprises a top wall and a side wall connected around the top wall, and the antenna plate is accommodated and fixed on the top wall and the The side wall encloses the accommodating cavity.
The radar device according to claim 4, wherein the antenna plate is directly and fixedly connected to the top wall; and/or the antenna plate is directly and fixedly connected to the side wall.
The radar device according to claim 4, wherein the antenna plate is directly and fixedly connected to the top wall, and the connection point connecting the antenna plate and the top wall is located at an edge position of the antenna plate.
The radar device according to claim 6, wherein the antenna plate is substantially rectangular, the edge positions of the antenna plate include corner positions and side positions, and the antenna plate is connected to the top wall. The connection point is located at the corner position.
The radar device according to claim 4, further comprising a sealing ring, the sealing ring is provided between the first casing and the second casing, so that the first casing and the The second housing is connected in a sealing manner.
The radar device according to claim 8, wherein the sealing ring is arranged around the antenna plate.
The radar device according to claim 8, wherein a sealing ring is provided on the second casing, the sealing ring extends into the first casing, and the sealing ring is at least connected to the first casing. The top wall of a casing is abutted against.
The radar device according to any one of claims 8-10, wherein the second housing includes a base, and the base includes a heat sink.
The radar device according to claim 11, wherein a sealing ring is arranged on the second casing, the sealing ring is arranged on the base, the second casing and the first casing are The connection point of the body connection is located at the edge of the base.
The radar device according to claim 12, wherein the outer contour of the base is substantially rectangular, the edge positions of the base include a corner position and a side position, and the second casing is connected to the base. The connection point where the first shell is connected is located at the corner position.
The radar device according to claim 11, wherein the base is provided with a protruding portion contacting the second surface of the antenna plate, and at least a top position of the protruding portion has a thermally conductive layer, so The thermally conductive layer is in contact with at least one heating element on the antenna board.
The radar device according to claim 14, wherein the thermally conductive layer comprises a thermally conductive silicone grease layer.
The radar device according to claim 1, further comprising: a connector, the connector comprising a connector housing and a connecting wire, the connecting wire at least partially accommodated in a space formed by the connector housing;

The connecting wire includes pins, the first ends of the pins are connected to the antenna board, and the second ends of the pins are used for contacting with external equipment to establish electrical connection.
The radar device according to claim 16, wherein the first ends of the pins are welded or plugged with the antenna board.
The radar device according to claim 16, wherein the connector housing and the first housing are integrally formed.
The radar device according to claim 18, wherein the connector is located on one side of the integral body formed by the first casing and the second casing.
The radar device according to claim 19, wherein an outline dimension of the connector is smaller than a side surface dimension of the whole formed by the first casing and the second casing.
The radar device according to claim 16, wherein the pin extends from the first end and is bent multiple times until the second end extends into the connector housing.
The radar device according to claim 21, wherein the bending direction of the connecting wire is adapted to the contour of the side surface of the first casing and/or the second casing.
The radar device according to claim 2, wherein the first housing and the antenna plate are detachably connected by fasteners.
The radar device according to claim 1, wherein the second casing and the first casing are detachably connected by fasteners.
The radar device according to claim 1, wherein the first housing comprises a plastic part, and the second housing comprises a metal part.
The radar device according to claim 1, wherein the antenna board is provided with at least one of the following components: a main chip, a transmitting antenna array and a receiving antenna array, and an arithmetic chip.
The radar device according to claim 1, wherein the radar device comprises a millimeter wave radar.
A movable device is characterized in that it comprises a main body, a radar device is installed on the main body, and the radar device comprises:

an antenna plate comprising a first surface provided with an antenna array, and a second surface opposite to the first surface;

a first shell, disposed opposite to the first surface of the antenna board, the first shell and the antenna board are directly and fixedly connected, and there is a preset space between the first shell and the first surface gap;

