Patent Description:
Unmanned vehicles are used in a variety of applications. For example, unmanned aerial vehicles (commonly referred to as "drones") are increasingly used in a variety of recreational activities. Unmanned aerial vehicles are also used for a variety of commercial activities, including professional photography, mapping and delivery. Unmanned land vehicles are likewise increasingly used for cleaning, delivery and manufacturing.

One continuing issue with unmanned vehicles is the need for avoiding obstacles while moving. For example, unmanned aerial drones may need to avoid collisions with other flying objects, and may need to avoid stationary hazards such as trees, buildings and powerlines. Likewise, unmanned land vehicles may need to maneuver around both stationary and moving objects, including people. These unmanned land vehicles may also need to navigate through crowded buildings. In each case there is a need for the unmanned vehicle to locate and avoid potential obstacles while moving.

Furthermore, in many applications there is a need to provide such functionality without requiring excessive weight or power consumption.

<CIT> describes a radar system including a plurality of antenna sub-systems, each operable to transmit and receive radio frequency (RF) signals in a corresponding sector, wherein the plurality of antenna sub-systems are positioned such that the corresponding sectors cover a total range of about <NUM> degrees to about <NUM> degrees without rotation of the radar system. The radar system also comprises shared backend circuitry coupled to each of the plurality of antenna sub-systems and operable to process signals from each of the plurality of antenna sub-systems to detect the presence of an obstacle in one of the corresponding sectors.

<CIT> describes planar, sectorized, millimeter-wave antenna arrays that may include one or more of housings of dielectric material, such as split-blocks of a plastic material, having metallized plastic horns and waveguides formed, etched, and/or cut therein, waveguide-to-planar-transmission-line transition devices and planar structures embedded therein, and one or more integrated circuits coupled thereto.

According to an aspect of this disclosure, there is provided an unmanned vehicle, comprising:.

In one or more embodiments, the antenna body may have an exterior shape configured to provide a semispherical field of view for radar signals generated by the radar processing unit and transmitted by the antenna body.

In one or more embodiments, the antenna body may have an exterior shape configured to provide a spherical field of view for radar signals generated by the radar processing unit and transmitted by the antenna body.

In one or more embodiments, the antenna body may have a semispherical exterior shape.

In one or more embodiments, the antenna body may have a modified polyhedron exterior shape.

In one or more embodiments, the antenna body may be formed with 3D printing.

In one or more embodiments, the antenna body may be formed with injection molding.

In one or more embodiments, the metalized surface may be formed by metallic deposition.

In one or more embodiments, the unmanned vehicle may further comprise a second antenna, the second antenna having a second antenna body defining at least one second transmitting waveguide and at least one second receiving waveguide, the second antenna body formed from plastic and having a second metallized surface, the at least one second transmitting waveguide and at least one second receiving waveguide coupled to the radar processing unit.

In one or more embodiments, the antenna body may be coupled to a top side of the housing and the second antenna body may be coupled to a bottom side of the housing.

In one or more embodiments, the antenna body may be coupled to a first side, wherein the second antenna body may be coupled to a second side opposite the first side.

In one or more embodiments, the unmanned vehicle may comprise an aerial drone.

In one or more embodiments, the unmanned vehicle may comprise a wheeled drone.

In an illustrative example, there is provided an unmanned vehicle comprising: a housing, the housing including at least one propulsion motor; a radar processing unit coupled to the housing; and an antenna, the antenna including an antenna body defining a plurality of transmitting waveguides and a plurality of receiving waveguides, the antenna body formed from plastic using a <NUM>-dimensional (3D) printing process, the antenna body including a metallized surface, the plurality of transmitting waveguides and plurality of receiving waveguides coupled to the radar processing unit.

In one or more examples, the antenna body may have a modified polyhedron exterior shape configured to provide semispherical field of view for radar signals generated by the radar processing unit and transmitted by the antenna body.

In one or more examples, the antenna body may have a semispherical exterior shape configured to provide semispherical field of view for radar signals generated by the radar processing unit and transmitted by the antenna body.

