Radar component and movable platform having the same

Abstract

A radar component and a movable platform having the radar component, wherein the radar component includes: a radar integration device (10), including a mounting structure and a radar (12), a camera module (13), a vision positioning sensor (14), and an inertial navigation unit (15) connected to the mounting structure, and the sensing directions of the radar (12), the camera module (13), and the vision positioning sensor (14) are set to face the same direction; a stabilization gimbal (20), including a plurality of rotating shaft mechanisms, each rotating shaft mechanism including a rotating bracket and a driving device for driving rotation, and the radar integration device (10) is mounted on the stabilization gimbal (20), wherein the attitude of the radar integration device (10) is adjusted by changing the rotation angle of at least one rotating shaft mechanism of the stabilization gimbal (20). The above-mentioned radar, camera module, vision positioning sensor, and inertial navigation unit are integrated into one body, with a smaller volume and lighter weight, and the stabilization gimbal and the vision positioning sensor can ensure the data acquisition accuracy.

Description

Technical Field

[0001] The present application relates to the field of radar technology, and particularly to a radar component and a movable platform having the radar component. Background Art

[0002] Currently, in many fields such as surveying and mapping / general surveying and mapping, environmental detection, 3D city modeling, and earth science, the requirements for the accuracy and acquisition efficiency of spatial data are getting higher and higher. Among many remote sensing technologies, radar remote sensing systems are widely used due to their high degree of automation, little influence by weather, high efficiency and accuracy in obtaining spatial data.

[0003] During the research process of related technologies, the inventors found that at least the following problems exist:

[0004] (1) When the existing radar is in use, it needs to be accompanied by a digital camera additionally. The color information of the image obtained by the digital camera is used to color the point cloud, but this will increase the overall volume and weight, which is rather inconvenient.

[0005] (2) When the radar is installed on a movable carrier, if the attitude of the movable carrier changes, such as suddenly changing the moving direction, it is easy to cause the radar remote sensing system to shake accordingly, resulting in inconsistent point cloud densities, and further affecting the data acquisition accuracy.

[0006] (3) When the radar is moving, it needs to be positioned in real time through a positioning and navigation system. In some complex scenarios, if the positioning and navigation system is interfered and loses satellites instantaneously, this will have a greater impact on the data acquisition accuracy. Summary of the Invention

[0007] An embodiment of the present application provides a radar component and a movable platform having the radar component.

[0008] In a first aspect, an embodiment of the present application provides a radar component, including: a radar integration device, including a mounting structure and a radar, a camera module, a vision positioning sensor, and an inertial navigation unit connected to the mounting structure, wherein the sensing directions of the radar, the camera module, and the vision positioning sensor are set to face the same direction; and a stabilization gimbal, including a plurality of rotating shaft mechanisms, each rotating shaft mechanism including a rotating bracket and a driving device for driving it to rotate around each rotating shaft, and the radar integration device is mounted on the stabilization gimbal, wherein the attitude of the radar integration device is adjusted by changing the rotation angle of at least one rotating shaft mechanism of the stabilization gimbal.

[0009] In a second aspect, an embodiment of the present application provides a movable platform, including a fuselage and the above-mentioned radar component, and the stabilization gimbal is mounted on the fuselage.

[0010] The vision positioning sensor can be used to position the radar component and the movable platform. In particular, the radar component and the movable platform generally use the positioning and navigation system for real-time positioning. If the positioning and navigation system loses satellite signals, positioning can still be performed through the vision positioning sensor, thereby ensuring the accuracy of radar data acquisition. The inertial navigation unit can be used to measure the attitude of the radar integrated device in real time, thereby determining the radar's emission direction information, which is conducive to improving the accuracy of radar data acquisition.

[0011] The sensing directions of the radar, the camera module, and the vision positioning sensor are set to face the same direction. When the positioning and navigation system loses satellite signals, the vision positioning sensor locates a point in the same sensing direction as the radar and the camera module, and uses this point as a reference point for positioning and stability enhancement.

[0012] The above-mentioned radar, camera module, vision positioning sensor, and inertial navigation unit are integrally installed on the mounting structure, so that the overall volume of the radar integrated device is smaller and the weight is lighter.

[0013] By changing the rotation angle of at least one rotating shaft mechanism of the stabilization pan-tilt, the attitude of the radar integrated device is adjusted, thereby playing a role in stabilizing the radar integrated device. Regardless of how the movable platform moves, the radar integrated device is always stable, thus ensuring the accuracy of data acquisition. Description of the Drawings

[0014] Figure 1 is a schematic structural diagram of a radar component according to an embodiment of the present application;

[0015] Figure 2 is Figure 1 a schematic structural diagram of the radar integrated device of the radar component;

[0016] Figure 3 is Figure 2 a schematic side structural diagram of the radar integrated device;

[0017] Figure 4 is Figure 2 another schematic side structural diagram of the radar integrated device;

[0018] Figure 5 is Figure 2 a schematic bottom structural diagram of the radar integrated device;

[0019] Figure 6 is Figure 2 a schematic exploded structural diagram of the radar integrated device;

[0020] Figure 7 is Figure 6 a magnified schematic diagram of the H position of the radar integrated device;

[0021] Figure 8 is Figure 2 Schematic structural diagram of the first accommodation cavity, the second accommodation cavity and the partition part in the housing of the radar integration device of

[0022] Figure 9 Schematic structural diagram of the first accommodation cavity, the second accommodation cavity and the partition part in the housing of the radar integration device of the radar component according to another embodiment of the present application;

[0023] Figure 10 is Figure 2 Schematic cross-sectional view of the radar integration device of

[0024] Figure 11 is Figure 2 Schematic front view of the lower structure (excluding the radar, the front cover and the bottom cover) of the radar integration device of

[0025] Figure 12 is Figure 11 Schematic top view of the lower structure of

[0026] Figure 13 is Figure 11 Schematic bottom view of the lower structure of

[0027] Figure 14 is Figure 11 Schematic side view of the lower structure of

[0028] Figure 15 is Figure 11 Another schematic side view of the lower structure of

[0029] Figure 16 is Figure 11 Schematic exploded view of the lower structure of

[0030] Figure 17 is Figure 1 Schematic exploded view of the radar component; and

[0031] Figure 18 Schematic structural diagram of the mobile platform according to an embodiment of the present application.

[0032] Description of the reference numerals:

[0033] 10. Radar integration device; 111. Housing; 111a. Front housing; 111a-1. Front housing main body; 111a-2. Front cover; 111b. Rear housing; 111b-1. Rear housing main body; 111b-2. Bottom cover; 1111. First accommodation cavity; 1112. Second accommodation cavity; 1113. Air inlet; 1114. Air outlet; 1115. Wind baffle; 112. Partition part; 112a. Partition board; 112b. Heat insulation space; 1121. Penetration channel; 113. Deflector; 1131. Deflection channel; 114. Heat insulation handle part; 115. First sealing ring; 116. Second sealing ring; 117. Mounting bracket; 1171. Mounting position; 1181. SD card slot; 1182. SD card slot cover plate; 119. SDK interface cover plate; 12. Radar; 121. Penetration through hole; 122. Auxiliary shaft fitting hole; 13. Camera module; 14. Visual positioning sensor; 15. Inertial navigation unit; 16. First circuit board; 161. Radar main board; 162. Camera module main board; 17. First transmission member; 171. Bending part; 18. Second transmission member; 19. Heat dissipation structure; 191. Heat dissipation plate; 192. Heat dissipation fan; 20. Stabilization gimbal; 211. First bracket; 2111. First layout space; 212. Second bracket; 2121. Second layout space; 221. First motor; 222. Second motor; 223. Third motor; 224. Central hole; 23. Connecting device; 24. Third transmission member; 241. First joint; 242. Second joint; 243. Third joint; 25. Second circuit board; 26. Fourth transmission member; 27. Shielding magnetic ring; 281. Auxiliary shaft; 282. Spring; 283. Bearing; 30. Third sealing ring; 40. Airframe; 50. Arm; 60. Power kit. Detailed implementation manner

[0034] To make the objectives, technical solutions and advantages of the present application clearer, the technical solutions of the present application will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are one embodiment of the present application, rather than all embodiments. Based on the described embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of the present application.