A second casing, disposed opposite to the second surface of the antenna board, the second casing and the first casing are directly and fixedly connected, and the first casing and the second casing are enclosed to form A accommodating space for accommodating the antenna board.
The movable device according to claim 28, wherein the first housing is detachably connected to the antenna board; or, the first housing and the antenna board are not detachably connected.
The movable device according to claim 28, wherein the first housing is disposed above the first surface of the antenna plate.
The movable device according to claim 30, wherein the first housing comprises a top wall and a side wall connected around the top wall, and the antenna board is received and fixed on the top wall and the into the accommodating cavity enclosed and formed by the side walls.
The movable device according to claim 31, wherein the antenna plate is directly and fixedly connected to the top wall; and/or the antenna plate is directly and fixedly connected to the side wall.
The movable device according to claim 32, wherein the antenna plate is directly and fixedly connected to the top wall, and the connection point between the antenna plate and the top wall is located at an edge position of the antenna plate .
The movable device according to claim 33, wherein the antenna board is substantially rectangular, the edge positions of the antenna board include corner positions and side positions, and the antenna board is connected to the top wall The connection point of is located at the corner position.
The movable device according to claim 31, further comprising a sealing ring, the sealing ring is provided between the first casing and the second casing, so that the first casing Sealed connection with the second housing.
The movable device according to claim 35, wherein the sealing ring is arranged around the antenna plate.
The movable device according to claim 35, wherein a sealing ring is provided on the second housing, the sealing ring extends into the first housing, and the sealing ring is at least The top wall of the first casing abuts against.
The mobile device of any one of claims 35-37, wherein the second housing includes a base, and the base includes a heat sink.
The movable device according to claim 38, wherein a sealing ring is arranged on the second casing, the sealing ring is arranged on the base, and the second casing is connected to the first casing. The connection point of the housing connection is located at the edge of the base.
The movable device according to claim 39, wherein the outer contour of the base is substantially rectangular, the edge positions of the base include corner positions and side positions, and the second casing is connected to The connection point of the first housing connection is located at the corner position.
The movable device according to claim 38, wherein the base is provided with a raised portion in contact with the second surface of the antenna board, and at least a top position of the raised portion has a thermally conductive layer, The thermally conductive layer is in contact with at least one heating element on the antenna board.
The movable device of claim 41, wherein the thermally conductive layer comprises a thermally conductive silicone grease layer.
The movable device of claim 28, further comprising: a connector, the connector comprising a connector housing and a connecting wire, the connecting wire at least partially accommodated in a space formed by the connector housing ;

The first end of the connecting wire including the pin is connected to the antenna board, and the second end of the pin is used for contacting with an external device to establish an electrical connection.
The movable device according to claim 43, wherein the first end of the pin is welded or plugged with the antenna board.
The mobile device of claim 43, wherein the connector housing is integrally formed with the first housing.
46. The mobile device of claim 45, wherein the connector is located on one side of the unit formed by the first housing and the second housing.
47. The mobile device of claim 46, wherein the connector has an outline dimension smaller than a side surface dimension of the entirety formed by the first housing and the second housing.
47. The movable device of claim 46, wherein the pin extends from the first end and is bent multiple times until the second end extends into the connector housing.
The movable device according to claim 48, wherein the bending direction of the connecting wire is adapted to the contour of the side surface of the first casing and/or the second casing.
The movable device according to claim 29, wherein the first housing and the antenna plate are detachably connected by fasteners.
The movable device of claim 28, wherein the second housing and the first housing are detachably connected by fasteners.
The mobile device of claim 28, wherein the first housing comprises a plastic piece and the second housing comprises a metal piece.
The movable device according to claim 28, wherein the antenna board is provided with at least one of the following components: a main chip, a transmitting antenna array and a receiving antenna array, and an arithmetic chip.
The mobile device of claim 28, wherein the radar device comprises a millimeter wave radar.
The mobile device of claim 28, wherein the mobile device comprises an unmanned aerial vehicle.