CN211698168U - Microwave antenna structure, microwave rotary radar and movable platform - Google Patents

Abstract

The utility model provides a be used for providing a microwave antenna structure (100), rotatory radar of microwave (200) and movable platform (300), this microwave antenna structure (100) includes: a substrate (101) having a plurality of antenna arrays formed on a first side of the substrate (101), including at least 2 transmit antenna arrays (1, 2) and a plurality of receive antenna arrays (3-9); a plurality of receive antenna arrays (3-9) extending in a first direction; at least 2 transmit antenna arrays (1, 2) extending in a first direction; wherein at least 2 transmit antenna arrays (1, 2) are arranged in parallel with a plurality of receive antenna arrays (3-9) in a second direction, the second direction being perpendicular to the first direction. According to the utility model discloses an embodiment is through to transmit antenna array and receive antenna array rational layout, realizes a radar of low-cost compact, and high angle measurement precision.

Description

Microwave antenna structure, microwave rotary radar and movable platform

Technical Field

The utility model relates to an antenna structure technical field generally, more specifically relate to a microwave antenna structure, rotatory radar of microwave and movable platform.

Background

With the development of microwave devices, the microwave radar can realize miniaturization and integration, can obtain narrower antenna beams and higher antenna gain under the condition of the same antenna caliber, can improve the angle measurement resolution and angle measurement precision of the radar, and is favorable for resisting electronic interference, clutter interference and multipath reflection interference.

The existing microwave radar mainly has the following problems: the high-precision angle measuring radar has large size, particularly the size in the angle measuring direction, and the radar has high cost. This is because: for a conventional single-transmitting-channel radar, the radar angle measurement precision is closely related to the number of radar receiving channels, the higher the precision is, the more the number of the radar receiving channels is, the larger the radar size is, and the higher the cost is. In order to reduce radar size and cost, VMIMO radars have been developed. The VMIMO radar controls the transmitting channel to transmit orthogonal signals by adding a small number of transmitting channels and adopting a time division or phase modulation mode, and performs coherent signal processing on the received signals, so that the angle measurement precision equivalent to that of a conventional single transmitting channel radar with multiplied receiving channels is finally realized, and the radar cost and the radar size are greatly reduced. The equivalent effect of the VMIMO radar antenna is shown in figure 1 below.

Although current VMIMO radars have greatly reduced radar costs and radar size, since VMIMO radars implement goniometry, the receiving antennas or the transmitting antennas are arranged equidistantly within the goniometry plane, and the spacing of the transmitting antennas is generally equal to several times the spacing of the receiving antennas (depending on the number of receiving antennas, see fig. 1 where the distance between the transmitting antennas is 4 times the receiving antenna distance), which results in a radar that is relatively large in size, especially in the goniometric direction, for small radars such as vehicle-mounted or small drones, even if current VMIMO radars are used, because the spatial size is small.

SUMMERY OF THE UTILITY MODEL

The present invention has been made to solve at least one of the above problems. The utility model provides a microwave antenna structure, rotatory radar of microwave and movable platform, this antenna structure adopt many transmitting channel and many receiving channels to through to transmitting antenna array and receiving antenna array rational arrangement, realize a low-cost compact, and the radar of high angle finding precision.

Specifically, the utility model discloses the first aspect provides a microwave antenna structure, include:

a substrate having a plurality of antenna arrays formed on a first side of the substrate, the plurality of antenna arrays including at least 2 transmit antenna arrays and a plurality of receive antenna arrays;

the receiving antenna arrays extend along a first direction, and are arranged in parallel and at intervals;

at least 2 of the transmit antenna arrays extend in a first direction, and at least 2 of the transmit antenna arrays are parallel to and spaced apart from each other;

wherein at least 2 of the transmit antenna arrays are arranged in parallel with a plurality of the receive antenna arrays in a second direction, the second direction being perpendicular to the first direction.

In one embodiment of the present invention, the distance between adjacent transmitting antenna arrays is equal to n times the distance between adjacent receiving antenna arrays, where n is an integer related to the number of receiving antenna arrays.

In an embodiment of the present invention, the first direction is a length direction or a width direction of the substrate.

In one embodiment of the present invention, a plurality of the antenna arrays employ microstrip antennas, and each of the antenna arrays includes a set of microstrip patch units electrically connected to each other.

In one embodiment of the present invention, each of the microstrip patch units of each group has the same size as each other.