[0035] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in this application should have the ordinary meanings understood by those with ordinary skills in the field to which this application belongs. If descriptions such as "first", "second", etc. are involved throughout the text, these "first", "second", etc. descriptions are only used to distinguish similar objects, and should not be understood as indicating or implying their relative importance, sequence, or implicitly indicating the quantity of the technical features indicated. It should be understood that the data described by "first", "second", etc. can be interchanged under appropriate circumstances. If "and / or" appears throughout the text, its meaning includes three parallel scenarios. Taking "A and / or B" as an example, it includes scenario A, or scenario B, or the scenario where both A and B are satisfied simultaneously. In addition, for the convenience of description, spatial relative terms such as "above", "below", "top", "bottom", etc. can be used here, which are only used to describe the spatial position relationship between a device or feature shown in the figure and other devices or features, and should be understood to also include different orientations during use or operation other than the orientations shown in the figure.

[0036] An embodiment of the present application provides a radar component. Figure 1 The structural schematic diagram of the radar component according to an embodiment of the present application is shown. Figure 2 Shown is Figure 1 the structural schematic diagram of the radar integration device 10 of the radar component. Figure 6 Shown is Figure 2 the exploded structural schematic diagram of the radar integration device 10.

[0037] The radar component of the present application can be mounted on various movable platforms available for remote sensing mapping, such as unmanned aerial vehicles, vehicles, remotely controlled ground robots, etc. In this embodiment, the case where the radar component is mounted on an unmanned aerial vehicle is taken as an example for illustration.

[0038] As Figure 1 , Figure 2 and Figure 6 shown, the radar component includes a radar integration device 10 and a stabilization gimbal 20. The radar integration device 10 includes a mounting structure and a radar 12, a camera module 13, a vision positioning sensor 14, and an inertial navigation unit 15 connected to the mounting structure. The sensing directions of the radar 12, the camera module 13, and the vision positioning sensor 14 are set to face the same direction.

[0039] The radar 12 is used to obtain scene space data. The camera module 13 is used to obtain the required images of the scene, and its purposes can be various. For example, the camera module 13 obtains a color image of the scene, and colors the point cloud obtained by the radar 12 through the color information of the image; or, when the radar component moves to a certain position with the unmanned aerial vehicle, the camera module 13 can also obtain the color or black-and-white image that can be collected at that position.

[0040] The vision positioning sensor 14 can be used to position the radar component and the movable platform. In particular, the radar component and the unmanned aerial vehicle generally use a positioning and navigation system for real-time positioning. If the positioning and navigation system loses satellite signals, positioning can still be performed through the vision positioning sensor 14, thereby ensuring the data acquisition accuracy of the radar 12. The inertial navigation unit 15 can be used to measure the attitude of the radar integrated device 10 in real time, thereby determining the emission direction information of the radar 12, which is conducive to improving the data acquisition accuracy of the radar 12.

[0041] Among them, the sensing directions of the radar 12, the camera module 13, and the vision positioning sensor 14 are set to face the same direction. When the positioning and navigation system loses satellite signals, the vision positioning sensor 14 locates a point in the same sensing direction as the radar 12 and the camera module 13, and uses this point as a reference point for positioning and stability enhancement. The above-mentioned radar 12, camera module 13, vision positioning sensor 14, and inertial navigation unit 15 are integrally installed on the mounting structure, so that the overall volume of the radar integrated device 10 is smaller and the weight is lighter.

[0042] The stabilization gimbal 20 includes a plurality of rotating shaft mechanisms. Each rotating shaft mechanism includes a rotating bracket and a driving device for driving it to rotate around each rotating shaft. The radar integrated device 10 is installed on the stabilization gimbal 20. Among them, by changing the rotation angle of at least one rotating shaft mechanism of the stabilization gimbal 20, the attitude of the radar integrated device 10 is adjusted, thereby playing a role in stabilizing the radar integrated device 10. No matter how the unmanned aerial vehicle moves, the radar integrated device 10 is always stable, thereby ensuring the data acquisition accuracy.

[0043] Figure 3 Shows Figure 2 The side structure schematic diagram of the radar integrated device 10. Figure 4 Shows Figure 2 Another side structure schematic diagram of the radar integrated device 10.

[0044] Such as Figures 1 to 4As shown in the figure, in some embodiments of the present application, the extension line of the rotating shaft of at least one rotating shaft mechanism of the stabilization gimbal 20 passes through the middle of the side of the radar integration device 10, and the radar integration device 10 can perform pitching or yawing movements along the extension line of the rotating shaft. The radar 12 is located above the camera module 13, the visual positioning sensor 14, and the inertial navigation unit 15. To facilitate the pitching or yawing movement of the radar integration device 10, the overall center of gravity of the radar integration device 10 should be located on or above the extension line of the above-mentioned rotating shaft. Since the weight of the radar 12 is generally greater than the total weight of the camera module 13, the visual positioning sensor 14, and the inertial navigation unit 15, by arranging the radar 12 above the camera module 13, the visual positioning sensor 14, and the inertial navigation unit 15, it is possible to meet the above requirements for the overall center of gravity after integration without adding extra weight or only adding a small amount of weight to the corresponding parts of the camera module 13, the visual positioning sensor 14, and the inertial navigation unit 15.

[0045] It should be noted that in some other embodiments of the present application, the radar 12 can also be arranged below the camera module 13, the visual positioning sensor 14, and the inertial navigation unit 15. In this case, in order to meet the requirements for the overall center of gravity, it is necessary to increase the weight of the corresponding parts of the camera module 13, the visual positioning sensor 14, and the inertial navigation unit 15. Generally, this will also increase the volume of this part, which is not conducive to the miniaturization of the overall radar integration device 10. In addition, the radar 12 can also be arranged in other ways, such as horizontally side by side, with the positions of each component meeting the normal working requirements of the radar integration device 10. Of course, those skilled in the art can understand that the overall center of gravity of the radar integration device 10 can also be located below the extension line of the rotating shaft. However, for relatively easy rotation, the distance between the center of gravity and the extension line of the rotating shaft should not be too large.

[0046] Figure 8 Shows Figure 2 Schematic diagram of the structure of the first accommodation cavity 1111, the second accommodation cavity 1112, and the partition plate 112a inside the housing 111 of the radar integration device 10. Figure 9 Shows a schematic diagram of the structure of the first accommodation cavity 1111, the second accommodation cavity 1112, and the partition plate 112a inside the housing 111 in the radar assembly of another embodiment of the present application. Figure 11 Shows Figure 2 Front view structural schematic diagram of the lower structure of the radar integration device 10, where the lower structure refers to the structure remaining after removing the radar 12, the front cover 111a-2, and the bottom cover 111b-2 from the radar integration device 10. Figure 16 Shows Figure 11 Exploded structural schematic diagram of the lower structure.

