WO2023104161A1

WO2023104161A1 - Radar monitoring device

Info

Publication number: WO2023104161A1
Application number: PCT/CN2022/137620
Authority: WO
Inventors: 郭剑文; 石常鑫
Original assignee: 深圳市道通智能航空技术股份有限公司
Priority date: 2021-12-10
Filing date: 2022-12-08
Publication date: 2023-06-15
Also published as: CN114217309A

Abstract

A radar monitoring device, relating to the technical field of radars, and comprising multiple radar assemblies (100). The multiple radar assemblies (100) are connected end to end in sequence. Each radar assembly (100) comprises an antenna plate (2) and antennas (1) provided on the outer side of the antenna plate (2). The antennas (1) are used for emitting electromagnetic waves outwards. Field of views (α1, α2, α3) of electromagnetic waves emitted by any two adjacent radar assemblies (100) are set as a first field of view and a second field of view. Adjacent boundary lines of the first field of view and the second field of view coincide or detection areas covered by the first field of view and the second field of view partially coincide. The multiple radar assemblies (100) are connected end to end in sequence to form a ring body structure. The adjacent boundary lines of the field of views (α1, α2, α3) of electromagnetic waves emitted by any two adjacent radar assemblies (100) coincide or the detection areas covered by the two field of views (α1, α2, α3) partially coincide, such that the detection areas of the multiple radar assemblies (100) are superimposed in sequence, the whole circumferential area of the ring body structure formed by the multiple radar assemblies (100) can be detected, the monitoring of the whole circumference of the radar monitoring device is realized, and the monitoring is more reliable.

Description

A radar monitoring device

This application claims the priority of the Chinese patent application with the application number 2021115063179 and the application title "A Radar Monitoring Device" filed with the China Patent Office on December 10, 2021, the entire contents of which are incorporated in this application by reference.

technical field

The invention relates to the technical field of radar, in particular to a radar monitoring device.

Background technique

The monitoring system is one of the most widely used systems in the security system. The traditional monitoring system generally uses a camera to shoot the monitoring area. Cameras are divided into 360° panoramic cameras and non-360° panoramic cameras. The viewing distance of the non-360° panoramic camera is about 100 meters, and the field of view is about 20°. The 360° panoramic camera can realize close to 360° surround view monitoring, but the viewing distance is only about 20 meters. The shooting quality of the camera will also be affected by weather conditions (such as day, night, sand, smog, or rain and snow).

Based on the above-mentioned defects in camera monitoring, millimeter-wave radar emerged as a new monitoring device. The millimeter-wave radar emits electromagnetic waves through its antenna to detect objects in the monitoring area. Compared with camera monitoring, millimeter-wave radar has a range of up to 200 meters and is not affected by weather conditions. However, the field of view of millimeter-wave radar is generally between 90°-140°, and monitoring is not in place.

Contents of the invention

The object of the present invention is to provide a radar monitoring device, which can realize 360° surround monitoring and has high monitoring reliability.

In order to achieve the above purpose, the following technical solutions are provided:

A radar monitoring device, comprising a plurality of radar assemblies connected end to end in sequence, each of the radar assemblies includes an antenna board and an antenna arranged outside the antenna board, and the antenna is used to send Externally emitting electromagnetic waves, setting the angles of view of the electromagnetic waves emitted by any two adjacent radar components to be the first angle of view and the second angle of view respectively, the first angle of view and the second angle of view Adjacent boundary lines of the two overlap or the detection areas covered by the first viewing angle and the second viewing angle partially overlap.

As an optional solution of the radar monitoring device of the present invention, there are three radar assemblies, and the three radar assemblies are connected end to end in a triangular shape.

As an optional solution of the radar monitoring device of the present invention, the field angles of the electromagnetic waves emitted by the three radar components are all ±65°.

As an optional solution of the radar monitoring device of the present invention, the radar component further includes a radio frequency chip;

Each of the antenna boards is provided with the radio frequency chip, the radio frequency chip is electrically connected to the antenna on the same antenna board, and all the radio frequency chips are connected in communication.

As an optional solution of the radar monitoring device of the present invention, the radar component further includes a power chip;

One of the antenna boards is provided with the power chip, and the power chip is electrically connected to each of the radio frequency chips; or, each of the antenna boards is provided with the power chip, and the power chip It is electrically connected with the radio frequency chip on the same antenna board.

