CN106154254A - Radar sensor module - Google Patents
Radar sensor module Download PDFInfo
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- CN106154254A CN106154254A CN201510203973.XA CN201510203973A CN106154254A CN 106154254 A CN106154254 A CN 106154254A CN 201510203973 A CN201510203973 A CN 201510203973A CN 106154254 A CN106154254 A CN 106154254A
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- radar sensor
- sensor module
- data processor
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
Abstract
The invention discloses a kind of radar sensor module.This module has antenna, transceiver, data processor and interface, may select its mode of operation by external control, and the data that sensor receives are sent to the system of outside after data processor extracts characteristic parameter through interface.The different purposes such as this radar sensor module is a kind of general sensor assembly, can be used for flexibly testing the speed, range finding, orientation, are with a wide range of applications.
Description
Technical field
This patent relates to sensor field, is specifically related to the module of radar sensor.
Background technology
The physical quantitys such as radar sensor can be used for the distance of Measuring Object, speed, moves, position, angle, orientation, its principle is determined by the mode of operation of sensor, and the most main is to be determined by modulating mode.Modulating mode specifically includes that continuous wave modulation, Continuous Wave with frequency modulation modulation, shift keying modulation, impulse modulation etc..Continuous wave technology is the speed of related movement that object under test is measured in the frequency shift (FS) produced by the Doppler effect of echo.In Continuous Wave with frequency modulation technology, its Continuous Wave with frequency modulation is frequency continually varying radio wave in time, calculates distance and the movement velocity of object under test by measuring the frequency-splitting of receiving and transmitting signal.And shift keying modulation and impulse modulation are all to measure the distance of object under test by measuring radio wave transfer time, the movement velocity of object under test also can be obtained by the repetitive measurement adjusted the distance.
If needing to measure angle and orientation, then need to use multichannel radar sensor.Twin-channel frequency modulated continuous wave radar sensor, can complete the measurement of object angle.Its principle is radio wave transfer time and the time difference measured and reflexed to two reception antennas by object, calculates its angle in conjunction with trigonometric function.
Traditional radar sensor the most only supports a kind of modulating mode, i.e. continuous wave, Continuous Wave with frequency modulation, one in frequency shift keying and impulse modulation, although radar sensor transceiver module (antenna and transceiver) can support more modulation pattern, but owing to traditional radar sensor typically has the range of application determined, so the application of sensing system level (including data processor) typically all can only support a kind of modulating mode.When module designs, traditional way is a kind of a kind of radar sensor module (including data processor) of application scenarios design, as antenna, transceiver and data processor being assembled into one, to improve stability and the integrated level of system.And correspond to new application scenarios, then redesign new radar sensor module.Due to the particularity of conventional radar transducer market, the versatility of sensor be there is no specific demand.
And the present inventor thinks, the concept of versatility will be more and more important in radar sensor module markets, it is provided that no matter the high radar sensor of a kind of versatility is for reducing cost, or the range of application expanding radar sensor system level is the most meaningful.
Summary of the invention
The present invention devises a kind of general radar sensor module.Being mainly characterized by of this module: the data processor of selectively operating pattern, and further interchangeable transmitting-receiving submodule.By suitably selecting transmitting-receiving submodule and the mode of operation of data processor and controlling parameter, this module can meet the radar sensor application of the overwhelming majority.This module is connected by various standard interfaces and external equipment, can control external equipment, it is also possible to accept the control of external equipment as the part of bigger system.
Compared with traditional radar sensor module, the present invention has the following advantages, it is possible, firstly, to the different application of radar sensor is flexibly met, secondly, it in conjunction with more modulation pattern, can complete the sensing task of complexity.
The present invention provides a kind of radar sensor module, and this module has antenna, transceiver, data processor and data-interface, the data-interface of this radar sensor module can be connected with multiple external equipment, it is characterised in that this radar sensor module can be applicable to multiple-working mode.
Data processor is configured to perform following function:
Step one, obtains the external equipment instruction about a certain mode of operation of execution via data-interface,
Step 2, according to the instruction of this mode of operation, arranges adjustment data processor and transceiver so that it is work in this mode of operation.
Described mode of operation is chosen as continuous wave mode, Continuous Wave with frequency modulation pattern, linear frequency modulation pattern, shift keying modulation pattern, pulsed mode, or multichannel composite mode.
Preferably, this data processor, in addition to obtaining the external equipment instruction about a certain mode of operation of execution, also can obtain the external equipment instruction about control parameter, and arrange adjustment data processor and transceiver according to the instruction of this control parameter.
Preferably, antenna and transceiver are the transmitting-receiving submodule being assembled into one.