In an embodiment of the present invention, each of the microstrip patch units in each group has an area that decreases from the center of symmetry to both sides in order.

In one embodiment of the present invention, the microstrip patch unit has a rectangular, circular, semicircular or elliptical shape.

In an embodiment of the present invention, each group of microstrip patch units includes more than 6 microstrip patch units.

In an embodiment of the present invention, the number of the receiving antenna arrays is more than 4.

In an embodiment of the present invention, the present invention further comprises:

and the feed network is formed on the first side surface of the substrate and comprises a plurality of microstrip lines which are respectively and electrically connected with each group of the microstrip patch units.

In an embodiment of the present invention, the microstrip line and each group of the microstrip patch units are connected in a parallel feed manner.

In an embodiment of the present invention, the microstrip line and each group of the microstrip patch units are connected in a series feed manner.

In an embodiment of the present invention, the present invention further comprises: and the radio frequency circuit is electrically connected with the feed network and comprises at least one transmitting chip, two receiving chips and a power divider electrically connected with the two receiving chips.

In one embodiment of the present invention, the rf circuit is formed on the second side of the substrate.

In an embodiment of the present invention, a plurality of via holes or feed probes electrically connected to the microstrip lines of the microstrip patch units are formed on the substrate, respectively, and the feed network is connected to the radio frequency circuit through a plurality of via holes or feed probes.

In an embodiment of the present invention, a plurality of microstrip lines are further formed on the second side of the substrate, and each of the via holes or the feed probes is connected to the radio frequency circuit through the corresponding microstrip line.

In an embodiment of the present invention, each group of the microstrip patch units is electrically connected to the radio frequency circuit through a coupling feeding manner.

In one embodiment of the present invention, the rf circuit is formed on the first side of the substrate.

In an embodiment of the present invention, each group of the microstrip patch units is connected to the radio frequency circuit through a microstrip line, wherein a feed point is located on one side or the middle of the antenna array on the microstrip line.

In an embodiment of the present invention, the microstrip line is connected to each group of the microstrip patch units in a vertical manner or an inclined manner.

In one embodiment of the present invention, the substrate is a double-layer plate, a three-layer plate, a four-layer plate, a five-layer plate or a six-layer plate.

In an embodiment of the present invention, the substrate includes:

an antenna plate on which the antenna array is formed;

a ground plate located below the antenna plate for electrical connection with the antenna array; and

a plurality of wiring boards which are positioned below the grounding board and are used for being electrically connected with the radio frequency circuit,

the antenna plate, the grounding plate and the wiring plates are sequentially stacked.

In an embodiment of the present invention, the antenna array adopts a horizontal polarization mode or a vertical polarization mode.

The utility model discloses the second aspect provides a rotatory radar of microwave, a serial communication port, include:

fixing a bracket;

the motor is arranged on the fixed bracket;

a rotating bracket mounted on the rotor of the motor and rotating together with the rotor of the motor; and

according to the utility model discloses microwave antenna structure, install on the runing rest.

The utility model discloses the third aspect provides a movable platform, a serial communication port, include:

a body;

the power device is arranged on the machine body and provides moving power for the machine body; and

according to the utility model discloses the second aspect the rotatory radar of microwave install on the fuselage.

The utility model discloses an embodiment the movable platform is unmanned aerial vehicle, autopilot car or ground remote-controlled robot.

The utility model provides a microwave antenna structure, microwave rotary radar and movable platform, this antenna structure adopt many transmitting antenna array and many receiving antenna array to constitute VMIMO antenna array, through time division or phase modulation mode control transmission channel, the transmission quadrature signal to carry out coherent signal processing to the received signal, realize the high accuracy angle measurement ability of the equivalent double receiving antenna quantity; and the transmitting antenna array and the receiving antenna array are arranged side by side, and compared with the condition that the transmitting antenna array and the receiving antenna array are arranged on the same straight line, the size of the radar in the angle measuring direction is greatly reduced, so that the radar has better suitability.