As an optional solution of the radar monitoring device of the present invention, a plurality of said antenna boards are bent and integrally formed.

As an optional solution of the radar monitoring device of the present invention, the radar assembly also includes a power chip and a plurality of baseband boards, and one baseband board is electrically connected to the inside of each antenna board;

One of the baseband boards is provided with the power chip, and the power chip is electrically connected to each of the radio frequency chips; or, each of the baseband boards is provided with the power chip, and the power chip The radio frequency chip on the antenna board corresponding to the baseband board is electrically connected.

As an optional solution of the radar monitoring device of the present invention, the radar monitoring device further includes a baseband board and a plurality of radio frequency chips arranged on the baseband board;

Each of the antenna boards is electrically connected to the baseband board, each of the antennas is electrically connected to one of the radio frequency chips, and all the radio frequency chips are connected in communication.

As an optional solution of the radar monitoring device of the present invention, the radar monitoring device further includes a power chip disposed on the baseband board;

There is one power chip, and one power chip is electrically connected to each of the radio frequency chips; or, there are multiple power chips, and each radio frequency chip is electrically connected to one power chip.

As an optional solution of the radar monitoring device of the present invention, the baseband board and the antenna board are electrically connected through a floating connector.

The beneficial effects of the present invention are:

In the radar monitoring device provided by the present invention, a plurality of radar components are sequentially connected end to end to form a ring structure. The adjacent boundary lines of the field angles of the electromagnetic waves emitted by any adjacent two radar components overlap or the detection areas covered by the two field angles partially overlap, so that the detection areas of multiple radar components are superimposed in sequence, so that the ring formed by multiple radar components The entire circumferential area of the shape structure can be detected, thereby realizing the entire circumferential monitoring of the radar monitoring device, and the monitoring is more reliable.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the accompanying drawings that need to be used in the description of the embodiments of the present invention. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention , for those skilled in the art, other drawings can also be obtained according to the content of the embodiment of the present invention and these drawings without any creative effort.

Fig. 1 provides the schematic diagram of radar monitoring device (first configuration) for the embodiment of the present invention;

Fig. 2 is a schematic diagram of the detection range of the radar monitoring device (the first configuration) provided by the embodiment of the present invention;

3 is a schematic diagram of a radar monitoring device (second configuration) provided by an embodiment of the present invention;

4 is a schematic diagram of a radar assembly (second configuration) provided by an embodiment of the present invention;

Fig. 5 is a schematic diagram of a radar monitoring device (a third configuration) provided by an embodiment of the present invention.

Reference signs:

100. Radar components;

1. Antenna; 2. Antenna board; 3. RF chip; 4. Power chip; 5. Baseband board; 6. Floating connector; 7. BTB interface.

Detailed ways

In order to make the technical problems solved by the present invention, the technical solutions adopted and the technical effects achieved clearer, the technical solutions of the embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only the technical solutions of the present invention. Some, but not all, embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative efforts belong to the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, or in a specific orientation. construction and operation, therefore, should not be construed as limiting the invention. In addition, the terms "first" and "second" are used for descriptive purposes only, and should not be construed as indicating or implying relative importance. Wherein, the terms "first position" and "second position" are two different positions.

In the description of the present invention, it should be noted that unless otherwise specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. Connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediary, and it can be the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention in specific situations.

This embodiment provides a radar monitoring device for detecting fixed objects or moving objects in the monitoring area, which can be installed on fixed objects such as buildings, or on moving objects such as automobiles, robots or drones superior. As shown in Figures 1 to 5, the radar monitoring device includes a plurality of radar assemblies 100, and the plurality of radar assemblies 100 are connected end to end in sequence, and each radar assembly 100 emits electromagnetic waves outward, and any two adjacent radar assemblies 100 are set The viewing angles of the emitted electromagnetic waves are the first viewing angle and the second viewing angle, and the adjacent boundary lines of the first viewing angle and the second viewing angle coincide or the first viewing angle and the second viewing angle The covered detection areas partially overlap.

Wherein, each radar assembly 100 includes an antenna 1 arranged outside it, and the antenna 1 emits electromagnetic waves outward, and the electromagnetic waves are scattered in various directions after reaching the surface of objects in the monitoring area, and part of the scattered electromagnetic waves move in the opposite direction and are transmitted by the antenna. 1 receiving, the radar assembly 100 acquires information of objects in the monitoring area according to the received electromagnetic waves. Electromagnetic waves are generally millimeter waves with a wavelength of 1mm-10mm and a propagation distance of about 200m.

