CN111142077A - Millimeter wave radar sensor - Google Patents
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- CN111142077A CN111142077A CN202010073959.3A CN202010073959A CN111142077A CN 111142077 A CN111142077 A CN 111142077A CN 202010073959 A CN202010073959 A CN 202010073959A CN 111142077 A CN111142077 A CN 111142077A
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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Abstract
The present invention provides a millimeter wave radar sensor, comprising: the device comprises an upper cover, a metal carrier plate, a rear cover, a radar antenna plate, a radar signal plate and an inter-plate connector; an upper cover cavity is arranged in the upper cover and used for accommodating the radar antenna plate, the metal carrier plate and the radar signal plate; the upper cover is connected with an external connector; connecting the inner end of the outer connector with a radar signal board; the radar antenna plate is arranged on one surface, close to the bottom of the upper cover cavity, of the metal carrier plate, and the radar signal plate is arranged on the other surface, away from the bottom of the upper cover cavity, of the metal carrier plate; the radar antenna board is provided with an inter-board connector, and the inter-board connector penetrates through a connecting hole formed in the metal carrier board and is connected with the radar signal board; the radar antenna plate, the metal carrier plate and the radar signal plate are installed in an upper cover cavity of the upper cover together; the rear cover is connected with the upper cover and seals the upper cover cavity. The invention improves the heat dispersion and the waterproof performance, reduces the volume and also meets the requirement of electromagnetic compatibility.
Description
Technical Field
The invention relates to the technical field of millimeter wave radars, in particular to a vehicle-mounted millimeter wave radar sensor.
Background
Millimeter wave radar sensor is the high accuracy sensor of measuring testee relative distance, relative speed, position, is applied to the military field in early days, and along with radar technology's development and progress, millimeter wave radar sensor begins to be applied to a plurality of fields such as automotive electronics, unmanned aerial vehicle, intelligent transportation.
In military affairs, the millimeter wave radar sensor is widely applied to the fields of early warning detection, weapon guidance, electronic countermeasure and the like. In recent years, with the continuous maturity of technologies such as integrated circuits, antenna design and the like and the continuous reduction of component cost, civil vehicle-mounted millimeter wave radar products are continuously emerging and put into practical application. As an important component of intelligent automobiles and intelligent transportation, the related frequency division of the vehicle-mounted millimeter wave radar is closely concerned and highly regarded by the national radio management department.
The vehicle-mounted millimeter wave radar sensor is mainly arranged in front of a vehicle or in a front bumper, so that the size of the radar is strictly limited, and the radar products in the current market are limited by the sizes of a radio frequency chip, an antenna and the like, and the size is generally larger; in the millimeter wave radar sensor in the current market, a connector is an independent device, and the connector needs to be independently fixed and subjected to waterproof treatment during installation, so that the assembly process is complex, and errors are easy to occur during manual assembly; and the lid adopts plastic material behind radar protecgulum (antenna house) and the radar mostly, and the radar is the high-power consumption product, and the shell of plastic material can lead to the heat dispersion of its radar poor, is unfavorable for the heat dissipation of the inside device of radar, influences the antenna performance of whole radar, reduces the environmental suitability of radar.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides a millimeter wave radar sensor which improves the heat dissipation performance and the waterproof performance, reduces the volume and meets the requirement of electromagnetic compatibility. The technical scheme adopted by the invention is as follows:
a millimeter-wave radar sensor, comprising: the device comprises an upper cover, a metal carrier plate, a rear cover, a radar antenna plate, a radar signal plate and an inter-plate connector;
an upper cover cavity is arranged in the upper cover and used for accommodating the radar antenna plate, the metal carrier plate and the radar signal plate; the upper cover is connected with an external connector; connecting the inner end of the outer connector with a radar signal board;
the radar antenna plate is arranged on one surface, close to the bottom of the upper cover cavity, of the metal carrier plate, and the radar signal plate is arranged on the other surface, away from the bottom of the upper cover cavity, of the metal carrier plate; the radar antenna board is provided with an inter-board connector, and the inter-board connector penetrates through a connecting hole formed in the metal carrier board and is connected with the radar signal board;
the radar antenna plate, the metal carrier plate and the radar signal plate are installed in an upper cover cavity of the upper cover together; the rear cover is connected with the upper cover and seals the upper cover cavity.
