A three-dimensional multi-plane phased array radar

Abstract

The present invention provides a three-dimensional multi-plane phased array radar, which includes a control module and a plurality of phased array antenna panels. The plurality of phased array antenna panels are located in different planes in space, and are used to transmit radar waves to a filling medium and receive reflected waves reflected by the surface of the filling medium, so as to obtain measurement signals of different angle areas in the space where the filling medium is located. The control module is used to receive and process the measurement signals transmitted by the phased array antenna panels. The radar provided by the present invention can realize large-angle radar scanning through simple mechanical connections.

Description

Technical Field

[0001] The present invention relates to the technical field of scanning devices, and in particular to a three-dimensional multi-plane phased array radar. Background Art

[0002] With the continuous development of science and technology, radar technology has also made great progress. 3D radar scanners are generally based on transmitting frequency modulated continuous waves in multiple directions for level measurement. With the development of industrial automation and intelligence, the demand for 3D radar scanners in industrial sites is increasing. At present, 3D radar scanners mostly use motor drive mechanisms for cyclic scanning to obtain material level information. Among them, motor-driven cyclic scanning 3D radar scanners generally rely on motors to drive the radar probe to make cyclic reciprocating motions in the horizontal and pitch directions to achieve three-dimensional scanning of the material level in the silo. Due to the complex mechanical structure of the motor-driven cyclic scanning 3D radar scanner, the 3D radar scanner with this scanning method is large in size, the assembly process is complex, and the cable will cause a decrease in service life during multiple driving and use. In addition, the scanning speed of the 3D radar scanner with this scanning method is also limited by the motor drive structure, and the single measurement cycle is long.

[0003] Therefore, how to achieve 3D rapid scanning of materials in a silo through a simple structure has become a technical problem that technical personnel in this field urgently need to solve. Summary of the invention

[0004] Based on the above problems, the present invention provides a three-dimensional multi-plane phased array radar, which can realize 3D rapid scanning of the material surface in the silo through a simple structure.

[0005] The present invention provides a three-dimensional multi-plane phased array radar, the radar comprising a control module and a plurality of phased array antenna panels;

[0006] The plurality of phased array antenna panels are located in different planes in the space, and are used to transmit radar waves to the filling medium and receive reflected waves reflected by the surface of the filling medium, so as to obtain measurement signals of different angle areas in the space where the filling medium is located;

[0007] The control module is used to receive and process the measurement signal transmitted by the phased array antenna board.

[0008] In a possible implementation, the control module is further used to parse out overlapping areas in space of radar waves emitted by different phased array antenna panels based on measurement signals transmitted by the plurality of phased array antenna panels.

[0009] In a possible implementation, the control module controls one of the plurality of phased array antenna panels to scan the overlap area according to the overlap area combined with the phases of the phased array antenna panels in different planes in space.

[0010] In a possible implementation, the control module includes a time-sharing unit, and the time-sharing unit is used to control the corresponding phased array antenna board to scan according to the measurement signal in a time-sharing manner.

[0011] In a possible implementation manner, the control module controls the phased array antenna panel to scan according to a preset time or a preset phase.

[0012] In a possible implementation manner, the angle values ​​formed by any two of the phased array antenna panels are the same or different.

[0013] In a possible implementation manner, the plurality of phased array antenna panels are arranged symmetrically or asymmetrically.

[0014] In a possible implementation manner, a plurality of the phased array antenna panels are disposed adjacently or non-adjacently.

[0015] In a possible implementation manner, each of the phased array antenna panels is disposed adjacent to at least one of the phased array antenna panels.

[0016] In a possible implementation manner, any two of the plurality of phased array antenna panels are not arranged adjacent to each other.

[0017] In a possible implementation, a fixing bracket is further included, and the plurality of phased array antenna panels are installed in the housing of the radar through the fixing bracket.

[0018] In a possible implementation manner, some of the phased array antenna panels among the plurality of phased array antenna panels are installed in the housing of the radar through the fixing bracket.