Drawings

Fig. 1 is an equivalent schematic diagram of an antenna of a VMIMO radar;

fig. 2 is a schematic diagram of an antenna array of a microwave antenna structure according to an embodiment of the present invention;

FIG. 3 is a cross-sectional view of the microwave antenna structure shown in FIG. 1;

FIG. 4 is a schematic diagram of the antenna and RF device connection of the microwave antenna structure shown in FIG. 1;

FIG. 5 is a schematic cross-sectional view of a microwave rotary radar employing the microwave antenna structure shown in FIG. 1;

fig. 6 is a schematic structural view of a movable platform to which the microwave rotary radar shown in fig. 5 is applied.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, exemplary embodiments according to the present invention will be described in detail below with reference to the accompanying drawings. It is to be understood that the described embodiments are merely exemplary of the present invention and are not intended to limit the invention to the particular embodiments described herein. Based on the embodiments of the present invention described in the present application, all other embodiments obtained by those skilled in the art without creative efforts shall fall within the protection scope of the present invention.

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the present invention.

It is to be understood that the present invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. As used herein, the term "and/or" includes any and all combinations of the associated listed items.

In order to provide a thorough understanding of the present invention, detailed steps and detailed structures will be provided in the following description in order to explain the technical solution provided by the present invention. The preferred embodiments of the present invention are described in detail below, however, other embodiments of the present invention are possible in addition to these detailed descriptions.

Fig. 2 is a schematic diagram of an antenna array of a microwave antenna structure according to an embodiment of the present invention;

fig. 3 is a cross-sectional view of a microwave antenna structure according to an embodiment of the present invention; fig. 4 is a schematic diagram of the connection between the antenna and the rf device of the microwave antenna structure according to an embodiment of the present invention.

Referring to fig. 2 to 4, a microwave antenna structure 100 provided in the embodiment of the present invention includes a substrate 101, and a plurality of antenna arrays including at least 2 transmitting antenna arrays (e.g., transmitting antenna arrays 1 and 2) and a plurality of receiving antenna arrays (e.g., receiving antenna arrays 3-10) are formed on a first side (i.e., a front side) of the substrate 101.

The receiving antenna arrays extend along a first direction, and are arranged in parallel and at intervals. Illustratively, in this embodiment, 8 receive antenna arrays are included, receive antenna arrays 3-10. Of course, in other embodiments, the number of receiving antenna arrays may also be other numbers according to the requirement, for example, 4 receiving antenna arrays or 16 receiving antenna arrays may be used. In this context, the plurality of receiving antenna arrays extending in the first direction means that the plurality of receiving antenna arrays are arranged in sequence in the first direction.

At least 2 of the transmit antenna arrays extend in a first direction, and at least 2 of the transmit antenna arrays are arranged parallel to and spaced apart from each other. Exemplarily, in the present embodiment, 2 transmit antenna arrays are included, the transmit antenna arrays 1 and 2. However, in other embodiments, the number of transmit antenna arrays may be other numbers as needed, for example, 3 or 4 transmit antenna arrays may be used. In this context, at least 2 of the transmit antenna arrays extending in the first direction means that at least 2 of the transmit antenna arrays are arranged in sequence in the first direction. In an embodiment of the present invention, the distance between the adjacent transmitting antenna arrays is equal to n times the distance between the adjacent receiving antenna arrays, where n is an integer related to the number of the receiving antenna arrays. Illustratively, in the present embodiment, the spacing between the transmit antenna arrays 1 and 2 is equal to 8 times the spacing D between adjacent receive antenna arrays. The distance D between adjacent receiving antenna arrays refers to the distance between corresponding edges of the adjacent receiving antenna arrays or the distance between centers of the adjacent receiving antenna arrays. Taking the microstrip antenna array adopted in fig. 2 as an example, the distance D between adjacent receiving antenna arrays refers to the distance between the corresponding edges of the microstrip patches of the adjacent receiving antenna arrays or the distance between the centers of the microstrip patches.

The microwave antenna structure 100 of this embodiment uses a plurality of receiving antenna arrays and at least two transmitting antenna arrays to form a VMIMO antenna array, so that a transmitting channel can be controlled in a time division or phase modulation manner, an orthogonal signal is transmitted, and coherent signal processing is performed on a received signal, so as to achieve high-precision angle measurement capability equivalent to doubling the number of receiving antennas, taking fig. 2 as an example, refer to the principle shown in fig. 1, which can achieve the angle measurement capability equivalent to 16 receiving antenna arrays.

Further, since the spacing between the transmitting antenna arrays is several times larger than the spacing between the receiving antenna arrays, in order to reduce the size of the microwave antenna structure 100 in the goniometric direction, in the present embodiment, as shown in fig. 2, at least 2 transmitting antenna arrays and a plurality of receiving antenna arrays are arranged in parallel in a second direction, which is perpendicular to the first direction. Exemplarily, in the embodiment of the present invention, the first direction is a length direction or a width direction of the substrate, and as shown in fig. 2, the first direction is a width direction or a longitudinal direction of the substrate 101.

