Radar antenna, radar device and movable platform

Abstract

The embodiment of the present invention provides a radar antenna, a radar device and a movable platform, which relate to the field of radar technology. The radar antenna includes a plurality of first transmitting antenna units and a plurality of first receiving antenna units, wherein the plurality of first transmitting antenna units are spaced apart along a first preset direction, and the plurality of first receiving antenna units are spaced apart along a second preset direction, wherein the first preset direction and the second preset direction are both arranged at an acute angle to the horizontal direction. The radar antenna, the radar device and the movable platform can obtain a higher horizontal resolution and a higher vertical resolution by changing the layout structure of the plurality of first transmitting antenna units and the plurality of first receiving antenna units, thereby effectively reducing the production cost, being conducive to miniaturization production and improving production efficiency.

Description

Technical Field

[0001] The present invention relates to the field of radar technology, and in particular to a radar antenna, a radar device and a movable platform. Background Art

[0002] 4D millimeter wave imaging radar can generate a large number of point clouds, improve the accuracy of object measurement, and simultaneously possess three-dimensional information and speed dimension information, which has great potential in the fields of intelligent driving and drone obstacle avoidance. Generally, in order to improve the resolution of imaging radar, it can be achieved by increasing the number of transmitting antennas and / or receiving antennas. However, in current technology, after the number of transmitting antennas and / or receiving antennas increases, the layout of the transmitting antennas and receiving antennas is unreasonable, resulting in a larger overall size of the imaging radar, which in turn leads to a higher manufacturing cost of the imaging radar. Summary of the invention

[0003] The object of the present invention is to provide a radar antenna, a radar device and a movable platform, which can effectively improve the above-mentioned technical problems.

[0004] The embodiment of the present invention is achieved as follows:

[0005] In a first aspect, the present invention provides a radar antenna, comprising:

[0006] A plurality of first transmitting antenna units, wherein the plurality of first transmitting antenna units are spaced apart and distributed along a first preset direction;

[0007] A plurality of first receiving antenna units, wherein the plurality of first receiving antenna units are spaced apart and distributed along a second preset direction;

[0008] Wherein, the first preset direction and the second preset direction are both set at an acute angle to the horizontal direction.

[0009] In an optional embodiment, the radar antenna further includes a plurality of second transmitting antenna units spaced apart in the horizontal direction, and a distance between any two of the second transmitting antenna units in the vertical direction is zero; and / or, the radar antenna further includes a plurality of second receiving antenna units spaced apart in the horizontal direction, and a distance between any two of the second receiving antenna units in the vertical direction is zero;

[0010] The vertical direction is perpendicular to the horizontal direction.

[0011] In an optional embodiment, the multiple second receiving antenna units are arranged side by side with the multiple first receiving antenna units, the antenna unit among the multiple first receiving antenna units that is closest to the multiple second receiving antenna units is the first sub-unit, the antenna unit among the multiple second receiving antenna units that is closest to the multiple first receiving antenna units is the second sub-unit, and the second sub-unit and the first sub-unit are spaced apart from each other along the second preset direction.

[0012] In an optional implementation, a distance between any two adjacent first receiving antenna units in the vertical direction is equal to a distance between the first subunit and the second subunit in the vertical direction.

[0013] In an optional implementation, the distance between any two adjacent first receiving antenna units in the vertical direction is L1, 0.3λ≤L1≤0.7λ, where λ is the wavelength of the radar wave emitted by the first transmitting antenna unit or the second transmitting antenna unit.

[0014] In an optional embodiment, the distance between any two adjacent first receiving antenna units in the horizontal direction, the distance between any two adjacent second receiving antenna units in the horizontal direction, and the distance between the first subunit and the second subunit in the horizontal direction are equal.

[0015] In an optional implementation, a horizontal distance between any two adjacent first receiving antenna units is L2, 0.3λ≤L2≤0.7λ, where λ is the wavelength of the radar wave emitted by the first transmitting antenna unit or the second transmitting antenna unit.

[0016] In an optional embodiment, the multiple second transmitting antenna units are arranged side by side with the multiple first transmitting antenna units, the antenna unit among the multiple first transmitting antenna units closest to the multiple second transmitting antenna units is the third subunit, and the distance between the third subunit and any one of the second transmitting antenna units in the vertical direction is zero.

[0017] In an optional embodiment, the multiple second transmitting antenna units are arranged side by side with the multiple first transmitting antenna units, the antenna unit among the multiple first transmitting antenna units that is closest to the multiple second transmitting antenna units is the third subunit, the antenna unit among the multiple second transmitting antenna units that is closest to the multiple first transmitting antenna units is the fourth subunit, and the spacing between the third subunit and the fourth subunit in the horizontal direction, the spacing between two adjacent second transmitting antenna units in the horizontal direction, and the spacing between two adjacent first transmitting antenna units in the horizontal direction are equal.

[0018] In an optional implementation, a distance between the third subunit and the fourth subunit in the horizontal direction is L3, 2λ≤L3≤3λ, where λ is the wavelength of the radar wave emitted by the first transmitting antenna unit or the second transmitting antenna unit.

[0019] In an optional embodiment, the vertical distance between two adjacent first transmitting antenna units is L4, 2.5λ≤L4≤3.5λ, where λ is the wavelength of the radar wave emitted by the first transmitting antenna unit, and the vertical direction is perpendicular to the horizontal direction.

[0020] In a second aspect, an embodiment of the present invention further provides a radar device, comprising a signal processing unit and the radar antenna described in any one of the aforementioned embodiments, wherein the signal processing unit is electrically connected to the multiple first transmitting antenna units and the multiple first receiving antenna units at the same time, and the signal processing unit is used to process the signals received by the multiple first receiving antenna units to obtain the location information of the target object.

[0021] In a third aspect, the present invention provides a radar device, comprising:

[0022] processor;

[0023] A first radio frequency chip electrically connected to the processor;

[0024] And the radar antenna in any of the above embodiments;

[0025] Among them, the multiple first transmitting antenna units in the radar antenna are electrically connected to the first RF chip, and the multiple first receiving antenna units are electrically connected to the first RF chip.