[0019] In a possible implementation, each of the phased array antenna panels is installed in a housing of the radar via an independent fixing bracket.

[0020] In a possible implementation, the control module includes a communication unit, and the communication unit is used to receive the measurement signals collected by the plurality of phased array antenna panels for communication transmission.

[0021] In a possible implementation, a power supply unit is further included, and the power supply unit is used to provide power to the control module and the plurality of phased array antenna panels.

[0022] In a possible implementation, it also includes a cover body, which is fixedly connected to the shell to form a closed space, and a plurality of phased array antenna panels are arranged in the closed space, and the cover body is made of wave-transparent material.

[0023] In a possible implementation, the scanning range of the plurality of phased array antenna panels is -90° to 90°, or the scanning range of the plurality of phased array antenna panels is 0° to 180°.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] The three-dimensional multi-plane phased array radar proposed in the present invention uses multiple phased array antenna panels located in multiple planes and at multiple angles in space to perform three-dimensional scanning of the filling medium, breaking through the limitations of the traditional motor drive structure and significantly improving the measurement speed. Since the phased array antenna panel can simultaneously transmit and receive signals in different directions, the measurement cycle is greatly shortened, thereby improving the overall work efficiency and meeting the demand for rapid response at the measurement site. By setting multiple antenna panels and optimizing their angles, the present invention can achieve more comprehensive level information collection. Compared with the traditional method of fixed measurement angles, this multi-plane and multi-angle measurement method significantly improves the accuracy of the measurement results and is suitable for practical application scenarios with high precision requirements. The design of the present invention eliminates the complex motor drive mechanism and reduces the complexity of the mechanical structure. This design not only reduces the size and weight of the equipment, but also simplifies the assembly process and reduces the production and maintenance costs. Since the present invention no longer relies on the motor drive structure, the problem of reduced service life caused by cable wear and motor failure in traditional equipment is eliminated, thereby improving the overall reliability and durability of the equipment. The simplified design also reduces potential failure points and further extends the service life of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0027] Figure 1 A schematic structural diagram of a three-dimensional multi-plane phased array radar provided by an embodiment of the present invention;

[0028] Figure 2 A schematic diagram of the configuration of a phased array antenna panel provided by an embodiment of the present invention;

[0029] Figure 3A schematic diagram of a practical application of a three-dimensional multi-plane phased array radar provided by an embodiment of the present invention;

[0030] Figure 4 A schematic diagram of the practical application of another three-dimensional multi-plane phased array radar provided by an embodiment of the present invention;

[0031] Figure 5 The present invention provides a flow chart of a control method for a three-dimensional multi-plane phased array radar. DETAILED DESCRIPTION

[0032] As described above, the current 3D radar scanner mainly uses a motor-driven cyclic scanning method to obtain the three-dimensional surface morphology of the material in the container. Among them, the motor-driven cyclic scanning 3D radar scanner generally relies on the motor to drive the radar probe to perform cyclic reciprocating motion in the horizontal and pitch directions to achieve the purpose of three-dimensional scanning of the surface of the material in the container. Due to the complex mechanical structure of the motor-driven cyclic scanning 3D radar scanner, the 3D radar scanner with this scanning method is large in size, the assembly process is complicated, and the service life of the cable will be reduced during multiple driving and use. In addition, the scanning speed of the 3D radar scanner with this scanning method is also limited by the motor drive structure, and the single measurement cycle is long.

[0033] After research, it was found that due to its mechanical structure, the 3D radar scanner provided in the relevant technology will inevitably have the problem of reciprocating scanning of the motor-driven radar probe, which leads to a long measurement cycle, a fixed measurement angle of the radar measurement unit, resulting in low measurement data accuracy and a short cable life.

[0034] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is only a part of the embodiment of the present invention, not all the embodiments. Based on the embodiment of the present invention, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present invention.