In this embodiment, the transmitting antenna array and the receiving antenna array are arranged side by side, and compared with the case that the transmitting antenna array and the receiving antenna array are arranged on the same straight line, the size of the radar in the angle measurement direction is greatly reduced, so that the radar has better adaptability and can be installed in equipment with smaller space.

In this embodiment, the transmitting antenna array and the receiving antenna array employ microstrip antennas. Of course, in other embodiments, other forms of antennas may be employed. Herein, the structures of the transmit antenna array and the receive antenna array are described by taking a microstrip antenna as an example.

As shown in fig. 2, each antenna array, for example, a receiving antenna array or a transmitting antenna array, includes a set of microstrip patch elements 11 electrically connected to each other. Illustratively, in this embodiment, each set of the microstrip patch units 11 includes 8 microstrip patch units 11. It should be understood that, although each group of microstrip patch elements 11 includes 8 microstrip patch elements 11 in the present embodiment, in other embodiments of the present invention, the number of microstrip patch elements 11 included in each group of microstrip patch elements 11 is not limited to 8, and may be more than 8, for example, 12, or less than 8, for example, 6.

As shown in fig. 2, in the present embodiment, each patch unit 11 in each group of microstrip patch units 11 has the same size and is rectangular. Illustratively, the length a of the microstrip patch element 11 is 3.1mm and the width B is 4.3mm, i.e. the dimension of the microstrip patch element 11 is 3.1 × 4.3 mm. The distance C between two adjacent microstrip patch units 11 is 7.6 mm. The pitch C of two adjacent microstrip patch units 11 refers to a distance between the same sides of two adjacent microstrip patch units 11, for example, the distance between the left sides of two adjacent microstrip patch units 11 is shown in fig. 2.

It should be understood that the size of the microstrip patch element 11 is related to the radiation energy, dielectric constant, etc. of the microstrip patch element 11, and the dimensions disclosed in the present embodiment are merely exemplary, and in other embodiments, the microstrip patch element 11 may adopt various other suitable dimensions.

Further, an angle measurement range of the antenna structure 100 is determined according to a distance D between two adjacent receiving antenna arrays 3 to 10 in the array antenna theory, the smaller the distance D between two adjacent receiving antenna arrays 3 to 10 is, the larger the angle measurement range is, but the too small distance may cause increased coupling between antennas, reduced gain, and deteriorated directional pattern, and in consideration of practical application, the distance D between two adjacent receiving antenna arrays 3 to 10 is 6.0mm to 15.0 mm. Preferably, the distance D is

6.2 mm-12.5 mm. More preferably, the spacing D is 6.6 mm. Wherein, when the distance D is 6.2mm, the corresponding angle measurement range is plus or minus 90 degrees, when the distance D is 6.6mm, the corresponding angle measurement range is plus or minus 70 degrees, and when the distance D is 12.5mm, the corresponding angle measurement range is plus or minus 30 degrees. The angle θ of the angle measurement range is arcsin (λ/2D), λ is C/f, where C is the speed of light and f is 24.15 × 109 HZ.

As shown in fig. 3, the substrate 101 includes an antenna plate 102, a ground plate 103, two line-running plates 104, and a dielectric plate 105 disposed between the antenna plate 102, the ground plate 103, and the plurality of line-running plates 104. The antenna plate 102, the ground plate 103, and the plurality of wiring plates 104 are sequentially stacked. The antenna array is formed on the antenna board 102, and the antenna board 102 may be formed by etching a conductor patch formed on the first dielectric plate 105A. A ground plate 103 is located below the antenna plate 102 for electrical connection with the antenna array. The ground plate 103 is isolated from the antenna plate 102 by a first dielectric plate 105A. The wiring board 104 is located below the grounding board 103 and is used for being electrically connected with the radio frequency circuit. The wiring boards 104 and the ground plate 103 are isolated by a second dielectric plate 105B, and the wiring boards 104 are isolated by a third dielectric plate 105C. Exemplarily, in the present embodiment, the radio frequency circuit is formed on the second side (i.e., the back side) of the substrate 101, that is, on one side of the third dielectric plate 105C or the lowermost wiring board 104 in fig. 2.