[0026] In an optional implementation, the multiple first transmitting antenna units and the multiple first receiving antenna units are respectively arranged on two opposite sides of the first radio frequency chip.

[0027] In an optional embodiment, the radar device also includes a second RF chip; the radar antenna is the radar antenna in any of the above embodiments including multiple second receiving antenna units and multiple second transmitting antenna units, the second RF chip is electrically connected to the processor and the first RF chip at the same time, and the multiple second receiving antenna units and the multiple second transmitting antenna units are both electrically connected to the second RF chip.

[0028] In an optional implementation, the plurality of second receiving antenna units and the plurality of second transmitting antenna units are respectively arranged on two opposite sides of the second radio frequency chip.

[0029] In an optional embodiment, the plurality of second receiving antenna units are arranged side by side with the plurality of first receiving antenna units, and the plurality of second transmitting antenna units are arranged side by side with the plurality of first transmitting antenna units;

[0030] Among them, the multiple second receiving antenna units and the multiple first receiving antenna units are located on the same side of the first RF chip and the second RF chip, and the multiple second transmitting antenna units and the multiple first transmitting antenna units are located on the other side of the first RF chip and the second RF chip.

[0031] In an optional implementation, the first RF chip and the second RF chip are spaced apart from each other, and the processor is located between the first RF chip and the second RF chip.

[0032] In a fourth aspect, the present invention provides a movable platform, comprising a body and the radar device described in any one of the aforementioned embodiments, wherein the radar device is mounted on the body.

[0033] The beneficial effects of the embodiments of the present invention include, for example:

[0034] An embodiment of the present invention provides a radar antenna, which includes a plurality of first transmitting antenna units and a plurality of first receiving antenna units, wherein the plurality of first transmitting antenna units are spaced apart along a first preset direction, and the plurality of first receiving antenna units are spaced apart along a second preset direction, and the first preset direction and the second preset direction are both arranged at an acute angle to the horizontal direction. It can be understood that each first receiving antenna unit can receive the radar wave emitted by each first transmitting antenna unit. For the same first transmitting antenna unit, the same first transmitting antenna unit corresponding to different first receiving antenna units can be reused to achieve a multiplexing function. Similarly, for the same first receiving antenna unit, the same first receiving antenna unit corresponding to different first transmitting antenna units can be reused to achieve a multiplexing function. Moreover, since the plurality of first transmitting antenna units are spaced apart along the first preset direction, and the plurality of second transmitting antenna units are spaced apart along the second preset direction, the radar antenna can simultaneously obtain a higher horizontal resolution and a higher vertical resolution through a phase compensation algorithm. That is to say, in this embodiment, when the total number of the first transmitting antenna units and the first receiving antenna units remains unchanged, the plurality of first transmitting antenna units and the plurality of first receiving antenna units are arranged in the aforementioned manner, and a higher horizontal resolution and a higher vertical resolution can be simultaneously obtained. In this way, the radar antenna in this embodiment obtains higher horizontal resolution and vertical resolution by changing the layout structure of multiple first transmitting antenna units and multiple first receiving antenna units without increasing the overall size, thereby effectively reducing the production cost, facilitating miniaturization production, and improving production efficiency.

[0035] The embodiment of the present invention also provides a radar device, which includes the above-mentioned radar antenna and has all the functions of the radar antenna. The radar device can obtain higher horizontal resolution and vertical resolution, and can reduce production costs and improve production efficiency.

[0036] The embodiment of the present invention further provides a radar device, which includes a processor, a first radio frequency chip, a plurality of first transmitting antenna units and a plurality of first receiving antenna units, wherein the first radio frequency chip is electrically connected to the processor, and the plurality of first transmitting antenna units and the plurality of first receiving antenna units are both connected to the first radio frequency chip. The first radio frequency chip can generate a transmission signal of the first transmitting antenna unit, and the processor can process the receiving signal of the first receiving antenna unit, thereby obtaining a position signal of the target object. In addition, the plurality of first transmitting antenna units are spaced along a first preset direction, and the plurality of first receiving antenna units are spaced along a second preset direction, and the first preset direction and the second preset direction are both arranged at an acute angle to the horizontal direction. It can be understood that for the radar wave emitted by each first transmitting antenna unit, each first receiving antenna unit can receive it. For the same first transmitting antenna unit, the same first transmitting antenna unit corresponding to different first receiving antenna units can be reused to realize the multiplexing function. Similarly, for the same first receiving antenna unit, the same first receiving antenna unit corresponding to different first transmitting antenna units can be reused to realize the multiplexing function. Furthermore, since the plurality of first transmitting antenna units are spaced apart along the first preset direction, and the plurality of second transmitting antenna units are spaced apart along the second preset direction, the radar device can simultaneously obtain a higher horizontal resolution and a higher vertical resolution through the phase compensation algorithm. That is to say, in this embodiment, when the total number of the first transmitting antenna units and the first receiving antenna units remains unchanged, the plurality of first transmitting antenna units and the plurality of first receiving antenna units are arranged in the aforementioned manner, and a higher horizontal resolution and a higher vertical resolution can be obtained simultaneously. In this way, the radar device in this embodiment obtains a higher horizontal resolution and a higher vertical resolution by changing the layout structure of the plurality of first transmitting antenna units and the plurality of first receiving antenna units without increasing the overall size, which effectively reduces the production cost, is conducive to miniaturization production, and improves production efficiency.