[0035] Figure 1 A schematic diagram of the structure of a three-dimensional multi-plane phased array radar provided in an embodiment of the present invention, including multiple phased array antenna panels 101, a fixing bracket 103, a housing 102 and a control module. In a possible implementation, the control module may include a power supply unit 104, a data receiving unit 105, a time-sharing unit 106, a communication unit 107 and a data processing unit 108. The power supply unit 104, the time-sharing unit 106 and the communication unit 107 may be arranged in the control module, or may be arranged separately in the radar housing, or arranged on other circuit boards in the radar.

[0036] A plurality of phased array antenna panels 101 are fixed to the housing 102 by means of a fixing bracket 103. The plurality of phased array antenna panels 101 are located in different planes in space and are used to transmit radar waves to the filling medium and receive reflected waves reflected by the surface of the filling medium, so as to obtain measurement signals of different angle regions in the space where the filling medium is located. In a possible implementation, the filling medium may be a material. The control module is used to receive and process the measurement signals transmitted by the phased array antenna panels 101.

[0037] In a possible implementation, the control module is further used to parse out the overlapping areas in space of radar waves emitted by different phased array antenna panels 101 based on the measurement signals transmitted by the multiple phased array antenna panels 101, so as to perform precise scanning.

[0038] In another possible implementation, the control module can control one of the multiple phased array antenna panels 101 to scan the overlapped area based on the overlapped area in combination with the phases of the phased array antenna panels 101 in different planes in space. Specifically, the control module can receive and analyze the acquired point cloud data based on the measurement signals acquired by the multiple phased array antenna panels 101, and parse out the overlapped areas corresponding to the scans of different phased array antenna panels 101 based on the position coordinates or overlapped degree of the point cloud data. The control module then adjusts the phase of at least one of the phased array antenna panels 101 so that only one of the phased array antenna panels 101 scans the area on the surface of the filling medium that contains the above-mentioned overlapped area, and the remaining phased array antenna panels 101 scan the area on the surface of the filling medium that does not contain the upper overlapped area, thereby improving the scanning efficiency.

[0039] The phased array radar provided by the present invention can not only scan multiple phased array antenna panels 101 simultaneously, but also realize the operation of a single phased array antenna panel 101 under the control of a control module. The phased array radar provided by the present invention can adapt to a variety of different working scenarios and is more flexible than related technologies.

[0040] When controlling the phased array radar, the control module can control the phased array antenna board 101 to scan according to a preset time or a preset phase. It is understandable that the control module can control a single phased array antenna board 101 or multiple phased array antenna boards 101.

[0041] Figure 1 The three phased array antenna panels 101 are included. It can be understood that: Figure 1 This is only one connection method of the phased array antenna board. The number of the phased array antenna boards 101 can be arbitrary, for example, 5 or 10, and the phase of each phased array antenna board can also be different. Figure 1The shown ones are adjacent or non-adjacent.

[0042] In a possible implementation, each phased array antenna panel 101 is disposed adjacent to at least one phased array antenna panel 101. In a possible implementation, the angle values ​​formed by any two phased array antenna panels 101 may be the same or different. Multiple phased array antenna panels 101 may be disposed symmetrically or asymmetrically. Multiple phased array antenna panels 101 may be disposed adjacently or non-adjacently.

[0043] In a possible implementation, each phased array antenna panel 101 may be disposed adjacent to at least one phased array antenna panel 101; wherein, a plurality of phased array antenna panels 101 may be partially disposed adjacent to each other and another portion disposed non-adjacently. Alternatively, when a plurality of phased array antenna panels 101 are disposed non-adjacently, any two of the plurality of phased array antenna panels 101 may be disposed non-adjacently.

[0044] The data receiving unit 105 is fixed in the housing 102, and the data receiving unit 105 is connected to each phased array antenna board 101. In one possible implementation, the data receiving unit 105 and each phased array antenna board 101 can be connected wirelessly. In another possible implementation, the data receiving unit 105 and each phased array antenna board 101 can also be connected through a circuit. The data receiving unit 105 is used to receive the measurement signal collected by the phased array antenna board 101, and the measurement signal received by the data receiving unit 105 is processed by the data processing unit 108 to process the measurement signal into material surface data information. The data receiving unit 105 is connected to the power supply unit 104, and the data receiving unit 105 and the power supply unit 104 can be connected wirelessly or wired through a circuit.