Illustratively, in the present embodiment, the dielectric sheet 105 has a length of 92mm, a width of 87mm, and a thickness of 32 mil. The dielectric plate 105 has a dielectric constant of 3.6.

It should be understood that, although in the present embodiment, the substrate 101 includes the antenna board 102, the ground plate 103 and the two wiring boards 104, the present invention is not limited thereto, according to the present invention, the substrate 101 of the microwave antenna structure 100 may include one wiring board 104, may also include more than three wiring boards 104, or may not include the wiring boards 104, the number of the wiring boards 104 is determined according to the size of the dielectric board 105 and the size of the antenna, the radio frequency circuit and the wiring, if the antenna board, the radio frequency circuit and the wiring can be accommodated on the surface of one dielectric board, the wiring board 104 may not be required to be disposed at this time, and at this time, the radio frequency circuit is formed on the first side surface of the substrate. That is, in an embodiment of the present invention, according to the microwave antenna structure 100 of the present invention, the substrate 101 may be a double-layer board (antenna board with floor), a triple-layer board (antenna board, ground board and one wiring board), a four-layer board (antenna board, ground board and two wiring boards), a five-layer board (antenna board, ground board and three wiring boards), or a six-layer board (antenna board, ground board and four wiring boards).

Referring to fig. 2 again, the microwave antenna structure 100 further includes a feeding network formed on the first side surface of the substrate 101, where the feeding network includes a plurality of microstrip lines 12 electrically connected to each group of the microstrip patch units 11. In the present embodiment, as shown in fig. 2, the microstrip lines 12 are connected to each set of the microstrip patch units 11 in a series feed manner. In this embodiment, the feeding points of the receiving antenna array and the transmitting antenna array are located at one side or the middle of the receiving antenna array or the transmitting antenna array, for example, a microstrip line located at one side or the middle of the antenna array is electrically connected to the radio frequency network. It should be understood that although in the present embodiment the receive antenna array and the transmit antenna array are fed directly through microstrip lines, in other embodiments the feeding may be through vias or feed probes. For example, a plurality of via holes or feed probes electrically connected to the microstrip lines 12 of each group of microstrip patch elements 11 may be formed on the substrate 101, and the feed network is connected to the radio frequency circuit through the plurality of via holes or feed probes, or each group of microstrip patch elements 11 is electrically connected to the radio frequency circuit through a coupling feed manner. Correspondingly, a plurality of microstrip lines are further formed on the second side surface of the substrate, and each via hole or feed probe is connected to the radio frequency circuit through the corresponding microstrip line.

Although in this embodiment, each group of microstrip patch units adopts a series feed manner, in other embodiments, a parallel feed manner may also be adopted, where each microstrip patch unit in each group of microstrip patch units is connected in parallel to a microstrip line, and the microstrip line is connected with each group of microstrip patch units in a vertical manner or an inclined manner.

As shown in fig. 4, the microwave antenna structure 100 provided in this embodiment further includes a radio frequency circuit electrically connected to the feeding network, where the radio frequency circuit includes 1 transmitting chip 20 and two receiving chips 21, and a power divider 22 electrically connected to 2 receiving chips 21. The transmitting chip 20 is electrically connected to the transmitting antennas TX1 and TX2, and the receiving chip 21 is electrically connected to the receiving antenna RX (RX 1-8). In the present embodiment, each of the receiving chips 21 is connected to 4 receiving antennas, respectively, i.e., the first receiving chip 21 is connected to the receiving antennas RX1, RX2, RX3, and RX4, and the second receiving chip 21 is connected to the receiving antennas RX5, RX6, RX7, and RX 8. The power divider 22 is used for the receiving chip 21 to receive the radiation energy and synthesize one path of output. It should be understood that the number of the transmitting chips 20, the receiving chips 21 and the power dividers 22 is related to the number of the transmitting antennas and the receiving antennas, and is not limited to the number shown in fig. 3. The transmitting chip 20, the receiving chip 21 and the power divider 22 may be various suitable chips, for example, the power divider 22 may be a wilkinson power divider.

Further, because the strength of the reflection of the target on the radar electromagnetic wave is related to the antenna polarization, different antenna polarization modes are adopted in consideration of different application environments, for example, in a farmland operation environment, a thin transverse pull wire has a greater threat to agricultural unmanned aerial vehicles, at this time, the microwave antenna structure 100 provided by this embodiment adopts a horizontal polarization mode, and the microwave antenna structure 100 provided by this embodiment uses a vertical polarization mode in other situations where a vertical target is more concerned.