Furthermore, the positive and negative of metal support plate all is equipped with the holding chamber in order to install radar antenna board and radar signal board.
Further, the side wall of the metal carrier plate is respectively contacted with the rear cover and the upper cover.
Further, an antenna housing is arranged in an upper cover cavity of the upper cover; the upper cover, the antenna housing and the external connector are integrally formed through injection molding.
Furthermore, the upper cover is made of a wave-transparent material; the rear cover is made of metal material.
Furthermore, the wave-transparent material of the upper cover is formed by mixing polybutylene terephthalate, acrylonitrile-butadiene-styrene or polyphenylene sulfide with glass fiber.
Furthermore, a groove is formed in the top of the side wall of the upper cover, sealant is placed in the groove, and the rear cover covers the top of the side wall of the upper cover.
Furthermore, a breather valve is arranged on the rear cover.
Further, the radar antenna board comprises a microwave integrated circuit chip, an array antenna and a clock circuit; the method is mainly used for the generation, modulation, emission, reception, analog-to-digital conversion and digital front-end signal processing of radar electromagnetic wave signals;
the radar signal board comprises a microcontroller, a power supply control circuit, a safety control circuit and a network interface control circuit; the method is mainly used for performing radar signal processing, target detection processing, signal storage and target detection result output on digital front-end signals output after radar antenna board processing.
Furthermore, the microwave integrated circuit chip on the radar antenna plate is tightly attached to the metal carrier plate.
Furthermore, the microwave integrated circuit chip mainly comprises a signal generator, a frequency synthesizer, a transmitter, a receiver, an analog-to-digital conversion circuit, a mathematical front-end processing circuit, a serial/parallel interface circuit and an SPI control circuit; the signal generator is mainly used for generating and controlling a radar signal digital baseband signal; the frequency synthesizer is mainly used for frequency multiplication of local oscillation signals, frequency sweep control and high-frequency signal processing of echo signal frequency mixing; the transmitter is mainly used for controlling the information of the transmitting power and the phase of the radar high-frequency signal; the receiver is mainly used for receiving and controlling the sensitivity, noise and receiving gain of radar target echo signals; the analog-to-digital conversion circuit is mainly used for converting an analog signal received by the receiver into a digital intermediate frequency signal; the digital front-end processing circuit is mainly used for filtering and compressing digital intermediate-frequency signals output by the analog-to-digital conversion circuit; the serial/parallel interface circuit is mainly used for driving and controlling communication interfaces of the analog-to-digital conversion circuit and the digital front-end processing circuit; the SPI control circuit is mainly used for controlling communication interfaces for signals of a signal generator, a frequency synthesizer, a transmitter and a receiver;
the array antenna mainly comprises a transmitting antenna and a receiving antenna; the transmitting antenna is mainly used for transmitting radiation to the outside by a transmitting signal of the transmitter radar; the receiving antenna is mainly used for receiving radar echo signals;
the microcontroller mainly comprises a radar signal processing module, a target detection processing module and a memory; the radar signal processing module is mainly used for processing radar basic signals such as digital front-end signals, target constant false alarm detection and digital beam forming which are output after the radar antenna board is processed, and outputting original point information after target detection, wherein the original point information mainly comprises distance, speed and angle; the target detection processing module is mainly used for performing point-track condensation, track tracking and target classification algorithm processing on target original point information output by radar basic signal processing; the memory is mainly used for storing data in the radar signal processing and target detection processing processes and the processed detection target;
the power supply control circuit is mainly used for supplying power and controlling power to the radar antenna plate and the radar signal plate;
the safety control circuit is mainly used for circuit safety monitoring and circuit protection control of the radar antenna plate and the radar signal plate;
the network interface control circuit is mainly used for communication control transmission between the radar signal board and an external network and radar detection target result information output.
The invention has the advantages that:
1) the structure that the upper cover and the outer connector are integrally molded through injection molding is adopted, the installation of the outer connector is cancelled, and the outer connector does not need to be subjected to waterproof treatment.
2) The single radio frequency chip and the multi-line array integrated antenna are adopted, so that the size of the radar antenna plate is reduced, and the size of the whole radar sensor is reduced.