[0037] The embodiment of the present invention further provides a movable platform, which includes the aforementioned radar device and has all the functions of the radar device. The movable platform can obtain higher horizontal resolution and vertical resolution, and can reduce production costs and improve production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0039] Figure 1 A schematic structural diagram of a first radar device provided by an embodiment of the present invention;

[0040] Figure 2 A virtual aperture diagram provided by an embodiment of the present invention;

[0041] Figure 3 Equivalent aperture diagrams in the horizontal and vertical directions provided by an embodiment of the present invention;

[0042] Figure 4 A schematic structural diagram of a second radar device provided by an embodiment of the present invention;

[0043] Figure 5 A schematic structural diagram of a third radar device provided by an embodiment of the present invention;

[0044] Figure 6 A process diagram of mutual multiplexing of four second receiving antenna units, three second transmitting antenna units and a fourth sub-unit provided in an embodiment of the present invention;

[0045] Figure 7 A process diagram of mutual multiplexing of four second receiving antenna units, a third sub-unit and the remaining two first transmitting antenna units provided in an embodiment of the present invention;

[0046] Figure 8 A process diagram of mutual multiplexing of the second subunit, four first receiving antenna units, the third subunit and the remaining two first transmitting antenna units provided in an embodiment of the present invention;

[0047] Fig. 9 A process diagram of mutual multiplexing of three second transmitting antenna units, a third sub-unit and four first receiving antenna units provided in an embodiment of the present invention.

[0048] Icon: 1- radar antenna; 11- first transmitting antenna unit; 111- third subunit; 112- fifth subunit; 12- first receiving antenna unit; 121- first subunit; 13- second transmitting antenna unit; 131- fourth subunit; 14- second receiving antenna unit; 141- second subunit; 2- signal processing unit; 21- processor; 22- first RF chip; 23- second RF chip; 3- first virtual antenna unit; 4- first virtual aperture; 5- second virtual antenna unit; 6- second virtual aperture; 7- third virtual antenna unit; 8- third virtual aperture; 9- fourth virtual antenna unit; 10- fourth virtual aperture; 100- radar device. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0050] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0051] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0052] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the product of the invention is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0053] In addition, the terms "horizontal", "vertical" and the like do not mean that the components are required to be absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0054] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0055] Figure 1 This is a schematic diagram of the structure of the first radar device 100 provided in this embodiment. Figure 1 This embodiment provides a movable platform (not shown in the figure), which includes a body (not shown in the figure) and a radar device 100. The radar device 100 is installed on the body. The radar device 100 can detect the target object and obtain the spatial position information of the target object. The body can bypass the corresponding target object according to the information fed back by the radar device 100 to avoid collision with the target object.

[0056] Optionally, the body can be an unmanned aerial vehicle, a robot, an unmanned vehicle, etc.

[0057] Figure 2 This is a virtual aperture diagram provided for this embodiment. Please refer to Figure 1 and Figure 2 In this embodiment, the radar device 100 includes a signal processing unit 2 and a radar antenna 1. The signal processing unit 2 includes a processor 21 and a first radio frequency chip 22. The radar antenna 1 includes a plurality of first transmitting antenna units 11 and a plurality of first receiving antenna units 12. The first radio frequency chip 22 is electrically connected to the processor 21. The plurality of first transmitting antenna units 11 and the plurality of first receiving antenna units 12 are both connected to the first radio frequency chip 22. The first radio frequency chip 22 can generate a transmission signal of the first transmitting antenna unit 11, and the processor 21 can process the signal received by the first receiving antenna unit 12, thereby obtaining a position signal of the target object.

[0058] It should be noted that, in this embodiment, a plurality of first transmitting antenna units 11 are distributed at intervals along a first preset direction, and a plurality of first receiving antenna units 12 are distributed at intervals along a second preset direction. It is understandable that for the radar wave emitted by each first transmitting antenna unit 11, all first receiving antenna units 12 can receive it. For the same first transmitting antenna unit 11, the same first transmitting antenna unit 11 corresponding to different first receiving antenna units 12 can be reused to achieve a multiplexing function. Similarly, for the same first receiving antenna unit 12, the same first receiving antenna unit 12 corresponding to different first transmitting antenna units 11 can be reused to achieve a multiplexing function.

[0059] Moreover, in the present embodiment, the first preset direction and the second preset direction are both set at an acute angle to the horizontal direction, so that after the phase compensation algorithm, the first transmitting antenna unit 11 in the first preset direction can provide horizontal resolution and vertical resolution at the same time, and the first receiving antenna unit 12 in the second preset direction can also provide horizontal resolution and vertical resolution at the same time. In this way, the radar device 100 can obtain higher horizontal resolution and vertical resolution at the same time. That is to say, in the present embodiment, when the total number of the first transmitting antenna unit 11 and the first receiving antenna unit 12 remains unchanged, the multiple first transmitting antenna units 11 and the multiple first receiving antenna units 12 are arranged in the aforementioned manner, so that higher horizontal resolution and vertical resolution can be obtained at the same time.

[0060] Therefore, the radar device 100 in this embodiment obtains higher horizontal resolution and vertical resolution by changing the layout structure of multiple first transmitting antenna units 11 and multiple first receiving antenna units 12 without increasing the overall size, which effectively reduces the production cost, is conducive to miniaturized production, and improves production efficiency.

[0061] Taking the unmanned aerial vehicle as an example, the unmanned aerial vehicle equipped with the radar device 100 can simultaneously obtain high horizontal resolution and vertical resolution. In a specific application, when the unmanned aerial vehicle faces a slope, the radar device 100 can calculate the slope by obtaining data in the horizontal and vertical directions of the slope, and then feed it back to the flight system, so that the unmanned aerial vehicle can fly along the slope, thereby achieving obstacle avoidance flight.

[0062] When the UAV faces the water surface, if the radar device 100 only has the function of obtaining the horizontal resolution, then when facing the water surface, the radar device 100 cannot obtain the vertical height between the UAV and the water surface, which will cause the UAV to hover over the water surface and cannot pass through the water surface smoothly. In this embodiment, the radar device 100 can obtain the horizontal resolution and the vertical resolution at the same time, so as to determine the height distance between the UAV and the water surface, and after feeding back the height data to the flight system, the UAV can pass through the water surface smoothly.

[0063] Similarly, the radar device 100 can assist the body in performing different obstacle avoidance movements, so that the platform can smoothly pass through various obstacles.