[0045] The time-sharing unit 106 is fixed in the housing 102, and is connected to each phased array antenna board 101. The time-sharing unit 106 is used to control the acquisition time of each phased array antenna board 101, and is connected to the power supply unit 104. The time-sharing unit 106 and the power supply unit 104 can be connected wirelessly or by circuit. The time-sharing unit 106 is used to control the corresponding phased array antenna board 101 to scan according to the measurement signal.

[0046] The communication unit 107 is fixed in the housing 102 . The communication unit 107 is connected to the data receiving unit 105 . The communication unit 107 is used to send material surface data information to the data processing unit 108 . The communication unit 107 is connected to the power supply unit 104 .

[0047] In a possible implementation, the phased array radar may include a fixing bracket, and the plurality of phased array antenna panels 101 may be installed in a housing 102 of the radar through the fixing bracket.

[0048] In another possible implementation, since each phased array antenna panel 101 of the present invention can independently set its own phase to scan the surface of the filling medium to obtain the measurement signal, different phased array antenna panels 101 can be scanned together or independently in time-sharing. Preferably, each phased array antenna panel 101 is installed in the housing 102 of the radar by an independent fixed bracket.

[0049] The scanning range of the multiple phased array antenna panels 101 of the radar provided by the present invention is -90° to 90°, or the scanning range of the multiple phased array antenna panels 101 is 0° to 180°.

[0050] The three-dimensional multi-plane phased array radar proposed in the present invention uses multiple phased array antenna panels to work simultaneously, breaking through the limitations of the traditional motor drive structure and significantly improving the measurement speed. Since the phased array antenna panel can transmit and receive signals simultaneously in different directions, the measurement cycle is greatly shortened, thereby improving the overall work efficiency and meeting the demand for rapid response at the measurement site. By setting multiple antenna panels and optimizing their angles, the present invention can achieve more comprehensive level information collection. Compared with the traditional method of fixed measurement angles, this multi-channel, multi-angle measurement method significantly improves the accuracy of the measurement results and is suitable for practical application scenarios with high precision requirements. The design of the present invention eliminates the complex motor drive mechanism and reduces the complexity of the mechanical structure. This design not only reduces the size and weight of the equipment, but also simplifies the assembly process and reduces the production and maintenance costs. Since the present invention no longer relies on the motor drive structure, the problem of reduced service life caused by cable wear and motor failure in traditional equipment is eliminated, thereby improving the overall reliability and durability of the equipment. The simplified design also reduces potential failure points and further extends the service life of the equipment.

[0051] Figure 2 A schematic diagram of a phased array antenna panel provided in an embodiment of the present invention is provided. Figure 2 The three phased array antenna panels are arranged adjacent to each other.

[0052] Figure 3 A schematic diagram of a practical application of a three-dimensional multi-plane phased array radar provided by an embodiment of the present invention, in Figure 3 There are three phased array antenna panels 1, 2 and 3. Figure 3 The three phased array antenna panels are not adjacent to each other. The housing to which the three phased array antenna panels are fixed is Figure 3 Not shown in FIG. Figure 3 A in it is the material, Figure 3The rectangular box in the figure is a container. Since the left side of material A is higher and the right side is lower, the time-sharing unit can control the phased array antenna board 1 and the phased array antenna board 2 to collect data. Of course, the time-sharing unit can also control the three phased array antenna boards to collect data at the same time. When the installation posture information of the radar is needed, the data collected simultaneously by the three phased array antenna boards can be fused and analyzed to obtain the material surface data information and the installation posture information of the radar (obtained by scanning the inner wall of the container). Specifically, Figure 3 The phased array antenna plate 2 or 3 in the embodiment scans the inner wall of the container within the preset angle range along the set direction. The set direction and the preset angle can be set according to the actual application scenario. The point cloud data corresponding to the inner wall within the preset angle range is obtained by scanning. The installation posture information of the phased array antenna plate is determined by the point cloud data (that is, the phased array antenna plate can at least determine the coordinate point of the precise installation point of the phased array antenna plate, or one of the installation angle deviations of the phased array antenna plate).