[0047] As Figure 1 、Figure 2 , Figure 6 , Figure 8 and Figure 16 As shown in Figure 2 , Figure 6 , Figure 8 and Figure 16 , in some embodiments of the present application, the radar integration device 10 further includes a first circuit board 16, and a heating element is provided on the first circuit board 16. The mounting structure includes a housing 111, and a first accommodation cavity 1111 and a second accommodation cavity 1112 are separated from each other inside the housing 111. The camera module 13, the vision positioning sensor 14 and the inertial navigation unit 15 are arranged in the first accommodation cavity 1111. The first circuit board 16 is arranged in the second accommodation cavity 1112. At least one of the radar 12, the camera module 13, the vision positioning sensor 14 and the inertial navigation unit 15 is connected to the first circuit board 16. The above-mentioned heating element on the first circuit board 16 forms a heat source, which will increase the surrounding temperature during operation. Since the camera module 13, the vision positioning sensor 14 and the inertial navigation unit 15 are all sensitive to temperature, if the installation environment temperature is too high, it will affect the normal operation of the above components. Therefore, the housing 111 is divided into a first accommodation cavity 1111 and a second accommodation cavity 1112, and the camera module 13, the vision positioning sensor 14, the inertial navigation unit 15 and the first circuit board 16 are located in different two accommodation cavities respectively, so as to achieve heat insulation and ensure the normal operation of the camera module 13, the vision positioning sensor 14 and the inertial navigation unit 15.

[0048] Of course, the arrangement manner of the camera module 13, the vision positioning sensor 14, the inertial navigation unit 15 and the first circuit board 16 is not limited to this. In other embodiments, the above components can also be placed in the same cavity, but other means are needed to reduce the influence of high heat on components such as the camera module 13. For example, a sufficient distance needs to be provided between the first circuit board 16 and other components such as the camera module 13, or a heat absorption structure is provided at the first circuit board 16 or between the first circuit board 16 and the camera module 13.

[0049] As Figure 6 , Figure 8 , Figure 9 and Figure 16 As shown in Figure 6 , Figure 8 , Figure 9 and Figure 16 , in some embodiments of the present application, the radar integration device 10 further includes a first transmission member 17. A partition portion 112 for separating the first accommodation cavity 1111 and the second accommodation cavity 1112 is provided inside the housing 111. The partition portion 112 is provided with a through channel 1121 for the first transmission member 17 to pass through. At least one of the camera module 13, the vision positioning sensor 14 and the inertial navigation unit 15 is electrically connected to the first circuit board 16 through the first transmission member 17. In Figure 6 and Figure 16In the specific embodiment shown, the camera module 13, the vision positioning sensor 14, and the inertial navigation unit 15 are all connected to the first transmission member 17. Of course, in other embodiments, one or two of the camera module 13, the vision positioning sensor 14, and the inertial navigation unit 15 may also be connected to the first transmission member 17. In the above embodiment, the first transmission member 17 is used to supply power and / or transmit signals and data to the camera module 13, the vision positioning sensor 14, and the inertial navigation unit 15. The first transmission member 17 can be selected from various transmission members capable of supplying power and / or transmitting signals and data, such as flexible printed circuit boards, coaxial cables, etc.

[0050] It should be noted that the connection manner between the camera module 13, the vision positioning sensor 14, and the inertial navigation unit 15 and the first circuit board 16 is not limited to this. In some other embodiments of the present application, any one of the camera module 13, the vision positioning sensor 14, and the inertial navigation unit 15 may also be wirelessly connected to the first circuit board 16.

[0051] As Figure 8 and Figure 9 shown, in some embodiments of the present application, the partition portion 112 includes at least one partition plate 112a. In Figure 8 the specific embodiment shown, the partition plate 112a is one. A first accommodation cavity 1111 and a second accommodation cavity 1112 are formed in the housing 111 by one partition plate 112a. The structure is simple and convenient for processing and installation. Of course, the number of partition plates 112a is not limited to one. In other embodiments, the partition plates 112a may also be multiple.

[0052] Specifically, when the partition plates 112a are multiple, the multiple partition plates 112a are arranged along the connection direction of the first accommodation cavity 1111 and the second accommodation cavity 1112. At least one heat insulation space 112b is formed between at least a group of two adjacent partition plates 112a. The heat insulation space 112b can further enhance the heat insulation effect between the first accommodation cavity 1111 and the second accommodation cavity 1112. In Figure 9 the specific embodiment shown, the partition plates 112a are two, and a heat insulation space 112b is formed between the two partition plates 112a.

[0053] It can be understood that the specific form of the partition portion 112 is not limited to this. In other embodiments not shown in the figure, the partition portion 112 may also be other structures capable of forming two accommodation cavities in the housing 111. For example, it may be a heat insulation film made of heat insulation material.

[0054] As Figure 6As shown, in some embodiments of the present application, the radar integration device 10 further includes a second transmission member 18. One end of the second transmission member 18 is electrically connected to the radar 12, and the other end of the second transmission member 18 extends into the second accommodation cavity 1112 and is electrically connected to the first circuit board 16. The second transmission member 18 is used to supply power to the radar 12 and / or transmit signals and data. The second transmission member 18 can be selected from various transmission members capable of supplying power and / or transmitting signals and data, such as flexible printed circuit boards, coaxial cables, etc. Of course, the connection manner between the radar 12 and the first circuit board 16 is not limited to this. In some other embodiments of the present application, the radar 12 can also be wirelessly connected to the first circuit board 16.

[0055] Preferably, the first circuit board 16 includes a radar main board 161 and a camera module main board 162. At least a radar image processor is provided on the radar main board 161, and at least a camera image processor is provided on the camera module main board 162. In Figure 6 the illustrated embodiment, the radar main board 161 is located above the camera module main board 162, and the radar main board 161 and the camera module main board 162 are connected. The first transmission member 17 and the second transmission member 18 are directly connected to the radar main board 161. Of course, the first circuit board 16 can also include one of the radar main board 161 and the camera module main board 162, or include other types of circuit boards, such as a power board, a total control board, etc. When the first circuit board 16 includes multiple circuit boards, the layout relationship between the respective circuit boards can be designed as needed.

[0056] Figure 5 As shown Figure 2 is a schematic diagram of the bottom surface structure of the radar integration device 10. Figure 7 As shown Figure 6 is an enlarged schematic diagram at H, which mainly shows the structures of the deflector 113 and the diversion channel 1131. Figure 10 As shown Figure 2 is a cross-sectional schematic diagram of the radar integration device 10, and the cross-section is perpendicular to the sensing direction of the radar integration device 10 and passes through the second accommodation cavity 1112. Figure 12 As shown Figure 11 is a schematic diagram of the top surface structure of the lower structure of Figure 13 As shown Figure 11 is a schematic diagram of the bottom surface structure of the lower structure of Figure 14 As shown Figure 11 is a schematic diagram of the side surface structure of the lower structure of Figure 15 As shown Figure 11 is another schematic diagram of the side surface structure of the lower structure of

[0057] As Figure 6 and Figure 16As shown, in some embodiments of the present application, the radar integrated device 10 also includes a heat dissipation structure 19, which is used to dissipate heat from the first circuit board 16, thereby reducing the temperature around the first circuit board 16 and ensuring the reliability of the first circuit board 16.

[0058] Specifically, Figures 1 to 6 , Figure 10 as well as Figures 14 to 16 As shown, the housing 111 has an air inlet 1113 and an air outlet 1114 communicating with the second accommodating chamber 1112. The heat dissipation structure 19 is disposed in the second accommodating chamber 1112. The heat dissipation structure 19 includes a heat dissipation plate 191 and a heat dissipation fan 192.