3) The microwave integrated circuit chip on the radar antenna plate is tightly attached to the metal support plate, the metal support plate is in direct contact with the upper cover and the rear cover, the radar signal plate is also in contact with the metal support plate, and heat on the internal circuit board can be rapidly led out outwards through the rear cover of the radar.
4) The rear cover and the metal carrier plate can form a closed shielding cavity, so that the problem of electromagnetic compatibility in circuit design is effectively solved.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is an electrical schematic block diagram of the present invention.
Detailed Description
The invention is further illustrated by the following specific figures and examples.
An embodiment of the present invention provides a millimeter wave radar sensor, as shown in fig. 1, in which a mechanical structure of the millimeter wave radar sensor is improved;
in this embodiment, the millimeter wave radar sensor includes an upper cover 100, a metal carrier plate 200, a rear cover 300, a radar antenna plate 400, a radar signal plate 500, and an inter-board connector 600;
an upper cover cavity 101 is arranged in the upper cover 100 and used for accommodating the radar antenna board 400, the metal carrier board 200 and the radar signal board 500; an antenna housing 102 is arranged in an upper cover cavity 101 of the upper cover 100; the side surface of the upper cover 100 is connected with an external connector 103; the radome 102 is mainly used for a transmission medium and antenna protection for receiving and transmitting radar signals by the radar antenna panel 400; the external connector 103 is mainly used for communication connection between the radar signal board 500 and an automobile and external power access;
in some embodiments, the cover 100 may be made of a wave-transparent material formed by mixing polybutylene terephthalate, acrylonitrile butadiene styrene, or polyphenylene sulfide with glass fiber;
in some embodiments, the upper cover 100 is integrally formed with the radome 102 and the external connector 103 by injection molding, so that the radar sensor does not need to separately design the radome, and does not need to separately install the external connector and take waterproof measures on the connector; the material of the radome 102 may also be polybutylene terephthalate, acrylonitrile-butadiene-styrene, or a wave-transparent material formed by mixing polyphenylene sulfide with glass fiber;
the radar antenna plate 400 is mounted on one surface of the metal carrier plate 200 close to the radome 102, and the radar signal plate 500 is mounted on the other surface of the metal carrier plate 200 away from the radome 102; the radar antenna board 400 is provided with an inter-board connector 600, and the inter-board connector 600 penetrates through a connecting hole formed in the metal carrier board 200 and is connected with the radar signal board 500;
in some embodiments, the front and back sides of the metal carrier plate 200 are provided with receiving cavities for mounting the radar antenna board 400 and the radar signal board 500; the metal carrier plate 200 is mainly used for supporting, fixing and signal connection between the radar antenna plate 400 and the radar signal plate 500, and meanwhile, the metal carrier plate 200 is also used for signal shielding and heat conduction and heat dissipation between the radar antenna plate 400 and the radar signal plate 500; generally, metal heat conduction materials such as aluminum alloy and the like can be adopted;
the radar antenna board 400, the metal carrier board 200 and the radar signal board 500 are installed together in the upper cover cavity 101 of the upper cover 100; the rear cover 300 is connected with the upper cover 100 and closes the upper cover cavity 101;
in some embodiments, a groove 104 is formed in the top of the sidewall of the upper cover 100, a sealant is placed in the groove 104, and the rear cover 300 covers the top of the sidewall of the upper cover 100; fixation is performed by screws 302; excellent waterproof performance can be obtained;
in some embodiments, a breather valve 303 is installed on the rear cover 300 to ensure the balance of the air pressure inside and outside the cavity of the upper cover while maintaining excellent waterproof performance;
in some embodiments, the rear cover 300 is made of a metal material, such as an aluminum alloy; the rear cover 300 is in contact with the top of the sidewall of the metal carrier 200, and due to the contact with the metal carrier 200, on one hand, the heat of the metal carrier 200 can be directly conducted to the rear cover 300 to radiate outwards; on the other hand, the rear cover 300 is in contact with the metal carrier plate 200 to form a closed shielding cavity, so that signals generated on the radar signal plate 500 can be effectively shielded and isolated, and the problems of electromagnetic compatibility and the like are avoided; similarly, the bottom of the sidewall of the metal carrier 200 contacts the top lid 100;