[0064] by Figure 1 For example, Figure 1 The direction indicated by the middle arrow B can be understood as the first preset direction in this embodiment. Figure 1 The direction indicated by the middle arrow D can be understood as the second preset direction in this embodiment. Figure 1 The direction indicated by the arrow F can be understood as the horizontal direction in this embodiment. Figure 1 The middle arrow G can be understood as the vertical direction in this embodiment.

[0065] Optionally, the acute angle J between the first preset direction and the horizontal direction may be 30°, 40°, 50°, etc. The acute angle K between the second preset direction and the horizontal direction may be 30°, 40°, 50°, etc.

[0066] In this embodiment, the first preset direction is parallel to the second preset direction, so that the calculation process of the phase difference between the multiple first transmitting antenna units 11 and the multiple first receiving antenna units 12 is simpler during the multiplexing process, thereby simplifying the phase compensation algorithm.

[0067] Optionally, in other embodiments, the first preset direction and the second preset direction may also be arranged at an acute angle, or may be arranged perpendicularly.

[0068] Please refer to Figure 1 In this embodiment, the plurality of first transmitting antenna units 11 and the plurality of first receiving antenna units 12 are respectively arranged on two opposite sides of the first RF chip 22 .

[0069] In this way, a first RF chip 22 is provided between the multiple first transmitting antenna units 11 and the multiple first receiving antenna units 12, and the first RF chip 22 can appropriately increase the distance between the multiple first transmitting antenna units 11 and the multiple first receiving antenna units 12, thereby avoiding mutual interference between the first transmitting antenna units 11 and the first receiving antenna units 12, and ensuring the accuracy of signal reception. In addition, the wires connecting the first RF chip 22 and the multiple first transmitting antenna units 11 and the wires connecting the first RF chip 22 and the multiple first receiving antenna units 12 also extend toward the opposite sides of the first RF chip 22 accordingly, thereby avoiding mutual entanglement.

[0070] Optionally, in other embodiments, the multiple first transmitting antenna units 11 and the multiple first receiving antenna units 12 may also be arranged on the same side of the first RF chip 22 .

[0071] Please refer to Figure 1 In this embodiment, the signal processing unit 2 also includes a second RF chip 23, the radar antenna 1 also includes multiple second receiving antenna units 14 and multiple second transmitting antenna units 13, the second RF chip 23 is electrically connected to the processor 21 and the first RF chip 22 at the same time, and the multiple second receiving antenna units 14 and the multiple second transmitting antenna units 13 are all electrically connected to the second RF chip 23.

[0072] It can be understood that, in this embodiment, the second RF chip 23 can generate a signal transmitted by the second transmitting antenna unit 13 , and the processor 21 can process a signal received by the second receiving antenna unit 14 .

[0073] It should be noted that, in this embodiment, the signal sent by the first transmitting antenna unit 11 can be received by the first receiving antenna unit 12 or the second receiving antenna unit 14. The signal sent by the second transmitting antenna unit 13 can be received by the first receiving antenna unit 12 or the second receiving antenna unit 14.

[0074] That is to say, in this embodiment, the multiple first transmitting antenna units 11, the multiple first receiving antenna units 12, the multiple second transmitting antenna units 13 and the multiple second receiving antenna units 14 are multiplexed with each other, so that Figure 2 The virtual aperture diagram in (the formation of the virtual aperture diagram will be introduced in detail later). Figure 3 The equivalent aperture diagram in the horizontal direction and the vertical direction provided for this embodiment, Figure 2 After the virtual aperture diagram in is phase-shifted by the algorithm, we can get Figure 3 Equivalent aperture diagram in . Figure 3It can be inferred that this embodiment, by changing the layout structure between multiple first transmitting antenna units 11, multiple first receiving antenna units 12, multiple second transmitting antenna units 13 and multiple second receiving antenna units 14, and through the mutual multiplexing between multiple first transmitting antenna units 11, multiple first receiving antenna units 12, multiple second transmitting antenna units 13 and multiple second receiving antenna units 14, can achieve higher horizontal resolution and vertical resolution without increasing the number of each antenna unit.

[0075] Please refer to Figure 1 It should be noted that, in this embodiment, the plurality of second receiving antenna units 14 and the plurality of second transmitting antenna units 13 are respectively arranged on two opposite sides of the second RF chip 23 .

[0076] In this way, the second RF chip 23 is spaced between the multiple second transmitting antenna units 13 and the multiple second receiving antenna units 14. The second RF chip 23 can appropriately increase the distance between the multiple second transmitting antenna units 13 and the multiple second receiving antenna units 14, avoid mutual interference between the second transmitting antenna units 13 and the second receiving antenna units 14, and ensure the accuracy of signal reception. In addition, the wires connecting the second RF chip 23 and the multiple second transmitting antenna units 13 and the wires connecting the second RF chip 23 and the multiple second receiving antenna units 14 also extend to the opposite sides of the second RF chip 23 accordingly, avoiding mutual interference.

[0077] Optionally, in other embodiments, the plurality of second transmitting antenna units 13 and the plurality of second receiving antenna units 14 may also be arranged on the same side of the second RF chip 23 .

[0078] Please refer to Figure 1 In this embodiment, the plurality of second receiving antenna units 14 are arranged side by side with the plurality of first receiving antenna units 12, the plurality of second transmitting antenna units 13 are arranged side by side with the plurality of first transmitting antenna units 11, the plurality of second receiving antenna units 14 and the plurality of first receiving antenna units 12 are located on the same side of the first RF chip 22 and the second RF chip 23, and the plurality of second transmitting antenna units 13 and the plurality of first transmitting antenna units 11 are located on the other side of the first RF chip 22 and the second RF chip 23. That is, in this embodiment, the antenna unit for transmitting signals and the antenna unit for receiving signals are respectively distributed on opposite sides, which can reduce interference when receiving signals and improve the accuracy of signal reception.

[0079] Please refer to Figure 1In this embodiment, the first RF chip 22 and the second RF chip 23 are spaced apart, and the processor 21 is located between the first RF chip 22 and the second RF chip 23. In this way, the space between the first RF chip 22 and the second RF chip 23 can be fully utilized to improve space utilization.