[0059] The heat sink 191 has a raised heat dissipation convex portion, which is in close contact with the heating element. The heat dissipation convex portion is made of a material with good thermal conductivity such as metal, and the heating element and the heat dissipation convex portion are in close contact with each other to increase the heat dissipation area. Preferably, the heat sink 191 is made entirely of a thermally conductive material, so that the heat dissipation area can be increased to the greatest extent.

[0060] The cooling fan 192 forms an airflow between the air inlet 1113 and the air outlet 1114, and the cooling fan 192, the heat sink 191 and the first circuit board 16 are arranged along the path of the airflow. When the cooling fan 192 is started, the natural wind from the outside enters the second accommodation chamber 1112 through the air inlet 1113, passes through the cooling fan 192 and is finally discharged from the air outlet 1114 to form an airflow, which also passes through the heat sink 191 and the first circuit board 16, thereby taking away the heat from the heat sink 191 and the first circuit board 16, thereby enhancing the heat dissipation. The cooling fan 192 can be a centrifugal fan, an axial flow fan, etc.

[0061] It should be noted that the specific form of the heat dissipation structure 19 is not limited thereto. In other embodiments, the heat dissipation structure 19 may also be one of a heat dissipation fan 192 and a heat dissipation plate 191 with a heat dissipation protrusion, or the heat dissipation structure 19 may also be a combination of heat dissipation fins and a heat dissipation fan 192.

[0062] Furthermore, if Figures 5 to 7 As shown, a guide plate 113 is provided in the second accommodating chamber 1112. The guide plate 113 has at least one guide channel 1131. One end of the guide channel 1131 is in communication with the second accommodating chamber 1112. The other end of the guide channel 1131 is in communication with the air inlet 1113 or the air outlet 1114. Through the above-mentioned guide channel 1131, the incoming air can be introduced to the desired position (such as the air inlet side of the cooling fan 192), or the airflow at a designated position in the second accommodating chamber 1112 (such as the side of the heat sink 191 and the first circuit board 16 away from the airflow direction) can be guided to the air outlet 1114 to flow out, thereby reducing the air volume loss and improving the heat dissipation effect.

[0063] In Figures 5 to 7 、 Figure 10 and Figures 12 to 16 the specific embodiments shown, the air inlet 1113 is located at the bottom of the housing 111, the air outlet 1114 is located at the rear side of the housing 111, and the cooling fan 192, the radar main board 161, the heat dissipation plate 191, and the camera module main board 162 are sequentially arranged from top to bottom in the second accommodation cavity 1112. The heat dissipation protrusions of the heat dissipation plate 191 can be located on the upper side and contact the heat generating components on the radar main board 161, or can be located on the lower side and contact the heat generating components on the camera module main board 162. Of course, they can also be located on both sides at the same time and contact and dissipate heat from the heat generating components on both the radar main board 161 and the camera module main board 162.

[0064] As Figure 6 、 Figure 10 and Figure 16 shown, an air separation plate 1115 is further provided between the cooling fan 192 and the radar main board 161. The air separation plate 1115 is fixedly installed in the second accommodation cavity 1112 to divide the second accommodation cavity 1112 into upper and lower parts. The air separation plate 1115 has a positioning plate extending upward, and the positioning plate can achieve installation positioning with the inner wall of the second accommodation cavity 1112 and / or cooperate with the cooling fan 192 for positioning. The middle part of the positioning plate has a ventilation opening, and the ventilation opening is aligned with the middle area of the cooling fan 192. In this embodiment, the cooling fan 192 is an axial flow fan, and the ventilation opening of the positioning plate corresponds to the fan area of the axial flow fan. The guide plate 113 is arranged at the air inlet 1113, and the guide plate 113 extends upward into the upper area of the air separation plate 1115, so as to introduce the incoming air at the air inlet 1113 to the upper air inlet side of the cooling fan 192, and blow downward through the cooling fan 192 toward the radar main board 161, the heat dissipation plate 191, and the camera module main board 162, and finally flow out from the air outlet 1114. It should be noted that in this case, as Figure 10 shown, the part of the air outlet 1114 corresponding to the lower area of the air separation plate 1115 mainly functions to discharge air, and a small amount of air flows out from the part of the air outlet 1114 corresponding to the upper area of the air separation plate 1115, and even natural wind from the outside may enter through this part when the cooling fan 192 is working.

[0065] Understandably, the air inlet 1113, the air outlet 1114, the cooling fan 192, the radar main board 161, the heat dissipation plate 191, the camera module main board 162, and the flow guide plate 113 are not limited to the above arrangement, and the path of the air flow is not limited to the above situation either. In other embodiments, reasonable arrangements can be made according to specific requirements as long as heat dissipation can be achieved and air volume loss can be effectively controlled. For example, the air inlet 1113 and the air outlet 1114 are arranged on two opposite sides of the housing 111, and the cooling fan 192, the radar main board 161, the heat dissipation plate 191, and the camera module main board 162 are all vertically arranged and spaced apart horizontally. At this time, the path of the air flow is approximately straight, and the flow guide plate 113 may not be required.

[0066] As Figures 1 to 3 , Figure 5 , Figure 6 and Figure 10 shown, in some embodiments of the present application, a heat insulation holding part 114 is provided on a part of the outer wall of the housing 111 corresponding to the second accommodating cavity 1112. The heat insulation holding part 114 is made of heat insulation material to prevent the operator from getting burned when holding the position of the radar integration device 10 corresponding to the second accommodating cavity 1112.

[0067] For example, an SD card slot 1181 is provided at the position of the housing 111 corresponding to the second accommodating cavity 1112. The SD card slot 1181 is connected to the radar main board 161 or the camera module main board 162, and an SD card slot cover plate 1182 is provided on the SD card slot 1181. When inserting or removing the SD card, the operator can hold the above-mentioned heat insulation holding part 114. In this embodiment, a part of the heat insulation holding part 114 is located at the bottom of the outer wall of the housing 111, and the other part is located on the side wall of the outer wall, and the SD card slot 1181 is located above the heat insulation holding part 114, which is more convenient for hand-held operation. Of course, the specific position of the heat insulation holding part 114 can be designed according to the position that needs to be operated specifically, for example, designed according to the position of the SD card slot 1181 or other types of slots that need to be operated.

[0068] As Figures 1 to 6 , Figures 11 to 16As shown, in some embodiments of the present application, the housing 111 includes a front shell 111a and a rear shell 111b that are detachably connected. At least part of the inner cavity of the front shell 111a forms a first accommodation cavity 1111. At least part of the inner cavity of the rear shell 111b forms a second accommodation cavity 1112. Setting the two parts of the front shell 111a and the rear shell 111b to be detachably connected is more convenient for assembly and maintenance. The partition 112 can be a structure separately provided between the front shell 111a and the rear shell 111b, or can be formed by the side wall of the front shell 111a or the rear shell 111b. Further, a first sealing ring 115 is provided between the front shell 111a and the rear shell 111b. After the front shell 111a and the rear shell 111b are assembled, the first sealing ring 115 is clamped between the two, playing a sealing role to prevent dust and rainwater from entering the first accommodation cavity 1111 or the second accommodation cavity 1112 from the joint. Among them, the first sealing ring 115 can be made of elastic materials such as rubber and silica gel.