in some embodiments, the outer surface of the rear cover 300 may further be provided with non-transparent heat dissipation grooves to increase the contact surface with the outside air and increase the heat dissipation efficiency;
the embodiment of the invention also provides a millimeter wave radar sensor which has an optimal circuit structure;
as shown in fig. 2, the radar antenna board 400 includes a microwave integrated Circuit chip 401 (Monolithic microwave integrated Circuit, MMIC for short), an array antenna 402, and a clock Circuit 403; the method is mainly used for the generation, modulation, emission, reception, analog-to-digital conversion and digital front-end signal processing of radar electromagnetic wave signals;
the microwave integrated circuit chip 401 mainly comprises a signal generator, a frequency synthesizer, a transmitter, a receiver, an analog-to-digital conversion circuit, a mathematical front-end processing circuit, a serial/parallel interface circuit and an SPI control circuit; the signal generator is mainly used for generating and controlling a radar signal digital baseband signal; the frequency synthesizer is mainly used for frequency multiplication of local oscillation signals, frequency sweep control and high-frequency signal processing of echo signal frequency mixing; the transmitter is mainly used for controlling the information of the transmitting power and the phase of the radar high-frequency signal; the receiver is mainly used for receiving and controlling the sensitivity, noise and receiving gain of radar target echo signals; the analog-to-digital conversion circuit is mainly used for converting an analog signal received by the receiver into a digital intermediate frequency signal; the digital front-end processing circuit is mainly used for filtering and compressing digital intermediate-frequency signals output by the analog-to-digital conversion circuit; the serial/parallel interface circuit is mainly used for driving and controlling communication interfaces of the analog-to-digital conversion circuit and the digital front-end processing circuit; the SPI control circuit is mainly used for controlling communication interfaces for signals of a signal generator, a frequency synthesizer, a transmitter and a receiver;
the array antenna 402 mainly consists of a transmitting antenna and a receiving antenna; the transmitting antenna is mainly used for transmitting radiation to the outside by a transmitting signal of the transmitter radar; the receiving antenna is mainly used for receiving radar echo signals; the array antenna 402 may be an antenna based on a PCB form such as a microstrip array or a substrate integrated waveguide;
the clock circuit 403 is mainly used for reference control of timing sequence, signal synchronization and the like of the microwave integrated circuit chip 401, and can adopt a crystal oscillator circuit control form;
in the application, the radar antenna plate 400 adopts the single radio frequency chip 401 and the multi-line array integrated antenna, so that the size of the antenna plate is reduced, and the size of the whole radar is reduced;
in a preferred embodiment, the microwave integrated circuit chip 401 on the radar antenna board 400 is tightly attached to the metal carrier 200, which is beneficial to heat dissipation;
the radar antenna board 400 and the radar signal board 500 are interconnected by an inter-board connector 600; the inter-board connector 600 is connected with the radar antenna board 400 and the radar signal board 500 respectively for power signal, SPI control signal and serial/parallel signal transmission;
the radar signal board 500 comprises a microcontroller 501, a power supply control circuit 502, a safety control circuit 503, a network interface control circuit 504, and may further comprise a connection control circuit 505 and a peripheral control circuit 506; the method is mainly used for performing radar signal processing, target detection processing, signal storage and target detection result output on digital front-end signals output after the radar antenna board 400 is processed;
the microcontroller 501 mainly comprises a radar signal processing module, a target detection processing module and a memory; the radar signal processing module is mainly used for processing radar basic signals such as digital front-end signal Fourier transform, target constant false alarm detection and digital beam forming which are output after the radar antenna board 400 is processed, and outputting original point information after target detection, wherein the original point information mainly comprises distance, speed and angle; the target detection processing module is mainly used for performing point-track condensation, track tracking and target classification algorithm processing on target original point information output by radar basic signal processing; the memory comprises a Flash memory and an RAM memory and is mainly used for storing data in the radar signal processing and target detection processing processes and a processed detection target;