The microwave antenna structure 100 provided by this embodiment uses the microstrip array antenna, so that the occupied space is small, the structure is relatively simple, the cost is reduced, and the actual use requirements can be met by a large angle measurement range, a high angle measurement resolution, and gain, beam width and side lobe.

It should be understood that the above description is only illustrative of the microwave antenna structure of the present invention, and that the microwave antenna structure according to the present invention may also adopt various structures similar to the above principle.

Fig. 5 is a schematic cross-sectional view of a microwave rotary radar according to an embodiment of the present invention. As shown in fig. 5, in the embodiment of the present invention, the microwave rotary radar 200 includes a cover 201, a fixing bracket 202 is disposed in the cover 201, a motor is mounted on the fixing bracket 202, the motor includes a stator 203 and a rotor 204, a rotary bracket 205 is mounted on the rotor 204, and the rotary bracket 205 rotates along with the rotor 204 of the motor; a microwave antenna structure 206 and an antenna controller 207 are mounted on the rotating bracket 205, the specific structure of the microwave antenna structure 206 is as described above, and the antenna controller 207 is used for controlling the microwave antenna structure 206 to transmit and receive microwave signals.

Further, in some embodiments, the microwave rotary radar 200 further includes an angle sensor 208, and the angle sensor 208 is configured to detect a rotation angle of the rotor 204. The angle sensor 208 may be one or more of a hall sensor, a potentiometer, and an encoder. It is understood that the angle sensor 208 detects the rotation angle of the rotor 204, that is, the rotation angle of the microwave rotary radar 200. The apparatus for rotating the radar 200 using microwaves may assist in determining the transmitting direction of the microwave signal and the direction of the received microwave signal according to the rotation angle of the microwave rotating radar 200, and further determine the relative direction of the obstacle to the apparatus for rotating the radar 200 using microwaves.

Fig. 6 is a schematic block diagram of a movable platform according to an embodiment of the present invention. Although movable platform 300 is depicted as an unmanned aerial vehicle, such depiction is not intended to be limiting, as any suitable type of movable object may be used, for example, movable platform 300 may be a drone, an autonomous automobile, or a ground-based remotely controlled robot.

As shown in fig. 6, the movable platform 300 includes a body 301 and a microwave rotary radar 200, and the microwave rotary radar 200 is mounted on the body 301. Specifically, the body 301 includes a frame 302 and a foot rest 303 mounted on the frame 302. The gantry 302 may serve as a mounting carrier for the flight control system, processor, video camera, still camera, etc. of the movable platform 300. A foot stand 303 is installed below the frame 302, and the microwave rotary radar 200 is installed on the foot stand 303. The foot rest 303 may be used to provide support for the movable platform 300 when it is lowered, and in one embodiment, the foot rest 303 may also carry a water tank and be used to spray pesticides, fertilizers, etc. to the plants through a spray head. The structure of the microwave rotary radar 200 is as described above and will not be described in detail.

Further, the movable platform 300 further comprises a horn 304 extending from the fuselage 301, the horn 304 being operable to carry a motive device 305 for providing motive power for flight of the movable platform 300. The onboard power plant 305 may include one or more of a rotor, propeller, blade, engine, motor, wheel, axle, magnet, or nozzle. The movable platform 300 may have one or more, two or more, three or more, or four or more onboard power plants 305. The power plants 305 may all be of the same type. Alternatively, one or more of the power plants 305 may be a different type of power plant 305. The power plant 305 may be mounted on the movable platform 300 using any suitable means.

Although the example embodiments have been described herein with reference to the accompanying drawings, it is to be understood that the above-described example embodiments are merely illustrative and are not intended to limit the scope of the present invention thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the scope or spirit of the present invention. All such changes and modifications are intended to be included within the scope of the present invention as claimed in the appended claims.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.

In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described device embodiments are merely illustrative, and for example, the division of the units is only one logical functional division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another device, or some features may be omitted, or not executed.

In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

Similarly, it should be appreciated that in the description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the method of the present invention should not be interpreted as reflecting an intention that: rather, the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.

It will be understood by those skilled in the art that all of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where such features are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.

Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the claims, any of the claimed embodiments may be used in any combination.

Various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functionality of some of the modules according to embodiments of the invention. The present invention may also be embodied as apparatus programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such a program implementing the invention may be stored on a computer readable medium or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.

It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The invention can be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.