In one or more examples, the unmanned vehicle may further comprise a second antenna, the second antenna having a second antenna body defining at least one transmitting waveguide and at least one of receiving waveguide, the second antenna body formed from plastic and having a second metallized surface, the at least one of transmitting waveguide and at least one of receiving waveguide coupled to the radar processing unit.

In one or more examples, the antenna body and the housing may be formed together with the 3D printing process.

The embodiments described herein provide radar systems for use on unmanned vehicles. The radar systems can be applied to a wide variety of unmanned vehicles, including unmanned aerial vehicles and unmanned land vehicles. For example, the radar systems can be applied to aerial vehicles commonly referred to as drones or multi-copters. The radar systems can also be applied to a variety of unmanned land vehicles, including ground based recreational or commercial vehicles. For example, the radar systems can be applied to automated delivery or cleaning devices.

In general, the unmanned vehicle includes a housing having at least one propulsion motor, a radar processing unit coupled to the body, and an antenna. In accordance with the embodiments described herein, the antenna includes an antenna body defining at least one transmitting waveguide and at least one receiving waveguide coupled to the radar processing unit. The antenna body is formed from plastic and includes metalized surface. In one embodiment, the antenna body is formed from <NUM>-dimensional (3D) plastic printing. The metalized coating can then be applied to the surface of the antenna body, including the surfaces of the waveguides.

Turning now to <FIG>, a schematic view of an unmanned vehicle <NUM> is illustrated. The unmanned vehicle <NUM> includes a vehicle housing <NUM>, a motor <NUM>, a radar processing unit <NUM>, and an antenna <NUM>.

The unmanned vehicle <NUM> can be any type of unmanned vehicle, including various types of unmanned aerial vehicles and unmanned land vehicles. Likewise, the housing <NUM> can be any type of suitable housing for the unmanned vehicle <NUM>. The motor <NUM> can be any type of suitable motor that can provide propulsion to the unmanned vehicle <NUM>. For example, the housing <NUM> and motor <NUM> can include a housing body and motor suitable for a multi-copter. In other examples, the housing <NUM> and motor <NUM> can include a housing body and motor suitable for a wheeled delivery drone. It should be noted that in many applications the unmanned vehicle <NUM> can include multiple motors <NUM>. Additionally, the unmanned vehicle <NUM> can include a variety of other features, including batteries, cameras, etc..

In accordance with the embodiments described herein, the unmanned vehicle <NUM> includes the radar processing unit <NUM> and the antenna <NUM>. In general, the antenna <NUM> includes an antenna body defining at least one transmitting waveguide and at least one receiving waveguide coupled to the radar processing unit <NUM>. Thus, during operation the radar processing unit <NUM> transmits and receives radar signals through the transmitting and receiving waveguides. The antenna <NUM> and its included waveguides thus define the field of view for the radar system. In one embodiment the antenna body is formed using <NUM>-dimenesional (3D) printing of plastic. In other embodiments the antenna body is molded using any suitable molding technique. Both 3D printing and molding can thus be used to define an antenna body with the waveguide structures needed for the desired radar field of view. When so constructed the radar processing unit <NUM> and antenna <NUM> can transmit and receive radar signals through the waveguides and use those signals to provide for navigation and obstacle avoidance in the unmanned vehicle <NUM>.

In one embodiment the antenna body has an exterior shape configured to provide semispherical field of view for radar signals generated by the radar processing unit and transmitted by the antenna body. In another embodiment the antenna body has an exterior shape configured to provide full spherical field of view. For example, the antenna body can have a semispherical or hemispherical shape exterior shape to provide such a partial or full field of view. In other embodiments the antenna body can have a partial or modified polyhedron shape to provide such a partial or full field of view.

In some applications multiple antennas <NUM> can be used on one unmanned vehicle <NUM>. For example, multiple antennas <NUM> with a semispherical field of view scan can be implemented together on the vehicle <NUM> and configured to provide a spherical field of view or <NUM> degree circular field of view around the unmanned vehicle <NUM>.