the power control circuit 502 mainly comprises circuits such as power input, multi-path power output, voltage stabilization filtering and the like, and is mainly used for supplying power and controlling power to the radar antenna board 400 and the radar signal board 500;
the safety control circuit 503 is mainly used for circuit safety monitoring and circuit protection control of the radar antenna board 400 and the radar signal board 5000 so as to meet the requirement of the radar system on the functional safety level; in some embodiments, the safety control circuit 503 may include a power monitoring circuit of a high frequency power amplifier in the transmitter, a received signal strength monitoring circuit in the receiver, and some thermal protection monitoring circuits;
the network interface control circuit 504 is mainly used for communication control transmission between the radar signal board 500 and an external network and output of radar detection target result information, and CAN adopt various automobile bus communication modes such as FlexRay, Ethernet, CAN/CAN-FD and the like;
the connection control circuit 505 is mainly used for debugging and compiling control of the microcontroller 501;
the peripheral control circuit 506 is mainly used as an external sensor interface to control working modes of other types or similar auxiliary driving perception sensors such as cascade cooperation, data synchronization and the like; other types of driving assistance perception sensors comprise a camera, an ultrasonic radar, a laser radar and the like; the similar auxiliary driving perception sensors comprise a millimeter wave radar sensor and a general vehicle-mounted radar sensor such as 24G/60G/77G/79G;
the inner end of the outer connector 103 is connected with a radar signal board 500, and the outer end of the outer connector is used for connecting an automobile bus network; the external connector 103 is mainly used for radar and automobile information communication and radar system external power supply signal input.
Finally, it should be noted that the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to examples, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.
Claims (11)
1. A millimeter-wave radar sensor, comprising: the antenna comprises an upper cover (100), a metal carrier plate (200), a rear cover (300), a radar antenna plate (400), a radar signal plate (500) and an inter-plate connector (600);
an upper cover cavity (101) is arranged in the upper cover (100) and used for accommodating the radar antenna plate (400), the metal carrier plate (200) and the radar signal plate (500); the upper cover (100) is connected with an external connector (103); the inner end of the outer connector (103) is connected with a radar signal plate (500);
the radar antenna plate (400) is arranged on one surface, close to the bottom of the upper cover cavity (101), of the metal carrier plate (200), and the radar signal plate (500) is arranged on the other surface, away from the bottom of the upper cover cavity (101), of the metal carrier plate (200); an inter-board connector (600) is arranged on the radar antenna board (400), and the inter-board connector (600) penetrates through a connecting hole formed in the metal carrier board (200) and is connected with the radar signal board (500);
the radar antenna plate (400), the metal carrier plate (200) and the radar signal plate (500) are installed in an upper cover cavity (101) of the upper cover (100) together; the rear cover (300) is connected with the upper cover (100) and seals the upper cover cavity (101).
2. The millimeter-wave radar sensor of claim 1,
the positive and negative face of metal carrier plate (200) all is equipped with the holding chamber in order to install radar antenna board (400) and radar signal board (500).
3. The millimeter-wave radar sensor of claim 1,
the side wall of the metal carrier plate (200) is respectively contacted with the rear cover (300) and the upper cover (100).
4. The millimeter-wave radar sensor of claim 1, 2, or 3,
an antenna housing (102) is arranged in an upper cover cavity (101) of the upper cover (100); the upper cover (100) is integrally molded with the radome (102) and the external connector (103) by injection molding.
5. The millimeter-wave radar sensor of claim 4,
the upper cover (100) is made of a wave-transparent material; the rear cover (300) is made of metal material.
6. The millimeter-wave radar sensor of claim 5,
the wave-transparent material of the upper cover is formed by mixing polybutylene terephthalate, acrylonitrile-butadiene-styrene or polyphenylene sulfide with glass fiber.
7. The millimeter-wave radar sensor of claim 1, 2, or 3,
the top of the side wall of the upper cover (100) is provided with a groove (104), sealant is placed in the groove (104), and the top of the side wall of the upper cover (100) is covered by the rear cover (300).
8. The millimeter-wave radar sensor of claim 1, 2, or 3,
the rear cover (300) is provided with a breather valve (303).