Preferably, the transmitting-receiving submodule in radar sensor module has general-purpose interface to be connected with other parts of radar sensor module, and can replace between different types of submodule.
Preferably, the data-interface in radar sensor module can be USB, wireless network adapter, bluetooth, serial port, GPIB, or XBee.
Preferably, further, data processor is configured to perform following function:
Step 3, the signal extraction characteristic parameter that sensor acquisition is obtained by data processor,
Step 4, this feature parameter is sent to external equipment through data-interface by data processor.
Preferably, characteristic parameter can be time domain or frequency domain sample signal, it is possible to for time domain or the eigenvalue of frequency domain sample signal.
Preferably, the eigenvalue of sampled signal can be the peak value of frequency domain.
Preferably, the eigenvalue of sampled signal can be by the calculated object speed of sampled signal, moving direction, distance and/or azimuth information.
Accompanying drawing explanation
The structural representation of the radar sensor module in Fig. 1 present invention and the connection with external equipment.
The operational process schematic diagram of general purpose radar sensor assembly in Fig. 2 one embodiment of the invention.
A specific embodiment in Fig. 3 present invention, a general purpose radar sensor module structure schematic diagram.
A specific embodiment in Fig. 4 present invention, a radar sensor module is for the operational process schematic diagram of security.
A specific embodiment in Fig. 5 present invention, can use the radar sensor module operational process schematic diagram that smart mobile phone manipulates.
A specific embodiment in Fig. 6 present invention, a radar sensor module is for the operational process schematic diagram of synthetic aperture radar image-forming.
Detailed description of the invention
Fig. 1 be the radar sensor module in the present invention structural representation and with the connection of external equipment.1 is antenna or antenna sets, and 2 is transceiver or transceiver group, and 1 and 2 to have collectively constituted transmitting-receiving submodule 3,4 be data processor, and 5 is standard interface, and 3,4 and 5 have collectively constituted the radar sensor module 6 of the present invention.This radar sensor module connects external equipment 7 via standard interface 5.
Before radar sensor module works, external equipment 7 specifies a mode of operation can to radar sensor module 6, these are set by standard interface 5 and arrive and be stored in data processor 4, the mode of operation that data processor 4 is specified according to this, radar signal is produced by modulation receiver-transmitter 2, this radar signal is reflected by the object again after antenna 1 sends, then received by antenna 1, after transceiver 2 demodulates, output is to data processor 4 after treatment, obtain required distance, the information such as speed.
In this module, transmitting-receiving submodule 2 can select flexibly, such as by a single pass emitter and two single pass receptors, and the transmitting-receiving submodule that one group of narrow beam directional transmitting antenna and two groups of narrow beam directional receiving antennas form, or replace with by a single pass transceiver, and the transmitting-receiving submodule that one group of broad beam transmitting antenna and broad beam reception antenna form, to meet the needs in different application scene.
Additionally, radar sensor module 6 also can receive the concrete instruction controlling parameter that external equipment 7 sends, such as tranmitting frequency, the transmitting cycle, output signal strength, frequency range etc., then the instruction that data processor 4 controls parameter according to these, arranges adjustment data processor and transceiver.
Fig. 2 is the operational process schematic diagram of general purpose radar sensor assembly in one embodiment of the invention.First external equipment 7 selects mode of operation and controls parameter.This general purpose radar sensor assembly goes for multiple mode of operation, such as continuous wave mode, Continuous Wave with frequency modulation pattern, linear frequency modulation pattern, shift keying modulation pattern, pulsed mode, or multichannel composite mode.For different application scenarios, such as range finding, testing the speed, perceptual object, perception is moved, and measures moving direction, measures angle etc..General purpose radar sensor assembly needs to be switched to different mode of operations, and selects suitable transceiver module.To same mode of operation, for concrete application scenarios, general purpose radar sensor assembly is also required to switch it and controls parameter, such as output, frequency range, cycle, modulation function etc..These can be set by external equipment 7.After setting, dependent instruction is sent to data processor 4 by external equipment 7, and data processor 4, according to related setting, controls the parameters of transceiver 2, such as the reference frequency output of transceiver, output signal strength, modulated signal cycle etc..Transceiver sends specific microwave signal afterwards；After a period of time, transceiver receives the microwave signal of return, and this signal is probably the echo-signal of object reflection, it is also possible to the return signal of secondary radar sensor.
So-called secondary radar sensor, i.e. measuring end has a radar sensor, and object under test end has another one radar sensor.After object under test termination receives the radar signal of sensor side, send specific radar signal and return to sensor side.Can measure the distance between two objects and relative movement very easily by secondary radar, it has far measuring distance, certainty of measurement advantages of higher.Place a radar sensor module measuring end, place another one radar sensor module at object under test end, the function of secondary radar can be realized.