In one embodiment, a first antenna <NUM> is positioned on the top side of the housing <NUM>, while a second antenna <NUM> is positioned on the bottom side of housing <NUM>. Such a configuration can provide a full up and down view for an unmanned aerial vehicle. In another embodiment, a first antenna <NUM> is positioned on the left side of the housing <NUM>, while a second antenna <NUM> is positioned on the right side of housing <NUM>. Such a configuration can provide a full or nearly full <NUM> degree view for an unmanned land vehicle.

In one embodiment, the antenna body is formed together with other elements of the unmanned vehicle <NUM>. The antenna body is formed as part of the housing <NUM>. In this example, the antenna body, including the exterior shape and the transmitting and receiving waveguides can be formed with the same processes used to form the housing <NUM>. As one specific example, the housing <NUM> and the antenna body can be formed together using 3D printing. As another specific example, the housing <NUM> and the antenna body can be formed together using injection molding. In both cases the plastics used to define the exterior shape and the transmitting and receiving waveguides can be defined with the same processes used to define the shapes structures of the unmanned vehicle <NUM>.

Turning now to <FIG>, a side view of an exemplary radar system <NUM> is illustrated. The radar system <NUM> includes a radar processing unit <NUM> and an antenna <NUM>. The radar system <NUM> is exemplary of the type of radar system that can be implemented on an unmanned vehicle, including pilotless aerial vehicles such as multi-copters.

The antenna <NUM> includes an antenna body <NUM> and a metalized surface <NUM>. The antenna body <NUM> defines a plurality of transmitting waveguides and a plurality of receiving waveguides coupled to the radar processing unit <NUM>. The transmitting waveguides are coupled to transmitting outputs (TX) and the receiving waveguides are coupled to receiving inputs (RX). The configuration of the waveguides and the distribution of the transmitting outputs (TX) and the receiving inputs (RX) determine the define the field of view of the radar system. The metalized surface <NUM> provides the conductivity needed for transmitting electromagnetic waves from the antenna <NUM>.

Again, the antenna body <NUM> can be 3D printed from any suitable plastic material. Likewise, the metalized surface <NUM> of the antenna body <NUM> can be metalized using suitable metallic materials and any suitable deposition or coating process. In other embodiments the antenna body is injection molded. The use of a plastic antenna body <NUM> having a metalized surface <NUM> and defining transmitting and receiving waveguides can provide the antenna <NUM> with a very low relative weight. Such a low weight is particularly important in unmanned aerial vehicles such as multi-copters and other types of drones.

Furthermore, the use of a 3D printed or injection molded plastic antenna body can provide an antenna body with the waveguide structures needed for the desired radar field of view. In the embodiment of <FIG> the antenna body <NUM> has a partial polyhedron shape. This shape allows the different transmitting ports (TX) to transmit the radar signals in different directions. Likewise, the different receiving ports (RX) can receive the reflected radar signals from different directions. Taken together, the partial polyhedron shape can provide semispherical field of view for radar signals generated by the radar processing unit <NUM> and transmitted out the transmitting ports (TX) and received by the receiving ports (RX).

The radar processing unit <NUM> can include any suitable type of radar processing unit. Specifically, the radar processing unit <NUM> can include one or more packaged integrated circuits configured to generate and receive radar signals. In a typical embodiment the radar processing unit <NUM> can be configured to include multiple transmission channels and multiple receiver channels, and can thus facilitate multiple-input multiple-output (MIMO) radar operation.

As one specific example, the radar processing unit <NUM> can be implemented to provide a frequency-modulated continuous-wave (FMCW) radar. Such a radar can use an exemplary frequency band of <NUM>-<NUM> and a chirp bandwidth of up to <NUM>. Again, this is just one example and other implementations can also be used.

The radar processing unit <NUM> can include a variety of different circuits and devices to facilitate radar operation. For example, the radar processing unit <NUM> can include a variety of filters, analog-to-digital converters (ADCs), monitoring circuits, etc. In most applications it will be desirable to use a radar processing unit <NUM> with relatively low power requirements.