The above description is only for the specific embodiments of the present invention or the description of the specific embodiments, the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present invention, and all should be covered within the protection scope of the present invention. The protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (15)

1. A microwave antenna structure, comprising:

a substrate having a plurality of antenna arrays formed on a first side of the substrate, the plurality of antenna arrays including at least 2 transmit antenna arrays and a plurality of receive antenna arrays;

the receiving antenna arrays extend along a first direction, and are arranged in parallel and at intervals;

at least 2 of the transmit antenna arrays extend in a first direction, and at least 2 of the transmit antenna arrays are parallel to and spaced apart from each other;

wherein at least 2 of the transmit antenna arrays are arranged in parallel with a plurality of the receive antenna arrays in a second direction, the second direction being perpendicular to the first direction.

2. A microwave antenna structure according to claim 1, wherein the spacing between adjacent transmit antenna arrays is equal to n times the spacing between adjacent receive antenna arrays, where n is an integer related to the number of receive antenna arrays;

alternatively, the first direction is a longitudinal direction or a width direction of the substrate.

3. A microwave antenna structure according to claim 1 or 2, wherein the plurality of antenna arrays are microstrip antennas, each of the antenna arrays includes a group of microstrip patch units electrically connected to each other, and the size of each of the microstrip patch units in each group of the microstrip patch units is the same as each other or the area of each of the microstrip patch units in each group of the microstrip patch units decreases from the symmetry center to both sides in sequence.

4. A microwave antenna structure according to claim 3, wherein each group of microstrip patch elements comprises more than 6 microstrip patch elements, the microstrip patch elements being rectangular, circular, semicircular or elliptical in shape.

5. A microwave antenna structure according to claim 1, characterized in that the number of receive antenna arrays is more than 4.

6. A microwave antenna structure according to claim 4, further comprising:

a feed network formed on the first side of the substrate, the feed network including a plurality of microstrip lines electrically connected with each group of the microstrip patch units, respectively;

the microstrip lines are connected with each group of the microstrip patch units in a parallel feed or series feed mode,

the microstrip lines are connected with each group of microstrip patch units in a vertical mode or an inclined mode.

7. A microwave antenna structure according to claim 6, further comprising: and the radio frequency circuit is electrically connected with the feed network and comprises at least one transmitting chip, two receiving chips and a power divider electrically connected with the two receiving chips.

8. A microwave antenna structure according to claim 7, wherein the radio frequency circuitry is formed on the second side of the substrate,

a plurality of through holes or feed probes respectively electrically connected with the microstrip lines of each group of the microstrip patch units are formed on the substrate, the feed network is connected with the radio frequency circuit through the plurality of through holes or feed probes,

or a plurality of microstrip lines are further formed on the second side surface of the substrate, each via hole or feed probe is connected to the radio frequency circuit through the corresponding microstrip line,

or each group of microstrip patch units is electrically connected with the radio frequency circuit in a coupling feed mode.

9. A microwave antenna structure according to claim 7, wherein the radio frequency circuitry is formed on a first side of the substrate,

each group of the microstrip patch units is connected to the radio frequency circuit through a microstrip line, wherein a feed point is positioned on the microstrip line on one side or the middle of the antenna array.

10. A microwave antenna structure according to claim 1, wherein the substrate is a double-layer board, a three-layer board, a four-layer board, a five-layer board, or a six-layer board.

11. A microwave antenna structure according to claim 1, wherein the substrate comprises:

an antenna plate on which the antenna array is formed;

a ground plate located below the antenna plate for electrical connection with the antenna array; and

a plurality of wiring boards which are positioned below the grounding board and are used for being electrically connected with the radio frequency circuit,

the antenna plate, the grounding plate and the wiring plates are sequentially stacked.

12. A microwave antenna structure according to claim 1, characterized in that the antenna array is horizontally or vertically polarized.

13. A microwave rotary radar, comprising:

fixing a bracket;

the motor is arranged on the fixed bracket;

a rotating bracket mounted on the rotor of the motor and rotating together with the rotor of the motor; and

a microwave antenna structure as claimed in any one of claims 12, mounted on the rotating support.

14. A movable platform, comprising:

a body;

the power device is arranged on the machine body and provides moving power for the machine body; and

the microwave rotary radar of claim 13 mounted on said fuselage.

15. The movable platform of claim 14, wherein the movable platform is a drone, an autonomous automobile, or a ground-based remotely controlled robot.

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