[0053] Figure 4 A schematic diagram of a practical application of another three-dimensional multi-plane phased array radar provided by an embodiment of the present invention, in Figure 4 There are three phased array antenna panels 1, 2 and 3. Figure 4 The three phased array antenna panels are not adjacent to each other. The housing to which the three phased array antenna panels are fixed is Figure 4 Not shown in FIG. Figure 4 B in it is the material, Figure 4 The rectangular box in the figure is a container. Taking material B as an example, the material level in the middle is higher and the material levels around it are lower. The phased array antenna board 1 is in the middle position and can scan most or the entire material surface data information. The phased array antenna boards 2 and 3 are arranged on both sides of the phased array antenna board 1. In this case, the control module can control the phased array antenna board 1 to scan the material surface, and the phased array antenna boards 2 and 3 may not work or scan the material surface. However, the phased array antenna boards 2 and 3 can be used to scan the inner wall of the container as needed, so as to obtain the installation posture information of the radar.

[0054] In a possible implementation, the radar further includes a cover, which is fixedly connected to the shell of the radar to form a closed space, and a plurality of phased array antenna panels are arranged in the closed space. The cover is made of a wave-transparent material. In a possible implementation, the control module is arranged in the closed space.

[0055] In order to adapt to the three-dimensional multi-plane phased array radar provided by the present invention, the present invention provides a control method for the three-dimensional multi-plane phased array radar. Figure 5 A flow chart of a control method for a three-dimensional multi-plane phased array radar provided by the present invention, the method comprising the following steps:

[0056] S501: Determine, by a time-sharing unit, a phased array antenna board for data collection among a plurality of phased array antenna boards.

[0057] The control module can determine the phased array antenna board for data acquisition among the multiple phased array antenna boards through the time-sharing unit.

[0058] As described above, depending on the actual usage scenario, the number of phased array antenna boards set will be different, and the phased array antenna boards that need to be used for data collection will also be different. Therefore, the phased array antenna board for data collection among multiple phased array antenna boards can be determined through a time-sharing unit.

[0059] S502: receiving a measurement signal through a data receiving unit, where the measurement signal is collected by a phased array antenna board for data collection.

[0060] The control module may receive the measurement signal through the data receiving unit, and the measurement signal is collected by the phased array antenna board for data collection.

[0061] S503: Transmit the collected measurement signal to the communication unit.

[0062] It is understandable that the main function of the phased array antenna board is data acquisition, and accurate and complete processing of data requires reliance on the data processing unit. Therefore, the control module can control the collected measurement signal to enter the communication unit, and then transmit it to the data processing unit through the communication unit.

[0063] S504: Transmitting the measurement signal to the data processing unit via the communication unit.

[0064] After the collected measurement signal is transmitted to the communication unit, the communication unit transmits the measurement signal to the data processing unit, and the data processing unit can perform subsequent processing on the measurement signal.

[0065] The control method of the three-dimensional multi-plane phased array radar proposed in the present invention uses at least one of the multiple phased array antenna panels to work, breaks through the limitations of the traditional motor drive structure, and significantly improves the measurement speed. Since the phased array antenna panel can simultaneously transmit and receive signals in different directions, the measurement cycle is greatly shortened, thereby improving the overall work efficiency and meeting the demand for rapid response at the measurement site. By setting multiple antenna panels and optimizing their angles, the present invention can achieve more comprehensive level information collection. Compared with the traditional method of fixed measurement angles, this multi-channel, multi-angle measurement method significantly improves the accuracy of the measurement results and is suitable for practical application scenarios with high precision requirements. The design of the present invention eliminates the complex motor drive mechanism and reduces the complexity of the mechanical structure. This design not only reduces the size and weight of the equipment, but also simplifies the assembly process and reduces the production and maintenance costs. Since the present invention no longer relies on the motor drive structure, the problem of reduced service life caused by cable wear and motor failure in traditional equipment is eliminated, thereby improving the overall reliability and durability of the equipment. The simplified design also reduces potential failure points and further extends the service life of the equipment.