In typical embodiment the radar processing unit <NUM> will be implemented as a packaged integrated circuit. Such a packaged integrated circuit can use a variety of package lead technologies, including various types of pins, wire leads and ball grid arrays (BGAs). In such an example the package leads would provide the input and output interfaces for coupling to other devices on the unmanned vehicle. Additionally, the package leads can provide the interface between the antenna <NUM> and each of the transmission and receiver channels on the radar processing unit <NUM>.

As one specific example, the interface between the radar processing unit <NUM> and the antenna <NUM> can be realized as a chip-package-waveguide transition. As another example, the interface between the radar processing unit <NUM> and the antenna <NUM> can be realized as a chip-package-PCB-waveguide transition. In each of these examples the leads of the packaged radar processing unit <NUM> are coupled to the transmitting and receiving waveguides of the antenna <NUM>. This connection can be direct, or it can be implemented through intermediate features such as PCB's and other waveguides.

Turning now to <FIG>, a cross-sectional side view of the radar system <NUM> is illustrated. This cross-sectional side view shows the plurality of transmitting waveguides <NUM> and receiving waveguides <NUM> that are defined in the antenna body <NUM>. In this example, there are an equal number of transmitting waveguides <NUM> and receiving waveguides <NUM>. However, that is just one example implementation.

Each of the transmitting waveguides <NUM> and receiving waveguides <NUM> provides a connection to the corresponding transmitting and receiving I/O on the radar processing unit <NUM>. As one example, each of the waveguides <NUM> and <NUM> can be connected to the radar processing unit <NUM> through a chip-package-waveguide transition structure.

Again, the antenna body <NUM> includes a metalized surface <NUM>. As can be seen in <FIG>, the interior walls of the transmitting waveguides <NUM> and receiving waveguides <NUM> include the metalized surface <NUM>. This metalized surface <NUM> on the walls of the transmitting waveguides <NUM> and the receiving waveguides <NUM> provides the conductivity needed for transmitting electromagnetic waves from the radar processing unit <NUM> to the transmitting outputs (TX) and from the receiving inputs (RX) to the radar processing unit <NUM>.

Turning now to <FIG>, a second cross-sectional side view of the radar system <NUM> is illustrated. Like <FIG>, this cross-sectional view shows the plurality of transmitting waveguides <NUM> and receiving waveguides <NUM> that are defined in the antenna body <NUM>. However, in this example several of the transmitting waveguides <NUM> and the receiving waveguides <NUM> are shared. Specifically, multiple transmitting waveguides <NUM> are connected to one transmitting output of the radar processing unit <NUM>. Likewise, multiple receiving waveguides <NUM> are connected to one receiving input of the radar processing unit <NUM>. Thus, in this implementation some of the input and output channels of the radar processing unit <NUM> are split into multiple antenna outputs and inputs. Such an embodiment can thus be used where the transmitting and receiving channels are limited, or where simply more transmitting ports (TX) and receiving ports (RX) are needed to provide the fully desired field of view for the radar system <NUM>.

As was described above, the radar systems described herein can be applied to a wide variety of unmanned vehicles, including various types of pilotless drones. Turning now to <FIG>, a simplified side view of an exemplary unmanned aerial vehicle <NUM> is illustrated. The aerial vehicle <NUM> includes a vehicle housing <NUM> and propulsion motors <NUM>. In this example, the aerial vehicle <NUM> is a multi-copter type drone device that has multiple propellers <NUM> driven by the propulsion motors <NUM>.

In accordance with the embodiments described herein, the aerial vehicle <NUM> also includes two radar systems <NUM>. Each of the radar systems <NUM> includes an antenna body <NUM>. These antenna bodies <NUM> each define at least one transmitting waveguide and at least one receiving waveguide. These waveguides are coupled to one or more radar processing units (not shown in <FIG>). Thus, during operation, the radar systems <NUM> each transmit and receive radar signals through the transmitting and receiving waveguides of the antenna bodies <NUM>. The antenna bodies <NUM> their included waveguides thus define the field of views for the radar systems <NUM>.

In this embodiment each of the radar systems <NUM> defines a substantially semispherical field of view. With one antenna body <NUM> mounted at the top of the vehicle housing <NUM> and the other antenna body <NUM> mounted at the bottom of the vehicle housing <NUM>, the two antenna bodies <NUM> together can provide near full spherical view as represented by the dashed line <NUM>.