[0069] As Figures 1 to 6 shown, the front shell 111a includes a front shell main body 111a-1 and a front cover 111a-2. The front shell main body 111a-1 is detachably connected to the rear shell 111b, at least one of the front shell main body 111a-1 and the rear shell 111b is detachably connected to the radar 12, the front cover 111a-2 is detachably connected to the side of the front shell main body 111a-1 facing away from the rear shell 111b, and the front cover 111a-2 is detachably connected to the radar 12. All the above structures are detachably connected, which is convenient for disassembly and maintenance. In addition, the front cover 111a-2 is connected to both the front shell main body 111a-1 and the radar 12 at the same time, and then combined with the connection of the radar 12 to at least one of the front shell main body 111a-1 and the rear shell 111b, so that the radar 12 and the housing 111 form a firmly connected whole.

[0070] In the specific embodiment shown in the figure, the part of the upper part of the front cover 111a-2 connected to the radar 12 protrudes outward from the part of the lower part connected to the front shell main body 111a-1, and the rest of the housing 111 is substantially flush with the outer surface of the radar 12. That is to say, the lower half of the radar integration device 10 can minimize the volume as much as possible without affecting the operation of the internal components, which is beneficial to the miniaturization of the radar integration device 10. The front cover 111a-2 has avoidance holes for avoiding the radar 12, the camera module 13, and the visual positioning sensor 14. Both the front and rear ends of the front shell main body 111a-1 are open. After the front shell main body 111a-1 is connected to the rear shell 111b and the front cover 111a-2, a first accommodation cavity 1111 is formed inside the front shell main body 111a-1, which is more convenient for the maintenance and replacement of the components in the first accommodation cavity 1111.

[0071] As Figures 1 to 6As shown, the rear housing 111b includes a rear housing main body 111b-1 and a bottom cover 111b-2. The rear housing main body 111b-1 and the bottom cover 111b-2 are detachably connected, facilitating the repair and replacement of components within the second accommodation cavity 1112. In the specific embodiment shown in the figure, the SD card slot 1181 is provided on the side wall of the rear housing main body 111b-1, the heat-insulating hand-held portion 114 is provided on the bottom cover 111b-2, and the bottom end of the flow guide plate 113 is connected to the bottom cover 111b-2. As Figure 5 and Figure 12 shown, on the side of the partition portion 112 facing the second accommodation cavity 1112, there is a groove-like structure similar to the flow guide plate 113. When the bottom cover 111b-2 and the rear housing main body 111b-1 are assembled, the flow guide plate 113 is docked with the groove-like structure on the partition portion 112 to define a flow guide area communicating with the air inlet 1113. Further, a second sealing ring 116 is provided between the rear housing main body 111b-1 and the bottom cover 111b-2. When the rear housing main body 111b-1 and the bottom cover 111b-2 are assembled, the second sealing ring 116 is clamped between them, playing a sealing role to prevent dust and rainwater from entering the second accommodation cavity 1112 from the joint. Among them, the second sealing ring 116 can be made of elastic materials such as rubber and silica gel.

[0072] It should be noted that the structure of the housing 111 is not limited to the above-mentioned multiple detachable split structures. In other embodiments not shown in the figure, the housing 111 can be an integral structure, and an accommodation cavity is formed in this integral structure, and the accommodation cavity is divided into a first accommodation cavity 1111 and a second accommodation cavity 1112. In addition, the connection method between the housing 111 and the radar 12 is not limited to this. In other embodiments, the housing 111 can also be connected to the radar 12 in other ways. For example, the housing 111 is only connected to the bottom of the radar 12.

[0073] As Figure 6 and Figure 16 shown, in some embodiments of the present application, an installation frame 117 is provided inside the housing 111. The camera module 13, the visual positioning sensor 14, and the inertial navigation unit 15 are connected to the installation frame 117 and / or the inner wall of the housing 111, and the radar 12 is connected to the housing 111. The installation frame 117 has a plurality of spaced-apart installation positions 1171, and at least two of the camera module 13, the visual positioning sensor 14, and the inertial navigation unit 15 are respectively installed at the corresponding installation positions 1171. The above-mentioned installation positions 1171 can space the installed components apart to prevent mutual influence between the components.

[0074] In the specific embodiment shown in the figure, the mounting bracket 117 is located inside the front shell main body 111a-1. There are two mounting positions 1171 on the mounting bracket 117, which are respectively used to mount the camera module 13 and the inertial navigation unit 15. The first transmission member 17 is electrically connected to the camera module 13 and the inertial navigation unit 15. A bent portion 171 is formed at the end of the first transmission member 17. The visual positioning sensor 14 is mounted and fixed to the inner side of the front cover 111a-2, and the bent portion 171 is electrically connected to the visual positioning sensor 14. The above arrangement makes full use of the internal space of the first accommodating cavity 1111. Among them, the visual positioning sensor 14 has a small weight and can be directly fixed to the front cover 111a-2. As Figure 2 and Figure 15 shown, the side surface of the front shell main body 111a-1 has an SDK interface for external development, and an SDK interface cover plate 119 is provided on the SDK interface.

[0075] It should be noted that the mounting structure is not limited to the above specific structure. In other embodiments, the mounting structure can also be other structures that can integrally mount the radar 12, the camera module 13, the visual positioning sensor 14, and the inertial navigation unit 15. For example, the mounting structure can be a mounting frame, and the radar 12, the camera module 13, the visual positioning sensor 14, and the inertial navigation unit 15 are respectively fixedly mounted in the frame.

[0076] In some embodiments of the present application, the radar 12 includes at least one of a lidar, a microwave radar, and an ultrasonic radar. The camera module 13 is an RGB camera, and the image color information obtained by the RGB camera is used to color the three-dimensional image obtained by the radar 12. The visual positioning sensor 14 is used to obtain the depth information of the image. The visual positioning sensor 14 includes at least one of a monocular vision sensor, a binocular vision sensor, and a structured light sensor.

[0077] Preferably, the radar 12 includes a lidar. The lidar has at least the following advantages:

[0078] (1). The lidar is an active optical sensor, which is not affected by environmental light, texture, and the complexity of the scene, and can effectively obtain scene information and improve the quality of data collection;

[0079] (2). The lidar has the characteristic of multi-echo. It can emit a pulse once and receive multiple echoes to obtain richer target information, such as the height of trees, and at the same time detect the external wall glass and internal structure of buildings, etc.;

[0080] (3). By modifying the characteristic wavelength of the lidar, the water depth can be measured. For example, the green band laser of 532nm can measure a water depth of more than 15m at most;

[0081] (4) The continuous sampling of lidar has less strict requirements for the path, and the data accuracy is not limited by the flight altitude.

[0082] Among them, the lidar can include a rotary lidar and a frame-type lidar. A rotating component is provided outside the rotary lidar, and the rotating component can drive the laser and receiver of the rotary lidar to rotate. The laser and receiver of the frame-type lidar are stationary relative to the housing of the frame-type lidar, and the optical path is changed by rotating the internal optical components (such as lenses). Compared with the rotary lidar, the frame-type lidar has no external rotating components and has advantages in terms of volume and weight.

[0083] In this embodiment, it is preferably to use a frame-type lidar with a relatively large field of view (for example, the field of view is 70°). The frame-type lidar has a high scanning frequency, so that high-density point clouds can be obtained. With a relatively large field of view, it can effectively increase the operation area per unit time, improve the acquisition efficiency of spatial data, and shorten the mapping operation cycle. Of course, in other embodiments, other types of lidar such as rotary lidar can also be used.