[0080] In addition, since the processor 21 is located between the first RF chip 22 and the second RF chip 23 , the wiring length between the processor 21 and the first RF chip 22 can be shortened, and the wiring length between the processor 21 and the second RF chip 23 can be shortened.

[0081] In addition, in this embodiment, the first RF chip 22 and the processor 21 are spaced apart, which can reduce the probability of mutual interference between the first RF chip 22 and the processor 21, and the space between the first RF chip 22 and the processor 21 can be used for heat dissipation. Similarly, in this embodiment, the second RF chip 23 and the processor 21 are spaced apart, which can reduce the probability of mutual interference between the second RF chip 23 and the processor 21, and the space between the second RF chip 23 and the processor 21 can be used for heat dissipation.

[0082] Please refer to Figure 1 In this embodiment, the vertical distance between any two second transmitting antenna units 13 is zero, and the vertical distance between any two second receiving antenna units 14 is zero. In this way, multiple second transmitting antenna units 13 and multiple second receiving antenna units 14 can be used to provide horizontal resolution.

[0083] Please refer to Figure 1 , the antenna unit closest to the multiple second receiving antenna units 14 among the multiple first receiving antenna units 12 is the first subunit 121, the antenna unit closest to the multiple first receiving antenna units 12 among the multiple second receiving antenna units 14 is the second subunit 141, and the second subunit 141 and the first subunit 121 are spaced apart and distributed along the second preset direction (the direction indicated by the arrow D). In this way, both the first subunit 121 and the second subunit 141 can provide horizontal resolution and vertical resolution, and after the first subunit 121, the second subunit 141 and other antenna units are multiplexed, the horizontal resolution and vertical resolution acquired by the radar device 100 can be improved.

[0084] Please refer to Figure 1In this embodiment, the vertical spacing between any two adjacent first receiving antenna units 12 is equal to the vertical spacing between the first subunit 121 and the second subunit 141. In this way, in the process of phase compensation calculation, the first subunit 121, the second subunit 141 and other first receiving antenna units 12 move the same phase value in the vertical direction, and the compensated value can be obtained. Therefore, this can effectively simplify the phase compensation algorithm, improve the work efficiency of the algorithm design, and improve the signal processing speed of the processor 21.

[0085] The inventor has found that if the vertical spacing between two adjacent first receiving antenna units 12 is large, then the multiple first receiving antenna units 12 occupy a large space, resulting in an increase in the overall size of the radar device 100 and a high cost. However, if the vertical spacing between two adjacent first receiving antenna units 12 is small, then the resolutions provided by the two adjacent first receiving antenna units 12 in the vertical direction are easily confused, which is not conducive to improving the vertical resolution of the radar device 100. Therefore, in this embodiment, the vertical spacing between two adjacent first receiving antenna units 12 is limited within a certain range.

[0086] For details, please refer to Figure 1 , the vertical spacing between any two adjacent first receiving antenna units 12 is L1, 0.3λ≤L1≤0.7λ, where λ is the wavelength of the radar wave emitted by the first transmitting antenna unit 11 or the second transmitting antenna unit 13. In this way, it can ensure that the space occupied by the multiple first receiving antenna units 12 is small, and at the same time, it can ensure that the resolution provided by the two adjacent first receiving antenna units 12 in the vertical direction is not easily confused, effectively improving the vertical resolution of the radar device 100. It can be understood that in this embodiment, the vertical spacing between the first subunit 121 and the second subunit 141 is also L1.

[0087] Optionally, the interval L1 may be 0.3λ, 0.5λ, or 0.7λ.

[0088] Please refer to Figure 1In this embodiment, the horizontal spacing between any two adjacent first receiving antenna units 12, the horizontal spacing between any two adjacent second receiving antenna units 14, and the horizontal spacing between the first subunit 121 and the second subunit 141 are equal. In this way, in the process of phase compensation calculation, the first subunit 121, the second subunit 141, the other first receiving antenna units 12, and the other second receiving antenna units 14 are moved in the horizontal direction by the same phase value, and the compensated value can be obtained. Therefore, this can effectively simplify the phase compensation algorithm, improve the work efficiency of the algorithm design, and improve the signal processing speed of the processor 21.

[0089] The inventor has found that if the distance between two adjacent first receiving antenna units 12 in the horizontal direction is large, then the multiple first receiving antenna units 12 occupy a large space, resulting in an increase in the overall size of the radar device 100 and a high cost. However, if the distance between two adjacent first receiving antenna units 12 in the horizontal direction is small, then the two adjacent first receiving antennas are prone to mutual interference during the signal reception process, affecting the accuracy of the received signal. Therefore, in this embodiment, the distance between two adjacent first receiving antenna units 12 in the horizontal direction is limited to a certain range.

[0090] For details, please refer to Figure 1 In this embodiment, the horizontal spacing between any two adjacent first receiving antenna units 12 is L2, 0.3λ≤L2≤0.7λ, where λ is the wavelength of the radar wave emitted by the first transmitting antenna unit 11 or the second transmitting antenna unit 13. In this way, it can ensure that the space occupied by multiple first receiving antenna units 12 is small, and at the same time, it can ensure that the two adjacent first receiving antenna units 12 are not easy to interfere with each other when receiving signals, effectively improving the accuracy of the received signal. It can be understood that in this embodiment, the horizontal spacing between any two adjacent second receiving antenna units 14 and the horizontal spacing between the first subunit 121 and the second subunit 141 are also L2.

[0091] Optionally, the interval L2 may be 0.3λ, 0.5λ, or 0.7λ.

[0092] Please refer to Figure 1 In this embodiment, the antenna unit closest to the multiple second transmitting antenna units 13 among the multiple first transmitting antenna units 11 is the third subunit 111, and the vertical distance between the third subunit 111 and any second transmitting antenna unit 13 is zero. In this way, the third subunit 111 and the multiple second transmitting antenna units 13 can provide horizontal resolution.