Again, because the antenna bodies <NUM> can be implemented in plastic with a conductive metallic coating, such antenna systems <NUM> can provided with relatively little weight. Thus, the radar systems <NUM> can provide improved vehicle navigation and obstacle detection without excessive weight added to the vehicle <NUM>.

The antenna bodies <NUM> are formed together with the vehicle housing <NUM>. In this example, the antenna bodies <NUM>, including the exterior shape and the transmitting and receiving waveguides can be defined with the same processes used to form the vehicle housing <NUM>. Stated another way, the exterior shape waveguides is implemented as part of the vehicle housing <NUM>. As one specific example, the vehicle housing <NUM> and the antenna bodies <NUM> can be formed as part of the same 3D printing process. As another specific example, the vehicle housing <NUM> and the antenna bodies <NUM> can be formed together as part of the same plastic molding process. These embodiments can simplify manufacturing of the unmanned vehicle <NUM> by not requiring the use of separate procedures and fasteners to affix the antenna bodies <NUM> to the vehicle housing <NUM>. Furthermore, not requiring adhesives or other fasteners can further reduce the weight of the overall unmanned vehicle <NUM>.

Turning now to <FIG>, a simplified side view of an exemplary unmanned land vehicle <NUM> is illustrated. The land vehicle <NUM> includes vehicle housing <NUM> and propulsion motors (not shown in <FIG>). In this example, the land vehicle <NUM> is a wheeled device that has multiple wheels <NUM>.

In accordance with the embodiments described herein, the land vehicle <NUM> also includes two radar systems <NUM>. Each of the radar systems <NUM> includes an antenna body <NUM>. These antenna bodies <NUM> each define at least one transmitting waveguide and at least one receiving waveguide. These waveguides are coupled to one or more radar processing units (not shown in <FIG>). Thus, during operation, the radar systems <NUM> each transmit and receive radar signals through the transmitting and receiving waveguides of the antenna bodies <NUM>. The antenna bodies <NUM> their included waveguides thus define the field of views for the radar systems <NUM>.

In this embodiment each of the radar systems <NUM> defines a semispherical field of view. With one antenna body <NUM> mounted at one side of the vehicle housing <NUM> and the other antenna body <NUM> mounted at the opposite side of the vehicle housing <NUM>, the two antenna bodies <NUM> together can provide near <NUM> degree view as represented by the dashed line <NUM>.

The antenna bodies <NUM> are formed together with the vehicle housing <NUM>, using the same processes and materials.

Again, because the antenna bodies <NUM> can be implemented in plastic, with a conductive coating, such antenna systems <NUM> can provided with relatively little weight. Thus, the radar systems <NUM> can again provide improved vehicle navigation and obstacle detection without excessive weight added to the land vehicle <NUM>.

The embodiments described herein thus provide radar systems for use on unmanned vehicles. The radar systems can be applied to a wide variety of unmanned vehicles, including unmanned aerial vehicles and unmanned land vehicles. In general, the unmanned vehicle includes a housing having at least one propulsion motor, a radar processing unit coupled to the body, and an antenna. In accordance with the embodiments described herein, the antenna includes an antenna body defining at least one transmitting waveguide and at least one receiving waveguide coupled to the radar processing unit. The antenna body is formed from plastic and includes metalized surface. In one embodiment, the antenna body is formed from <NUM>-dimensional (3D) plastic printing.

In one embodiment, an unmanned vehicle is provided, including: a housing, the housing including at least one propulsion motor; a radar processing unit coupled to the housing; and an antenna, the antenna having an antenna body defining at least one transmitting waveguide and at least one of receiving waveguide, the antenna body formed from plastic and having a metallized surface, the at least one of transmitting waveguide and at least one of receiving waveguide coupled to the radar processing unit.

In another embodiment, an unmanned vehicle is provided, including: a housing, the housing including at least one propulsion motor; a radar processing unit coupled to the housing; and an antenna, the antenna including an antenna body defining a plurality of transmitting waveguides and a plurality of receiving waveguides, the antenna body formed from plastic using a <NUM>-dimensional (3D) printing process, the antenna body including a metallized surface, the plurality of transmitting waveguides and plurality of receiving waveguides coupled to the radar processing unit.