Multiple radar assemblies 100 are connected end to end in sequence to form a ring structure. The adjacent boundary lines of the field angles of the electromagnetic waves emitted by any adjacent two radar assemblies 100 overlap or the detection areas covered by the two field angles partially overlap, so that the detection areas of multiple radar assemblies 100 are superimposed in sequence, so that multiple radar assemblies 100 The entire circumferential area of the formed ring structure can be detected, so that the entire circumferential monitoring of the radar monitoring device is realized, and the monitoring is more reliable.

In this embodiment, the radar monitoring device includes three radar assemblies 100. Exemplarily, the three radar assemblies 100 are combined in different ways, so that the radar monitoring device has three configurations. For details, refer to the following description. In other embodiments, the three radar assemblies 100 can also be combined in other ways, as long as the detection areas of the three radar assemblies 100 can be superimposed in sequence, which will not be described in detail here.

The first configuration:

As shown in FIG. 1 and FIG. 2 , the three radar assemblies 100 are connected end to end in a triangular shape. Specifically, the three radar assemblies 100 form an equilateral triangle. The viewing angle α of each radar assembly 100 is ±65° (horizontal viewing angle), and the viewing angles of the three radar assemblies 100 are superimposed, so that the entire radar monitoring device realizes 360° detection. The field of view is the maximum spatial angular range in which the electromagnetic waves emitted by the radar assembly 100 can detect objects.

The field angles of the three radar assemblies 100 in FIG. 2 are set to be α1, α2 and α3 respectively. The two adjacent boundary lines of α1 and α2 intersect at point a, and the two adjacent boundary lines of α1 and α2 form the first detection blind area A by the line segment from the origin of electromagnetic wave emission to point a and the outer surface of the radar monitoring device. Similarly, the two adjacent boundary lines of α2 and α3 intersect at point b, and the two adjacent boundary lines of α2 and α3 are surrounded by the line segment from the origin of electromagnetic wave emission to point b and the outer surface of the radar monitoring device to form a second detection blind area B The two adjacent boundary lines of α3 and α1 intersect at point c, and the two adjacent boundary lines of α3 and α1 are surrounded by the line segment from the origin of electromagnetic wave emission to point c and the outer surface of the radar monitoring device to form a third detection blind zone C. It should be noted that the areas of the first blind detection zone A, the second blind detection zone B, and the third blind detection zone C are relatively small, and objects in the monitoring area generally enter the detection zone first, and do not suddenly appear in the blind detection zone. Therefore, the reliability of monitoring will not be affected basically.

It can be understood that the three radar assemblies 100 can also be arranged in an isosceles triangle or a general triangle, not necessarily an equilateral triangle, and the field of view angle of each radar assembly 100 can also be adjusted accordingly.

Each radar assembly 100 includes an antenna board 2 , an antenna 1 and a radio frequency chip 3 . The three antenna boards 2 are sequentially connected end to end. Each antenna board 2 is provided with an antenna 1 and a radio frequency chip 3 . The antenna 1 is arranged on the outside of the antenna board 2 and is used for emitting electromagnetic waves and receiving electromagnetic waves reflected back by objects. The radio frequency chip 3 is electrically connected to the antenna 1 on the same antenna board 2 . The radio frequency chip 3 converts the radio signal into an electromagnetic wave of a certain waveform, and sends it out through the resonance of the antenna 1 . The three radio frequency chips 3 are connected in communication.

Exemplarily, between two adjacent antenna boards 2, an SPI (Serial Peripheral Interface, Serial Peripheral Interface, Serial peripheral interface), UART (Universal Asynchronous Receiver/Transmitter, Universal Asynchronous Receiver Transmitter) communication connection, convenient connection, stable signal transmission. Optionally, master-slave mode can be adopted between the three antenna boards 2, through a TCP (Transport Control Protocol, Transmission Control Protocol)/UPD (User Data Protocol, User Datagram Protocol), RS485, RS232, CAN-FD interface External detection signal output.