[0093] In this embodiment, please refer to Figure 1 , the antenna unit closest to the multiple first transmitting antenna units 11 among the multiple second transmitting antenna units 13 is the fourth subunit 131, and the horizontal spacing between the third subunit 111 and the fourth subunit 131, the horizontal spacing between two adjacent second transmitting antenna units 13, and the horizontal spacing between two adjacent first transmitting antenna units 11 are equal. In this way, in the process of phase compensation calculation, the third subunit 111, the fourth subunit 131, the other first transmitting antenna units 11, and the other second transmitting antenna units 13 are moved in the horizontal direction by the same phase value, and the compensated value can be obtained. Therefore, this can effectively simplify the phase compensation algorithm, improve the work efficiency of the algorithm design, and improve the signal processing speed of the processor 21.

[0094] The inventor has found that if the distance between the third subunit 111 and the fourth subunit 131 in the horizontal direction is large, then the distance between the two adjacent first transmitting antenna units 11 in the horizontal direction and the distance between the two adjacent second transmitting antenna units 13 in the horizontal direction will be large, which will easily lead to an increase in the overall size of the radar device 100 and an increase in cost. If the distance between the third subunit 111 and the fourth subunit 131 in the horizontal direction is small, then the distance between the two adjacent first transmitting antenna units 11 in the horizontal direction and the distance between the two adjacent second transmitting antenna units 13 in the horizontal direction will be small, so that mutual interference is likely to occur between the third subunit 111 and the fourth subunit 131, between the two adjacent first transmitting antenna units 11, and between the two adjacent second transmitting antenna units 13. Therefore, in this embodiment, the distance between the third subunit 111 and the fourth subunit 131 in the horizontal direction is limited to a certain range.

[0095] Specifically, in this embodiment, the distance between the third subunit 111 and the fourth subunit 131 in the horizontal direction is L3, 2λ≤L3≤3λ, where λ is the wavelength of the radar wave emitted by the first transmitting antenna unit 11 or the second transmitting antenna unit 13. In this way, the distance between the third subunit 111 and the fourth subunit 131 in the horizontal direction, the distance between the two adjacent second transmitting antenna units 13 in the horizontal direction, and the distance between the two adjacent first transmitting antenna units 11 in the horizontal direction can be kept small, thereby reducing the cost, and at the same time, mutual interference between the third subunit 111 and the fourth subunit 131, between the two adjacent first transmitting antenna units 11, and between the two adjacent second transmitting antenna units 13 can be avoided. It can be understood that in this embodiment, the distance between the two adjacent first transmitting antenna units 11 in the horizontal direction and the distance between the two adjacent second transmitting antenna units 13 in the horizontal direction are also L3.

[0096] Optionally, the spacing L3 may be 2λ, 2.5λ, or 3λ.

[0097] The inventors have found that if the vertical distance between two adjacent first transmitting antenna units 11 is large, then the multiple first transmitting antenna units 11 occupy a large space, resulting in an increase in the overall size of the radar device 100 and a high cost. However, if the vertical distance between two adjacent first transmitting antenna units 11 is small, then the resolutions provided by the two adjacent first transmitting antenna units 11 in the vertical direction are easily confused, which is not conducive to improving the vertical resolution of the radar device 100. Therefore, in this embodiment, the vertical distance between two adjacent first transmitting antenna units 11 is limited within a certain range.

[0098] For details, please refer to Figure 1 In this embodiment, the vertical distance between two adjacent first transmitting antenna units 11 is L4, 2.5λ≤L4≤3.5λ, where λ is the wavelength of the radar wave emitted by the first transmitting antenna unit 11 or the second transmitting antenna unit 13. In this way, it can ensure that the space occupied by the multiple first transmitting antenna units 11 is small, and at the same time, it can ensure that the resolutions provided by the two adjacent first transmitting antenna units 11 in the vertical direction are not easily confused, thereby effectively improving the vertical resolution of the radar device 100.

[0099] Optionally, the spacing L4 can be 2.5λ, 3λ, or 3.5λ.

[0100] It should be noted that in actual use, according to the specific requirements of the radar device 100 for horizontal resolution and vertical resolution, the number of the first transmitting antenna unit 11, the first receiving antenna unit 12, the second transmitting antenna unit 13 and the second receiving antenna unit 14 can be appropriately increased or decreased.

[0101] Of course, according to different requirements for horizontal resolution and vertical resolution, the distribution positions of the first transmitting antenna unit 11, the first receiving antenna unit 12, the second transmitting antenna unit 13 and the second receiving antenna unit 14 can also be adjusted. For example, Figure 4 This is a schematic diagram of the structure of the second radar device 100 provided in this embodiment. Figure 4 Among the multiple first transmitting antenna units 11, the first transmitting antenna unit 11 close to the third subunit 111 is the fifth subunit 112. In practical applications, if the horizontal resolution needs to be increased, the position of the fifth subunit 112 can be moved so that the vertical distance between the fifth subunit 112 and the third subunit 111 is zero, which can appropriately improve the horizontal resolution. Figure 5 This is a schematic diagram of the structure of the third radar device 100 provided in this embodiment. Figure 5If the vertical resolution needs to be improved, the position of the fourth subunit 131 can be moved so that there is a gap between the fourth subunit 131 and other second transmitting antenna units 13 in the vertical direction, and there is a gap between the fourth subunit 131 and the third subunit 111 in the vertical direction, so that the vertical resolution can be appropriately improved.

[0102] by Figure 1 For example, the following is a method for obtaining a plurality of first transmitting antenna units 11, a plurality of first receiving antenna units 12, a plurality of second transmitting antenna units 13, and a plurality of second receiving antenna units 14 by mutual multiplexing. Figure 2 The specific process of the virtual aperture diagram is introduced in detail.