[0084] In some embodiments of the present application, the multiple rotating shaft mechanisms include a pitch rotating shaft mechanism for adjusting the pitch angle of the radar integration device 10, a roll rotating shaft mechanism for adjusting the roll angle of the radar integration device 10, and a yaw rotating shaft mechanism for adjusting the yaw angle of the radar integration device 10. That is to say, the stabilization gimbal 20 can achieve three-axis stabilization of pitch, roll and yaw, which is more beneficial to the stability of the radar integration device 10. Of course, in other embodiments, the multiple rotating shaft mechanisms can also include two of the pitch rotating shaft mechanism, the roll rotating shaft mechanism and the yaw rotating shaft mechanism, that is, the stabilization gimbal 20 can achieve two-axis stabilization.

[0085] Figure 17 shows Figure 1 the exploded structural schematic diagram of the radar assembly.

[0086] such as Figure 6 and Figure 17As shown, in some embodiments of the present application, the stabilizing gimbal 20 further includes a connecting device 23 and a third transmission member 24. The connecting device 23 is used to connect an external device. The external device is a movable platform for carrying a radar assembly, and in this embodiment, it is an unmanned aerial vehicle. A layout space is formed inside at least one rotating bracket. The first end of the third transmission member 24 is electrically connected to the connecting device 23, and the second end of the third transmission member 24 passes through the layout space and is electrically connected to the first circuit board 16 of the radar integrated device 10. The third transmission member 24 is arranged in the layout space of the rotating bracket to prevent the third transmission member 24 from being exposed to the outside, which plays a certain protective role for the third transmission member 24 and makes the radar assembly more beautiful. The connecting device 23 is connected to the third transmission member 24, at least for supplying power to the first circuit board 16 or and / or transmitting signals and data. The third transmission member 24 can be selected from a variety of transmission members that can supply power and / or transmit signals and data, such as a flexible circuit board, a coaxial line, etc.

[0087] Furthermore, if Figure 17 As shown, the driving device includes a motor, and the motor is provided with a central hole 224 for the third transmission member 24 to pass through, and the central hole 224 is connected to the arrangement space. The third transmission member 24 is arranged in the central hole 224, and even if the motor and the rotating bracket driven by it rotate, the third transmission member 24 at the rotating shaft will not be affected. It should be noted that the motor can be placed in the arrangement space, or it can be located outside the arrangement space. When the motor is located outside the arrangement space, it generally corresponds to the opening of the arrangement space and this opening is the location of the rotating shaft of the rotating bracket. The third transmission member 24 passes through the above opening and passes through the central hole 224 of the motor. Of course, the arrangement of the third transmission member 24 at the motor is not limited to this. In other embodiments, the third transmission member 24 can also be pre-wound with multiple turns at the motor. Even if the motor and the rotating bracket driven by it rotate, the third transmission member 24 will not be twisted or torn off due to the pre-wound multiple turns.

[0088] In addition, the stabilizing gimbal 20 also includes a second circuit board 25 and a fourth transmission member 26. At least one rotating bracket has an installation cavity inside, and the installation cavity is connected to the layout space. The second circuit board 25 is arranged in the installation cavity. The third transmission member 24 is electrically connected to the second circuit board 25. The motor is electrically connected to the first circuit board 16 or the second circuit board 25 through the fourth transmission member 26. The fourth transmission member 26 is used to supply power to the motor or and / or transmit signals and data. The fourth transmission member 26 can be selected from a variety of transmission members that can supply power and / or transmit signals and data, such as a flexible circuit board, a coaxial line, etc. The fourth transmission member 26 can also be at least partially penetrated in the layout space, thereby protecting the fourth transmission member 26.

[0089] exist Figure 17In the illustrated embodiment, the second circuit board 25 is a motor drive board, and at least part of the motors are connected to the second circuit board 25 through a fourth transmission member 26. Since the third transmission member 24 is connected to both the first circuit board 16 and the second circuit board 25, the remaining motors can also be connected to the first circuit board 16 through the fourth transmission member 26. At the same time, the function of the connection between the third transmission member 24 and the second circuit board 25 is, firstly, to supply power to the second circuit board 25, and secondly, to transmit data such as attitude signals measured by the inertial navigation system in the unmanned aerial vehicle to the second circuit board 25, so as to drive the motors to rotate to a specific angle or cancel out external jitters.

[0090] As Figure 1 and Figure 17 shown, specifically, each rotating bracket in the plurality of rotating shaft mechanisms is respectively a first bracket 211, a second bracket 212, and a third bracket (not shown in the figure), and each driving device in the plurality of rotating shaft mechanisms is respectively a first motor 221, a second motor 222, and a third motor 223. The first motor 221 is installed on the connecting device 23 and drives the first bracket 211 to rotate relative to the connecting device 23. The second motor 222 is installed on the first bracket 211 and drives the second bracket 212 to rotate relative to the first bracket 211. The third motor 223 is installed on the second bracket 212 and drives the radar integration device 10 to rotate relative to the second bracket 212 through the third bracket.

[0091] A first arrangement space 2111 is formed inside the first bracket 211, a second arrangement space 2121 is formed inside the second bracket 212, and the first arrangement space 2111 and the second arrangement space 2121 are communicated and jointly form the above-mentioned arrangement space. The first motor 221 is connected to the top end of the first bracket 211, and the second motor 222 is located inside the first arrangement space 2111 and at its bottom. An installation cavity is formed on one side of the first bracket 211 opposite to the installation position of the second motor 222, and the second circuit board 25 is arranged in the installation cavity, and the installation cavity is communicated with the first arrangement space 2111 through a through hole.

[0092] The second bracket 212 is U-shaped. The middle part of the second bracket 212 is connected to the second motor 222. The third motor 223 is located inside the second arrangement space 2121 and at one end. As Figure 3 and Figure 4 shown, the housing of the radar 12 has a through hole 121 and an auxiliary shaft mating hole 122. The third motor 223 is connected to the through hole 121 of the radar 12 through the third bracket, and the through hole 121 is communicated with the second arrangement space 2121. The other end of the second bracket 212 is connected to the auxiliary shaft mating hole 122 through an auxiliary shaft 281, a bearing 283 is provided between the auxiliary shaft 281 and the auxiliary shaft mating hole 122, and a spring 282 is sleeved on the auxiliary shaft 281. It should be noted that the third bracket is not shown in Figure 17It is marked that, in fact, the intermediate connecting pieces used to connect the third motor 223 and the radar 12 can all be regarded as the third bracket. For example Figure 17 the connecting disc structure at the bottom of the third motor 223 in

[0093] One end of the third transmission member 24 has a first connector 241, the other end has a second connector 242, and the middle part has a third connector 243. The first connector 241 is connected to the interface on the connecting device 23. The third transmission member 24 passes downward through the central hole 224 of the first motor 221 and penetrates into the first arrangement space 2111 inside the first bracket 211. The third connector 243 penetrates into the installation cavity at the through hole communicating with the installation cavity and is connected to the second circuit board 25. The third transmission member 24 passes out through the central hole 224 of the second motor 222, and passes along the second arrangement space 2121 inside the second bracket 212 to the third motor 223, passes out through the central hole 224 of the third motor 223, and then penetrates into the radar 12 through the through hole 121 of the radar 12 and finally enters the second accommodation cavity 1112, and the second connector 242 is connected to the first circuit board 16.

[0094] The first motor 221 is connected to one end of the fourth transmission member 26. The other end of the fourth transmission member 26 penetrates into the first arrangement space 2111 inside the first bracket 211 and penetrates into the installation cavity through the through hole communicating with the installation cavity and is connected to the second circuit board 25. The second motor 222 is also connected to one end of another fourth transmission member 26. The other end of this fourth transmission member 26 penetrates into the installation cavity through the through hole and is connected to the second circuit board 25. The third motor 223 is connected to one end of another fourth transmission member 26. The other end of this fourth transmission member 26 penetrates into the radar 12 through the end opening of the second bracket 212 and the through hole 121 of the radar 12 and finally enters the second accommodation cavity 1112 and is connected to the first circuit board 16.