The radar assembly 100 also includes a power chip 4 . One of the antenna boards 2 is provided with a power chip 4 , and the power chip 4 is electrically connected to each radio frequency chip 3 to supply power to the three radio frequency chips 3 at the same time. Alternatively, a power chip 4 may also be provided on each antenna board 2 , the power chip 4 is electrically connected to the radio frequency chip 3 on the same antenna board 2 , and each power chip 4 supplies power to the corresponding radio frequency chip 3 . Setting the power chip 4 on the antenna board 2 is equivalent to integrating the antenna board 2 and the baseband board (the circuit board on which the power chip 4 is installed) into one board, which is convenient for design and configuration. Alternatively, power chips 4 may also be provided on two of the antenna boards 2 , one power chip 4 is used to supply power to one radio frequency chip 3 , and the other power chip 4 is used to supply power to the other two radio frequency chips 3 .

Obviously, in other embodiments, the radar assembly 100 of the first configuration can also be four, five or more. The radar assembly 100 may be connected end to end in a pentagonal shape, and multiple radar assemblies 100 may be connected end to end in a polygonal shape. When the number of radar assemblies 100 is different, the angle of view of the radar assemblies 100 can be adjusted to adjust the size of the detection blind areas of two adjacent radar assemblies 100 .

Second configuration:

As shown in Figures 3 and 4, the difference from the first configuration is that the radar assembly 100 also includes a plurality of baseband boards 5, the inside of each antenna board 2 is electrically connected to a baseband board 5, and the power supply chip 4 is set on the baseband board 5 instead of the antenna board 2 .

The radar component 100 adopts a double-board mode, including an antenna board 2 and a baseband board 5, which is convenient for design and production. Exemplarily, the baseband board 5 is arranged parallel to the corresponding antenna board 2 . Optionally, the baseband board 5 is electrically connected to the corresponding antenna board 2 through a vehicle-grade floating connector 6, so that the connection is reliable and the communication is stable. Two adjacent antenna boards 2 can be electrically connected in the first configuration, which will not be repeated here; or, the three antenna boards 2 can be an integrated structure formed by bending, and the processing technology is simple. High processing efficiency. Correspondingly, the material of the antenna board 2 may be aluminum alloy.

The number of power chip 4 is one, two or three. When the quantity of power supply chip 4 is one, power supply chip 4 can be arranged on any one of three baseband boards 5, and power supply chip 4 is electrically connected with three radio frequency chips (not shown in Fig. 3 and Fig. 4) simultaneously, with Simultaneously supply power to three RF chips. When the number of power supply chips 4 is two, set power supply chips 4 on two of them antenna boards 2, wherein one power supply chip 4 is used to supply power to one radio frequency chip, and the other power supply chip 4 is used to supply power to the other two radio frequency chips powered by. When the number of power chips 4 is three, one power chip 4 is provided on each baseband board 5 , and the power chip 4 is electrically connected to the radio frequency chip on the antenna board 2 corresponding to the baseband board 5 .

Obviously, in other embodiments, the radar assembly 100 of the second configuration can also be four, five or more. The radar assembly 100 may be connected end to end in a pentagonal shape, and multiple radar assemblies 100 may be connected end to end in a polygonal shape.

The third configuration:

As shown in Figure 5, the difference from the first configuration is that the radar assembly 100 also includes a baseband board 5 and a power supply chip 4, one baseband board 5 is provided, each antenna board 2 is electrically connected to the baseband board 5, and the power supply The chip 4 and the three radio frequency chips 3 are all arranged on the baseband board 5 instead of the antenna board 2 , each antenna 1 is electrically connected to a radio frequency chip 3 , and the three radio frequency chips 3 are connected in communication. One or three power supply chips can be provided. When the number of the power chip 4 is one, the power chip 4 is electrically connected to the three radio frequency chips 3 at the same time, so as to supply power to the three radio frequency chips 3 at the same time. When the number of power chips 4 is three, each radio frequency chip 3 is electrically connected to one power chip 4 , and the power chip 4 supplies power to the corresponding radio frequency chip 3 .

Exemplarily, each antenna board 2 is vertically connected to the baseband board 5, which is convenient for design and assembly. Optionally, similar to the second configuration, the baseband board 5 is electrically connected to the corresponding antenna board 2 through a vehicle-grade floating connector 6, so that the connection is reliable and the communication is stable.