[0103] Figure 6 This is a diagram of the process of multiplexing the four second receiving antenna units 14, the three second transmitting antenna units 13 and the third sub-unit 111 provided in this embodiment. Figure 1 , Figure 2 as well as Figure 6 Specifically, the four second receiving antenna units 14 can be equivalently shifted between two adjacent second transmitting antenna units 13 through phase compensation. Figure 6 In the figure, the leftmost second transmitting antenna unit 13 corresponds to four second receiving antenna units 14, that is, the radar waves emitted by the leftmost second transmitting antenna unit 13 can be received by the four second receiving antenna units 14. The other two second transmitting antenna units 13 and the third subunit 111 each correspond to four first virtual antenna units 3. Each first virtual antenna unit 3 is an antenna unit with the same effect as the second receiving antenna unit 14 obtained by multiplexing and phase compensating the second receiving antenna unit 14. It can be understood that Figure 6 After the four second receiving antenna units 14, the three second transmitting antenna units 13 and the third sub-unit 111 are multiplexed with each other, it can be obtained Figure 2 The virtual aperture diagram indicated by the arrow R in the middle represents the distribution of a plurality of first virtual apertures 4. The number of the first virtual apertures 4 is 4*4=16.

[0104] Figure 7 This is a diagram of the process of multiplexing the four second receiving antenna units 14, the third sub-unit 111 and the remaining two first transmitting antenna units 11 provided in this embodiment. Figure 1 , Figure 2 as well as Figure 7Specifically, the third subunit 111 corresponds to four second receiving antenna units 14, that is, the radar waves emitted by the third subunit 111 can be received by the four second receiving antenna units 14. The other two first transmitting antenna units 11 each correspond to four second virtual antenna units 5. Each second virtual antenna unit 5 is an antenna unit with the same effect as the second receiving antenna unit 14 obtained by multiplexing and phase compensating the second receiving antenna unit 14. It can be understood that Figure 7 After the four second receiving antenna units 14, the third sub-unit 111 and the remaining two first transmitting antenna units 11 are multiplexed with each other, it can be obtained Figure 2 The virtual aperture diagram indicated by the arrow S in the figure represents the distribution of multiple second virtual apertures 6. The number of the second virtual apertures 6 is 4*3=12.

[0105] Figure 8 This is a process diagram of the second subunit 141, four first receiving antenna units 12, the third subunit 111 and the remaining two first transmitting antenna units 11 being multiplexed with each other. Figure 1 , Figure 2 as well as Figure 8 Specifically, the third subunit 111 corresponds to the second subunit 141 and the four first receiving antenna units 12, that is, the radar waves emitted by the third subunit 111 can be received by the second subunit 141 and the four first receiving antenna units 12. Two of the first transmitting antenna units 11 correspond to five third virtual antenna units 7. Some of the third virtual antenna units 7 are antenna units with the same effect as the second subunit 141 obtained by multiplexing and phase compensating the second subunit 141. Another part of the third virtual antenna units 7 are antenna units with the same effect as the first receiving antenna unit 12 obtained by multiplexing and phase compensating the first receiving antenna unit 12. It can be understood that Figure 8 After the second subunit 141, the four first receiving antenna units 12, the third subunit 111 and the remaining two first transmitting antenna units 11 are multiplexed with each other, it can be obtained Figure 2 The virtual aperture diagram indicated by the arrow T in the figure represents the distribution of multiple third virtual apertures 8. The number of the third virtual apertures 8 is 5*3=15.

[0106] Fig. 9 This is a process diagram of the mutual multiplexing of the three second transmitting antenna units 13, the third sub-unit 111 and the four first receiving antenna units 12 provided in this embodiment. Figure 1 , Figure 2 as well as Fig. 9, the leftmost second transmitting antenna unit 13 corresponds to the four first receiving antenna units 12, that is, the radar waves emitted by the leftmost second transmitting antenna unit 13 can be received by the four first receiving antenna units 12. The remaining two second transmitting antenna units 13 and the third subunit 111 each correspond to four fourth virtual antenna units 9. Among them, the fourth virtual antenna unit 9 is an antenna unit with the same effect as the first receiving antenna unit 12 obtained by multiplexing and phase compensation of the first receiving antenna unit 12. It can be understood that Fig. 9 After the three second transmitting antenna units 13, the third sub-unit 111 and the four first receiving antenna units 12 are multiplexed with each other, it can be obtained Figure 2 The virtual aperture diagram indicated by the arrow X represents the distribution of a plurality of fourth virtual apertures 10. The number of the fourth virtual apertures 10 is 4*4=16.

[0107] After the above derivation process, according to Figure 1 The layout structure shown can be obtained Figure 2 The virtual aperture diagram in . Then, after the phase compensation algorithm is applied again, we can get Figure 3 The equivalent aperture diagram in the image can obtain higher horizontal and vertical resolution.

[0108] It is worth noting that Figure 2 The multiple third virtual apertures 8 in the block diagram indicated by the arrow T are distributed along a direction inclined relative to the horizontal direction, so the multiple third virtual apertures 8 can provide both horizontal resolution and vertical resolution. However, in this embodiment, considering that the number of virtual apertures distributed horizontally is sufficient, the multiple third virtual apertures 8 are used to provide vertical resolution in this embodiment, thereby effectively simplifying the phase compensation algorithm.

[0109] In summary, the present embodiment provides a radar antenna 1, a radar device 100 and a movable platform. The radar antenna 1, the radar device 100 and the movable platform obtain higher horizontal resolution and vertical resolution by changing the layout structure of multiple first transmitting antenna units 11 and multiple first receiving antenna units 12, which effectively reduces the production cost, is conducive to miniaturized production, and improves production efficiency.

[0110] The above description is only a specific embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A radar antenna, It is characterized in that include: A plurality of first transmitting antenna units (11), wherein the plurality of first transmitting antenna units (11) are distributed at intervals along a first preset direction; A plurality of first receiving antenna units (12), wherein the plurality of first receiving antenna units (12) are distributed at intervals along a second preset direction; Wherein, the first preset direction and the second preset direction are both set at an acute angle to the horizontal direction; The radar antenna (1) further comprises a plurality of second transmitting antenna units (13) arranged at intervals in the horizontal direction, wherein the distance between any two of the second transmitting antenna units (13) in the vertical direction is zero; and / or, The radar antenna (1) further comprises a plurality of second receiving antenna units (14) arranged at intervals in the horizontal direction, wherein the distance between any two of the second receiving antenna units (14) in the vertical direction is zero; Wherein, the vertical direction is perpendicular to the horizontal direction; The plurality of second receiving antenna units (14) are arranged side by side with the plurality of first receiving antenna units (12); the antenna unit closest to the plurality of second receiving antenna units (14) among the plurality of first receiving antenna units (12) is a first subunit (121); the antenna unit closest to the plurality of first receiving antenna units (12) among the plurality of second receiving antenna units (14) is a second subunit (141); and the second subunit (141) and the first subunit (121) are spaced apart and distributed along the second preset direction.