[0095] Of course, the above connection relationships between each motor and each circuit board and the arrangement methods of each transmission member are only one example. In other embodiments, it can be designed according to specific situations.

[0096] Such as Figure 6 and Figure 17As shown, in some embodiments of the present application, a third sealing ring 30 is provided at the connection between the stabilization gimbal 20 and the radar integration device 10. Specifically, the third sealing ring 30 is provided at the edge of the through hole 121 through which the radar 12 passes. When the third motor 223 is assembled with the radar 12 through the third bracket, the third sealing ring 30 is clamped between the two, playing a sealing role to prevent dust and rainwater from entering the interior of the radar 12 from the joint. Among them, the third sealing ring 30 can be made of elastic materials such as rubber and silica gel. Combining the settings of the foregoing first sealing ring 115 and second sealing ring 116, the radar assembly can have an IP54 protection level, support all-weather operation, and effectively extend the operation time.

[0097] As Figure 17 shown, in some embodiments of the present application, a shielding structure is provided on the third transmission member 24 and / or the fourth transmission member 26, thereby shielding electromagnetic interference and being beneficial to signal transmission. The shielding structure can include at least one of a shielding magnetic ring 27, a shielding film, and a shielding tube. In Figure 17 the specific embodiment shown, a shielding magnetic ring 27 is provided on the fourth transmission member 26 connected to the first motor 221, and a shielding film is provided on the third transmission member 24. The setting position and method of the shielding structure are not limited to this. In other embodiments, it can be designed according to specific situations. It should be noted that when designing the specific position of the shielding structure, it is necessary to consider whether there is interference with the positioning and navigation signals.

[0098] As Figure 1 and Figure 17 shown, in some embodiments of the present application, the first motor 221 is a yaw motor, the second motor 222 is a roll motor, and the third motor 223 is a pitch motor. Among them, the extension line of the rotation axis of the yaw motor passes through the center of gravity of the radar integration device 10. The extension line of the rotation axis of the roll motor passes through the center of gravity of the radar integration device 10, or the center of gravity of the radar integration device 10 is located above the extension line of the rotation axis of the roll motor. The extension line of the rotation axis of the pitch motor passes through the center of gravity of the radar integration device 10, or the center of gravity of the radar integration device 10 is located above the extension line of the rotation axis of the pitch motor. The above design is for facilitating the pitch, yaw or roll movement of the radar integration device 10.

[0099] Embodiments of the present application provide a movable platform, which can be a vehicle, an unmanned aerial vehicle, or a remotely controlled ground robot, etc. Figure 18 shows a schematic structural diagram of a movable platform according to an embodiment of the present application, where the movable platform is an unmanned aerial vehicle.

[0100] Specifically, as Figure 18As shown, the mobile platform includes a fuselage 40, an arm 50 disposed on the fuselage 40, and a power kit 60 disposed at the end of the arm 50. The mobile platform further includes the above-mentioned radar assembly, and the stabilization gimbal 20 of the radar assembly is installed on the fuselage 40.

[0101] In some embodiments of the present application, the mobile platform further includes a positioning and navigation unit, and the positioning and navigation unit is communicatively connected to the radar assembly. The radar assembly performs real-time positioning by means of the positioning and navigation unit provided on the mobile platform, and the radar assembly itself does not need to be provided with a positioning and navigation unit, which is beneficial to the weight reduction of the radar assembly and avoids problems such as complex positioning and navigation systems and difficult antenna arrangement.

[0102] Regarding the embodiments of the present application, it should also be noted that, without conflict, the embodiments of the present application and the features in the embodiments can be combined with each other to obtain new embodiments.

[0103] The above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. The protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A radar component, characterized in that, Comprising: A radar integration device (10), including a mounting structure and a radar (12), a camera module (13), a visual positioning sensor (14), and an inertial navigation unit (15) connected to the mounting structure. The sensing directions of the radar (12), the camera module (13), and the visual positioning sensor (14) are set to face the same direction. The visual positioning sensor (14) can be used to position the radar assembly when the positioning and navigation system loses satellite signals. And A stabilization gimbal (20), including a plurality of rotating shaft mechanisms. Each rotating shaft mechanism includes a rotating bracket and a driving device for driving it to rotate around each rotating shaft. The radar integration device (10) is mounted on the stabilization gimbal (20). Wherein, the attitude of the radar integration device (10) is adjusted by changing the rotation angle of at least one of the rotating shaft mechanisms of the stabilization gimbal (20).

2. The radar assembly according to claim 1, characterized in that The extension line of the rotating shaft of at least one of the rotating shaft mechanisms of the stabilization gimbal (20) passes through the middle of the side of the radar integration device (10), and the radar (12) is located above the camera module (13), the visual positioning sensor (14), and the inertial navigation unit (15).

3. The radar assembly according to claim 1, characterized in that The radar integration device (10) further includes a first circuit board (16). A heating element is provided on the first circuit board (16). The mounting structure includes a housing (111). A first accommodation cavity (1111) and a second accommodation cavity (1112) are separated within the housing (111). The camera module (13), the visual positioning sensor (14), and the inertial navigation unit (15) are arranged in the first accommodation cavity (1111), and the first circuit board (16) is arranged in the second accommodation cavity (1112). At least one of the radar (12), the camera module (13), the visual positioning sensor (14), and the inertial navigation unit (15) is connected to the first circuit board (16).

4. The radar assembly according to claim 3, characterized in that The radar integration device (10) further includes a first transmission member (17). A separating portion (112) for separating the first accommodation cavity (1111) and the second accommodation cavity (1112) is provided within the housing (111). The separating portion (112) is provided with a through-channel (1121) for the first transmission member (17) to pass through. At least one of the camera module (13), the visual positioning sensor (14), and the inertial navigation unit (15) is electrically connected to the first circuit board (16) through the first transmission member (17).

5. The radar assembly according to claim 4, characterized in that The first transmission member (17) is a flexible printed circuit board or a coaxial cable.

6. The radar assembly according to claim 4, characterized in that The separating portion (112) includes at least one separating plate (112a).

7. The radar component according to claim 6, characterized in that a plurality of the partition plates (112a) are provided, and the plurality of partition plates (112a) are arranged along the connection direction of the first accommodation cavity (1111) and the second accommodation cavity (1112), and a heat insulation space (112b) is formed between at least one group of two adjacent partition plates (112a).

8. The radar component according to claim 3, characterized in that the radar integration device (10) further includes a second transmission member (18), one end of the second transmission member (18) is electrically connected to the radar (12), and the other end of the second transmission member (18) extends into the second accommodation cavity (1112) and is electrically connected to the first circuit board (16).

9. The radar component according to claim 8, characterized in that the second transmission member (18) is a flexible printed circuit board or a coaxial cable.

10. The radar component according to claim 3, characterized in that the first circuit board (16) includes a radar main board (161) and / or a camera module main board (162).

11. The radar component according to claim 3, characterized in that the radar integration device (10) further includes a heat dissipation structure (19), and the heat dissipation structure (19) is used for dissipating heat from the first circuit board (16).