In another embodiment, a pilotless aerial drone is provided, including: a housing, the housing including at least one propulsion motor; a radar processing unit coupled to the housing; a first antenna coupled to a first surface of the housing, the first antenna including a first antenna body with a first exterior surface shape, the first antenna body defining a first plurality of transmitting waveguides and a first plurality of receiving waveguides, the first antenna body formed from plastic and having a first metallized surface, the first plurality of transmitting waveguides and first plurality of receiving waveguides coupled to the radar processing unit; a second antenna coupled to a second surface of the housing opposite the first surface, the second antenna including a second antenna body with a second exterior surface shape, the second antenna body defining a second plurality of transmitting waveguides and a second plurality of receiving waveguides, the second antenna body formed from plastic and having a second metallized surface, second first plurality of transmitting waveguides and second plurality of receiving waveguides coupled to the radar processing unit; and wherein the first exterior shape and the second exterior shape are configured to provide a combined spherical field of view for radar signals generated by the radar processing unit and transmitted by the first antenna body and the second antenna body.

The embodiments described herein provide radar systems for use on unmanned vehicles. The radar systems can be applied to a wide variety of unmanned vehicles, including unmanned aerial vehicles and unmanned land vehicles. In general, the unmanned vehicle comprises a housing having at least one propulsion motor, a radar processing unit coupled to the body, and an antenna. In accordance with the embodiments described herein, the antenna includes an antenna body defining at least one transmitting waveguide and at least one receiving waveguide coupled to the radar processing unit. The antenna body is formed from plastic and includes metalized surface. In one embodiment, the antenna body is formed from <NUM>-dimensional (3D) plastic printing.

In the foregoing specification, the invention has been described with reference to specific embodiments of the invention. It will, however, be evident that various modifications and changes may be made therein without departing from the scope of the invention as set forth in the appended claims. For example, the connections may be any type of connection suitable to transfer signals from or to the respective nodes, units or devices, for example via intermediate devices.

Accordingly, unless implied or stated otherwise the connections may for example be direct connections or indirect connections. However, other modifications, variations and alternatives are also possible. The specifications and drawings are, accordingly, to be regarded in an illustrative rather than in a restrictive sense.

The word 'comprising' does not exclude the presence of other elements or steps then those listed in a claim.

The terms "first," "second," "third," "fourth" and the like in the description and the claims are used for distinguishing between elements and not necessarily for describing a particular structural, sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances. Furthermore, the terms "comprise," "include," "have" and any variations thereof, are intended to cover non-exclusive inclusions, such that a circuit, process, method, article, or apparatus that comprises a list of elements is not necessarily limited to those elements, but may include other elements not expressly listed or inherent to such circuit, process, method, article, or apparatus. The term "coupled," as used herein, is defined as directly or indirectly connected in an electrical or non-electrical manner.

While the principles of the inventive subject matter have been described above in connection with specific systems, apparatus, and methods, it is to be clearly understood that this description is made only by way of example and not as a limitation on the scope of the inventive subject matter. The various functions or processing blocks discussed herein and illustrated in the Figures may be implemented in hardware, firmware, software or any combination thereof. Further, the phraseology or terminology employed herein is for the purpose of description and not of limitation.

Claim 1:
An unmanned vehicle (<NUM>, <NUM>, <NUM>), comprising:
a housing (<NUM>, <NUM>), the housing including at least one propulsion motor (<NUM>, <NUM>);
a radar processing unit (<NUM>, <NUM>) coupled to the housing; and
an antenna (<NUM>, <NUM>), the antenna including an antenna body (<NUM>) defining at least one transmitting waveguide and at least one-of receiving waveguide, wherein the antenna body is formed as part of the housing, is formed from plastic and has a metallized surface (<NUM>), the at least one transmitting waveguide (<NUM>) and at least one-of receiving waveguide (<NUM>) coupled to the radar processing unit.