2. The radar antenna according to claim 1, It is characterized in that The distance between any two adjacent first receiving antenna units (12) in the vertical direction is equal to the distance between the first subunit (121) and the second subunit (141) in the vertical direction.

3. The radar antenna according to claim 2, It is characterized in that The distance between any two adjacent first receiving antenna units (12) in the vertical direction is L1, 0.3λ≤L1≤0.7λ, wherein λ is the wavelength of the radar wave emitted by the first transmitting antenna unit (11) or the second transmitting antenna unit (13).

4. The radar antenna according to claim 1, It is characterized in that The distance between any two adjacent first receiving antenna units (12) in the horizontal direction, the distance between any two adjacent second receiving antenna units (14) in the horizontal direction, and the distance between the first subunit (121) and the second subunit (141) in the horizontal direction are equal.

5. The radar antenna according to claim 4, It is characterized in that The distance between any two adjacent first receiving antenna units (12) in the horizontal direction is L2, 0.3λ≤L2≤0.7λ, wherein λ is the wavelength of the radar wave emitted by the first transmitting antenna unit (11) or the second transmitting antenna unit (13).

6. The radar antenna according to any one of claims 2 to 5, It is characterized in that The multiple second transmitting antenna units (13) are arranged side by side with the multiple first transmitting antenna units (11); the antenna unit closest to the multiple second transmitting antenna units (13) among the multiple first transmitting antenna units (11) is the third subunit (111); and the spacing between the third subunit (111) and any one of the second transmitting antenna units (13) in the vertical direction is zero.

7. The radar antenna according to any one of claims 2 to 5, It is characterized in that The plurality of second transmitting antenna units (13) are arranged side by side with the plurality of first transmitting antenna units (11); the antenna unit closest to the plurality of second transmitting antenna units (13) among the plurality of first transmitting antenna units (11) is the third subunit (111); the antenna unit closest to the plurality of first transmitting antenna units (11) among the plurality of second transmitting antenna units (13) is the fourth subunit (131); the spacing between the third subunit (111) and the fourth subunit (131) in the horizontal direction, the spacing between two adjacent second transmitting antenna units (13) in the horizontal direction, and the spacing between two adjacent first transmitting antenna units (11) in the horizontal direction are equal.

8. The radar antenna according to claim 7, It is characterized in that The distance between the third subunit (111) and the fourth subunit (131) in the horizontal direction is L3, 2λ≤L3≤3λ, wherein λ is the wavelength of the radar wave emitted by the first transmitting antenna unit (11) or the second transmitting antenna unit (13).

9. The radar antenna according to any one of claims 1 to 5, It is characterized in that The vertical distance between two adjacent first transmitting antenna units (11) is L4, 2.5λ≤L4≤3.5λ, wherein λ is the wavelength of the radar wave emitted by the first transmitting antenna unit (11), and the vertical direction is perpendicular to the horizontal direction.

10. A radar device, It is characterized in that The radar antenna (1) comprises a signal processing unit (2) and any one of claims 1 to 9, wherein the signal processing unit (2) is electrically connected to the plurality of first transmitting antenna units (11) and the plurality of first receiving antenna units (12) at the same time, and the signal processing unit (2) is used for processing the signals received by the plurality of first receiving antenna units (12) to obtain the position information of the target object.

11. A radar device, It is characterized in that include: Processor (21); A first radio frequency chip (22) electrically connected to the processor (21); The radar antenna (1) according to any one of claims 1 to 9; The plurality of first transmitting antenna units (11) in the radar antenna (1) are electrically connected to the first radio frequency chip (22), and the plurality of first receiving antenna units (12) are electrically connected to the first radio frequency chip (22).

12. The radar device according to claim 11, It is characterized in that The multiple first transmitting antenna units (11) and the multiple first receiving antenna units (12) are respectively arranged on two opposite sides of the first radio frequency chip (22).

13. The radar device according to claim 11, It is characterized in that The radar device (100) further comprises a second radio frequency chip (23); the radar antenna (1) is the radar antenna (1) according to any one of claims 2 to 11; the second radio frequency chip (23) is electrically connected to the processor (21) and the first radio frequency chip (22) at the same time, and the plurality of second receiving antenna units (14) and the plurality of second transmitting antenna units (13) are electrically connected to the second radio frequency chip (23).

14. The radar device according to claim 13, It is characterized in that The plurality of second receiving antenna units (14) and the plurality of second transmitting antenna units (13) are respectively arranged on two opposite sides of the second radio frequency chip (23).

15. The radar device according to claim 13, It is characterized in that The plurality of second receiving antenna units (14) are arranged side by side with the plurality of first receiving antenna units (12), and the plurality of second transmitting antenna units (13) are arranged side by side with the plurality of first transmitting antenna units (11); The plurality of second receiving antenna units (14) and the plurality of first receiving antenna units (12) are located on the same side of the first radio frequency chip (22) and the second radio frequency chip (23), and the plurality of second transmitting antenna units (13) and the plurality of first transmitting antenna units (11) are located on the other side of the first radio frequency chip (22) and the second radio frequency chip (23).

16. The radar device according to claim 13, It is characterized in that The first radio frequency chip (22) and the second radio frequency chip (23) are distributed at intervals, and the processor (21) is located between the first radio frequency chip (22) and the second radio frequency chip (23).

17. A movable platform, It is characterized in that The invention comprises a body and a radar device (100) according to any one of claims 10 to 16, wherein the radar device (100) is mounted on the body.

Images