12. The radar component according to claim 11, characterized in that the housing (111) has an air inlet (1113) and an air outlet (1114) communicating with the second accommodation cavity (1112), the heat dissipation structure (19) is arranged in the second accommodation cavity (1112), and the heat dissipation structure (19) includes: a heat dissipation plate (191) having protruding heat dissipation protrusions, and the heat dissipation protrusions are in close contact with the heating elements; a heat dissipation fan (192), and an air flow is formed between the air inlet (1113) and the air outlet (1114) by the heat dissipation fan (192), and the heat dissipation fan (192), the heat dissipation plate (191) and the first circuit board (16) are arranged along the path of the air flow.

13. The radar component according to claim 12, characterized in that a flow guide plate (113) is arranged in the second accommodation cavity (1112), the flow guide plate (113) has at least one flow guide channel (1131), one end of the flow guide channel (1131) communicates with the second accommodation cavity (1112), and the other end of the flow guide channel (1131) communicates with the air inlet (1113) or the air outlet (1114).

14. The radar component according to claim 3, characterized in that a heat insulation holding part (114) is provided on the outer wall of the housing (111) corresponding to the part of the second accommodation cavity (1112).

15. The radar component according to claim 3, characterized in that The housing (111) includes a front housing (111a) and a rear housing (111b) that are detachably connected. At least part of the inner cavity of the front housing (111a) forms the first accommodation cavity (1111), and at least part of the inner cavity of the rear housing (111b) forms the second accommodation cavity (1112).

16. The radar assembly according to claim 15, wherein a first sealing ring (115) is provided between the front housing (111a) and the rear housing (111b).

17. The radar assembly according to claim 15, wherein the front housing (111a) includes a front housing main body (111a-1) and a front cover (111a-2). The front housing main body (111a-1) is detachably connected to the rear housing (111b). At least one of the front housing main body (111a-1) and the rear housing (111b) is detachably connected to the radar (12). The front cover (111a-2) is detachably connected to a side of the front housing main body (111a-1) facing away from the rear housing (111b), and the front cover (111a-2) is detachably connected to the radar (12).

18. The radar assembly according to claim 15, wherein the rear housing (111b) includes a rear housing main body (111b-1) and a bottom cover (111b-2). The rear housing main body (111b-1) is detachably connected to the bottom cover (111b-2).

19. The radar assembly according to claim 18, wherein a second sealing ring (116) is provided between the rear housing main body (111b-1) and the bottom cover (111b-2).

20. The radar assembly according to claim 1, wherein the mounting structure includes a housing (111). An installation rack (117) is provided inside the housing (111). The camera module (13), the visual positioning sensor (14), and the inertial navigation unit (15) are connected to the installation rack (117) and / or the inner wall of the housing (111). The radar (12) is connected to the housing (111).

21. The radar assembly according to claim 20, wherein the installation rack (117) has a plurality of spaced-apart installation positions (1171). At least two of the camera module (13), the visual positioning sensor (14), and the inertial navigation unit (15) are respectively installed at the corresponding installation positions (1171).

22. The radar assembly according to claim 1, wherein the radar (12) includes at least one of a lidar, a microwave radar, and an ultrasonic radar; Or / and, the plurality of rotating shaft mechanisms include a pitch rotating shaft mechanism for adjusting the pitch angle of the radar integration device (10), a roll rotating shaft mechanism for adjusting the roll angle of the radar integration device (10), and a yaw rotating shaft mechanism for adjusting the yaw angle of the radar integration device (10); Alternatively / and, the camera module (13) is an RGB camera, and the image color information obtained by the RGB camera is used to color the three-dimensional image obtained by the radar (12). Alternatively / and, the vision positioning sensor (14) is used to obtain the depth information of the image.

23. The radar component according to claim 1, wherein the vision positioning sensor (14) includes at least one of a monocular vision sensor, a binocular vision sensor, and a structured light sensor.

24. The radar component according to claim 1, wherein the radar integration device (10) further includes a first circuit board (16), the stabilization gimbal (20) further includes a connection device (23) and a third transmission member (24), the connection device (23) is used to connect an external device, an arrangement space is formed inside at least one of the rotating brackets, a first end of the third transmission member (24) is electrically connected to the connection device (23), and a second end of the third transmission member (24) passes through the arrangement space and is electrically connected to the first circuit board (16) of the radar integration device (10).

25. The radar component according to claim 24, wherein the driving device includes a motor, and the motor is provided with a central hole (224) through which the third transmission member (24) passes, and the central hole (224) communicates with the arrangement space.

26. The radar component according to claim 24, wherein the third transmission member (24) is a flexible circuit board or a coaxial cable.

27. The radar component according to claim 24, wherein the driving device includes a motor, the stabilization gimbal (20) further includes a second circuit board (25) and a fourth transmission member (26), an installation cavity is formed inside at least one of the rotating brackets, the installation cavity communicates with the arrangement space, the second circuit board (25) is disposed in the installation cavity, the third transmission member (24) is electrically connected to the second circuit board (25), and the motor is electrically connected to the first circuit board (16) or the second circuit board (25) through the fourth transmission member (26).

28. The radar component according to claim 27, wherein at least a part of the fourth transmission member (26) is disposed in the arrangement space.

29. The radar component according to claim 27, wherein a shielding structure is provided on the third transmission member (24) and / or the fourth transmission member (26).

30. The radar component according to claim 29, wherein the shielding structure includes at least one of a shielding magnetic ring (27), a shielding film, and a shielding tube.

31. The radar component according to claim 27, wherein the fourth transmission member (26) is a flexible circuit board or a coaxial cable.

32. The radar component according to claim 1, wherein a third sealing ring (30) is provided at the connection between the stabilization gimbal (20) and the radar integration device (10).

33. The radar component according to claim 1, wherein The stabilization gimbal (20) further includes a connecting device (23). Each of the rotating brackets in the plurality of rotating shaft mechanisms is respectively a first bracket (211), a second bracket (212), and a third bracket. Each of the driving devices in the plurality of rotating shaft mechanisms is respectively a first motor (221), a second motor (222), and a third motor (223). The first motor (221) is installed on the connecting device (23) and drives the first bracket (211) to rotate relative to the connecting device (23). The second motor (222) is installed on the first bracket (211) and drives the second bracket (212) to rotate relative to the first bracket (211). The third motor (223) is installed on the second bracket (212) and drives the radar integration device (10) to rotate relative to the second bracket (212) through the third bracket.

34. The radar assembly according to claim 33, wherein the first motor (221) is a yaw motor, the second motor (222) is a roll motor, and the third motor (223) is a pitch motor.

35. The radar assembly according to claim 34, wherein the extension line of the rotating shaft of the yaw motor passes through the center of gravity of the radar integration device (10).

36. The radar assembly according to claim 34, wherein the extension line of the rotating shaft of the roll motor passes through the center of gravity of the radar integration device (10), or the center of gravity of the radar integration device (10) is located above the extension line of the rotating shaft of the roll motor.

37. The radar assembly according to claim 34, wherein the extension line of the rotating shaft of the pitch motor passes through the center of gravity of the radar integration device (10), or the center of gravity of the radar integration device (10) is located above the extension line of the rotating shaft of the pitch motor.

38. A movable platform, characterized in that, It includes a fuselage (40) and the radar assembly according to any one of claims 1 to 37, and the stabilization gimbal (20) is installed on the fuselage (40).

39. The mobile platform according to claim 38, wherein, It further includes: a positioning and navigation unit, and the positioning and navigation unit is communicatively connected to the radar assembly.

40. The mobile platform according to claim 38, wherein The movable platform is a vehicle, an unmanned aerial vehicle, or a remotely controlled ground robot.

Images