9. The millimeter-wave radar sensor of claim 1, 2, or 3,
the radar antenna board (400) comprises a microwave integrated circuit chip (401), an array antenna (402) and a clock circuit (403); the method is mainly used for the generation, modulation, emission, reception, analog-to-digital conversion and digital front-end signal processing of radar electromagnetic wave signals;
the radar signal board (500) comprises a microcontroller (501), a power supply control circuit (502), a safety control circuit (503) and a network interface control circuit (504); the method is mainly used for performing radar signal processing, target detection processing, signal storage and target detection result output on digital front-end signals output after the radar antenna plate (400) is processed.
10. The millimeter-wave radar sensor of claim 9,
the microwave integrated circuit chip (401) on the radar antenna board (400) is tightly attached to the metal carrier board (200).
11. The millimeter-wave radar sensor of claim 9,
the microwave integrated circuit chip (401) mainly comprises a signal generator, a frequency synthesizer, a transmitter, a receiver, an analog-to-digital conversion circuit, a mathematical front-end processing circuit, a serial/parallel interface circuit and an SPI control circuit; the signal generator is mainly used for generating and controlling a radar signal digital baseband signal; the frequency synthesizer is mainly used for frequency multiplication of local oscillation signals, frequency sweep control and high-frequency signal processing of echo signal frequency mixing; the transmitter is mainly used for controlling the information of the transmitting power and the phase of the radar high-frequency signal; the receiver is mainly used for receiving and controlling the sensitivity, noise and receiving gain of radar target echo signals; the analog-to-digital conversion circuit is mainly used for converting an analog signal received by the receiver into a digital intermediate frequency signal; the digital front-end processing circuit is mainly used for filtering and compressing digital intermediate-frequency signals output by the analog-to-digital conversion circuit; the serial/parallel interface circuit is mainly used for driving and controlling communication interfaces of the analog-to-digital conversion circuit and the digital front-end processing circuit; the SPI control circuit is mainly used for controlling communication interfaces for signals of a signal generator, a frequency synthesizer, a transmitter and a receiver;
the array antenna (402) is mainly composed of a transmitting antenna and a receiving antenna; the transmitting antenna is mainly used for transmitting radiation to the outside by a transmitting signal of the transmitter radar; the receiving antenna is mainly used for receiving radar echo signals;
the microcontroller (501) mainly comprises a radar signal processing module, a target detection processing module and a memory; the radar signal processing module is mainly used for processing radar basic signals such as digital front-end signals output after the radar antenna board (400) is processed, target constant false alarm rate detection and digital beam forming, and outputting original point information after target detection, wherein the original point information mainly comprises distance, speed and angle; the target detection processing module is mainly used for performing point-track condensation, track tracking and target classification algorithm processing on target original point information output by radar basic signal processing; the memory is mainly used for storing data in the radar signal processing and target detection processing processes and the processed detection target;
the power supply control circuit (502) is mainly used for supplying power and controlling power to the radar antenna plate (400) and the radar signal plate (500);
the safety control circuit (503) is mainly used for circuit safety monitoring and circuit protection control of the radar antenna plate (400) and the radar signal plate (500);
the network interface control circuit (504) is mainly used for communication control transmission between the radar signal board (500) and an external network and radar detection target result information output.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113093192A (en) * | 2021-04-20 | 2021-07-09 | 深圳市道通科技股份有限公司 | Millimeter wave radar and automobile driving control system |
| CN114624654A (en) * | 2022-05-13 | 2022-06-14 | 南京隼眼电子科技有限公司 | Radar structure and vehicle-mounted radar equipment |
| CN114944042A (en) * | 2022-06-21 | 2022-08-26 | 无锡威孚高科技集团股份有限公司 | Indoor intrusion detection system and method based on millimeter wave radar and camera |
| WO2022222659A1 (en) * | 2021-04-21 | 2022-10-27 | 深圳市道通科技股份有限公司 | Millimeter wave car-reversing radar |
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| WO2022222659A1 (en) * | 2021-04-21 | 2022-10-27 | 深圳市道通科技股份有限公司 | Millimeter wave car-reversing radar |
| CN114624654A (en) * | 2022-05-13 | 2022-06-14 | 南京隼眼电子科技有限公司 | Radar structure and vehicle-mounted radar equipment |
| CN114944042A (en) * | 2022-06-21 | 2022-08-26 | 无锡威孚高科技集团股份有限公司 | Indoor intrusion detection system and method based on millimeter wave radar and camera |
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