Obviously, in other embodiments, the radar assembly 100 of the third configuration may also include four, five or more antenna boards 2; the four radar assemblies 100 may be connected end to end in a rectangular, prismatic or trapezoidal shape. , and are all electrically connected to the same baseband board 5; five radar assemblies 100 can be connected end to end in a pentagonal shape, and are all electrically connected to the same baseband board 5; multiple radar assemblies 100 can be connected end to end in a polygonal shape, and Both are electrically connected to the same baseband board 5 .

In the radar monitoring device provided by this embodiment, a plurality of radar assemblies 100 are connected end to end in turn to form a ring structure, and the adjacent boundary lines of the field angles of the electromagnetic waves emitted by any adjacent two radar assemblies 100 coincide or the two fields of view The detection areas covered by the corners are partially overlapped, so that the detection areas of the multiple radar assemblies 100 are superimposed in sequence, so that the entire circumferential area of the annular body structure formed by the multiple radar assemblies 100 can be detected, thereby realizing the monitoring of the radar monitoring device. The entire circumference of the monitoring, monitoring is more reliable.

Note that the above are only preferred embodiments of the present invention and applied technical principles. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, rearrangements and substitutions can be made by those skilled in the art without departing from the protection scope of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and can also include more other equivalent embodiments without departing from the concept of the present invention, and the present invention The scope is determined by the scope of the appended claims.

Claims

A radar monitoring device, characterized in that it comprises a plurality of radar assemblies (100), the plurality of radar assemblies (100) are connected end to end in sequence, and each of the radar assemblies (100) includes an antenna board (2) and The antenna (1) arranged on the outside of the antenna plate (2), the antenna (1) is used to emit electromagnetic waves outward, and the angle of view of the electromagnetic waves emitted by any adjacent two radar components (100) is set respectively is the first viewing angle and the second viewing angle, the adjacent boundary lines of the first viewing angle and the second viewing angle coincide or the first viewing angle and the second viewing angle The covered detection areas partially overlap.
The radar monitoring device according to claim 1, characterized in that there are three radar assemblies (100), and the three radar assemblies (100) are connected end-to-end sequentially in a triangle shape.
The radar monitoring device according to claim 2, characterized in that the field angles of the electromagnetic waves emitted by the three radar components (100) are all ±65°.
The radar monitoring device according to any one of claims 1-3, characterized in that, the radar component (100) further comprises a radio frequency chip (3);

Each of the antenna boards (2) is provided with the radio frequency chip (3), and the radio frequency chip (3) is electrically connected to the antenna (1) on the same antenna board (2), and all The radio frequency chip (3) is connected in communication.
The radar monitoring device according to claim 4, characterized in that, the radar component (100) further comprises a power chip (4);

One of the antenna boards (2) is provided with the power chip (4), and the power chip (4) is electrically connected to each of the radio frequency chips (3); or, each of the antenna boards ( 2) are provided with the power chip (4), and the power chip (4) is electrically connected to the radio frequency chip (3) on the same antenna board (2).
The radar monitoring device according to claim 4, characterized in that, the radar assembly (100) also includes a power chip (4) and a plurality of baseband boards (5), and the inside of each antenna board (2) is There is one said baseband board (5) electrically connected;

One of the baseband boards (5) is provided with the power supply chip (4), and the power supply chip (4) is electrically connected to each of the radio frequency chips (3); or, each of the baseband boards ( 5) are provided with the power supply chip (4), and the power supply chip (4) is electrically connected to the radio frequency chip (3) on the antenna board (2) corresponding to the baseband board (5).
The radar monitoring device according to claim 6, characterized in that, a plurality of said antenna boards (2) are bent and integrally formed.
The radar monitoring device according to claim 1, wherein the radar monitoring device further comprises a baseband board (5) and a plurality of radio frequency chips (3) arranged on the baseband board (5);

Each of the antenna boards (2) is electrically connected to the baseband board (5), each of the antennas (1) is electrically connected to one of the radio frequency chips (3), and all the radio frequency chips (3) ) communication connection.
The radar monitoring device according to claim 8, characterized in that, the radar monitoring device further comprises a power chip (4) arranged on the baseband board (5);

The power chip (4) is provided with one, and one of the power chips (4) is electrically connected to each of the radio frequency chips (3); or, the power chip (4) is provided with multiple, each of the The radio frequency chip (3) is electrically connected with one said power chip (4).
The radar monitoring device according to claim 6 or 8, characterized in that the baseband board (5) is electrically connected to the antenna board (2) through a floating connector (6).