[0066] An embodiment of the present invention also provides a control device for a three-dimensional multi-plane phased array radar, wherein the device includes a memory and a processor, the memory is used to store instructions or codes, and the processor is used to execute the instructions or codes so that the device performs the steps of the control method of the three-dimensional multi-plane phased array radar described in any embodiment of the present invention.

[0067] In practical applications, the computer-readable storage medium may be any combination of one or more computer-readable media, which may be a computer-readable signal medium or a computer-readable storage medium.

[0068] The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination thereof. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, device, or device.

[0069] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0070] The program code embodied on the computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0071] Computer program code for performing the operations of the present invention may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0072] It should be noted that each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment. The device embodiment described above is merely schematic, in which the unit described as a separate component may or may not be physically separated, and the component prompted as a unit may or may not be a physical unit, that is, it may be located in one place, or it may be distributed on multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative work.

[0073] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A three-dimensional multi-plane phased array radar, characterized in that: including a control module and a plurality of phased array antenna panels; The plurality of phased array antenna panels are located in different planes in the space, and are used to transmit radar waves to the filling medium and receive reflected waves reflected by the surface of the filling medium, so as to obtain measurement signals of different angle areas in the space where the filling medium is located, and the phased array antenna panel is also used to scan the inner wall of the container within a preset angle range along a set direction, obtain point cloud data of the inner wall, and determine the installation posture information of the phased array antenna panel through the point cloud data; The control module is used to receive and process the measurement signals transmitted by the phased array antenna panels, and to parse out the overlapping areas in space of the radar waves emitted by different phased array antenna panels based on the measurement signals transmitted by the multiple phased array antenna panels; The control module controls one of the plurality of phased array antenna panels to scan the overlapped area according to the overlapped area in combination with the phases of the phased array antenna panels in different planes in space.

2. The radar according to claim 1, characterized in that The control module includes a time-sharing unit, and the time-sharing unit is used to control the corresponding phased array antenna board to scan according to the measurement signal in time-sharing manner.

3. The radar according to claim 1, characterized in that: The control module controls the phased array antenna board to scan according to a preset time or a preset phase.

4. The radar according to claim 1, characterized in that: The angle values ​​formed by any two of the phased array antenna panels are the same or different.

5. The radar according to claim 1, characterized in that: The plurality of phased array antenna panels are arranged symmetrically or asymmetrically.

6. The radar according to claim 1, characterized in that: The plurality of phased array antenna panels are arranged adjacently or non-adjacently.

7. The radar according to claim 6, characterized in that: Each of the phased array antenna panels is disposed adjacent to at least one of the phased array antenna panels.

8. The radar according to claim 6, characterized in that: Any two of the plurality of phased array antenna panels are not arranged adjacent to each other.

9. The radar according to claim 1, characterized in that: It also includes a fixing bracket, through which the plurality of phased array antenna panels are installed in the housing of the radar.

10. The radar according to claim 9, characterized in that: Each phased array antenna panel is mounted on the housing of the radar via an independent fixing bracket.

11. The radar according to claim 1, characterized in that: The control module includes a communication unit, and the communication unit is used to receive the measurement signals collected by the plurality of phased array antenna panels for communication transmission.

12. The radar according to claim 1, characterized in that It also includes a power supply unit, which is used to provide power to the control module and the multiple phased array antenna panels.

13. The radar according to claim 9, characterized in that: It also includes a cover body, which is fixedly connected to the shell and forms a closed space. A plurality of phased array antenna panels are arranged in the closed space, and the cover body is made of wave-transmitting material.

14. The radar according to claim 1, characterized in that The scanning range of the plurality of phased array antenna panels is -90° to 90°, or the scanning range of the plurality of phased array antenna panels is 0° to 180°.

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