Signal, to after signal, is amplified by transceivers, demodulation, and analogue signal becomes digital signal, then by digital data transmission to data processor.After signal is processed by data processor, transmit the result to external equipment.
Fig. 3 is the specific embodiment in the present invention, a general purpose radar sensor module structure schematic diagram.Transceiver 302 includes twin-channel receptor and single pass emitter, and it connects three groups of antennas, is respectively and launches antenna 301, and reception antenna 311 and 321, wherein, 301,311 and 321 are narrow beam beam antenna.Transceiver 302, antenna 301,311 and 321 has collectively constituted transmitting-receiving submodule, and transmitting-receiving submodule here is preferably replaceable modules.This transmitting-receiving submodule is connected with other parts of radar sensor module through winding displacement, and detachably replaces with the other kinds of transmitting-receiving submodule of compatible winding displacement.Such as, this transmitting-receiving submodule could alternatively be by a single pass transceiver, and the transmitting-receiving submodule that one group of narrow beam directional transmitting antenna and one group of narrow beam directional receiving antenna form, or replace with by a single pass transceiver, and one group of broad beam launches antenna and the transmitting-receiving submodule of broad beam reception antenna composition.Wherein, the applicable scene of different transmitting-receiving submodules is different.
Data processor is processed 314 by model selection 304 and data and constitutes.Model selection 304 is responsible for selecting its mode of operation, and data process 314 parameters being responsible for regulation transceiver and carry out data process.
Below in conjunction with concrete application scenarios, this general purpose radar sensor assembly different working modes applicatory is described.
Simplest mode of operation is to test the speed and the continuous wave modulating mode of perceptual object motion.Speed and its motion of perceptron of its object is measured by measuring the Doppler effect of microwave.Now, can be selected for including the transmitting-receiving submodule of narrow beam antenna, it is possible to selecting the transmitting-receiving submodule including broad beam antenna, beam area determines the investigative range of module.
Slightly complicated mode of operation is to measure distance and the Continuous Wave with frequency modulation modulating mode of perceptual object.Now, transceiver is Continuous Wave with frequency modulation modulation through the microwave that antenna is launched, by measuring transmitted wave and the difference on the frequency perceptual object of close echo and detecting the distance of object.Now, the general transmitting-receiving submodule selecting narrow beam, so it is convenient to position the object needing to measure distance.
Increasingly complex mode of operation is the Continuous Wave with frequency modulation modulating mode that the multichannel of Measuring Object place angle is compound.Now need to process the data of two reception antennas 311 and 321, the amplitude receiving signal by it and the angle of phase differential judgment object simultaneously.At this time, it may be necessary to select the transmitting-receiving submodule having two reception antennas.
To the module shown in Fig. 3, it can switch between different mode, as can be switched between the Continuous Wave with frequency modulation modulating mode that Continuous Wave with frequency modulation pattern and multichannel are compound at continuous wave modulating mode, performing to test the speed, finding range or measuring the different task of angle.Wherein, data processor is able to carry out following function: first, obtains the external equipment instruction about mode of operation via universal data interface, secondly, according to the instruction of this mode of operation, arranges adjustment data processor and transceiver so that it is work in this mode of operation.
The general purpose radar sensor assembly of replaceable transmitting-receiving submodule can bring the biggest motility to its application, adapts to the needs of major applications scene.
It addition, the submodule that the present invention optional use data processor and TRANSCEIVER ASSEMBLY are integrated, this submodule can be connected from different antennas.But, the present invention is it is still preferred that receive and dispatch submodule by transceiver and antenna assemblies all-in-one-piece, such design has the advantage that, first, the interface of transmitting-receiving submodule and data processor is low speed data interface, technique is simple, processing cost is low, and the interface of data processor and the submodule of transceiver one and antenna is high frequency interfaces, complex process, processing cost is high, secondly, by integral to antenna and TRANSCEIVER ASSEMBLY, changing when in addition to can selecting antenna, different transceivers can also be selected, as selected according to practical situation, single channel transmitter and the transceiver of single channel receptor, and single channel transmitter and the transceiver of dual channel receiver device.
Fig. 4 is the specific embodiment in the present invention, and a radar sensor module is for the operational process schematic diagram of security.
Radar sensor module can be used for security, and especially in terms of outdoor security, because radar sensor is not by weather, light condition affects, therefore its potential use is widely.But outdoor security the most sometimes can only be powered with battery, therefore energy-conservation extremely important, can extend the use time of sensor.
In general can be used to judge that the continuous wave mode whether having object close on exploring antenna direction is to carry out security, if having object near reporting to the police, but so the probability of erroneous judgement is relatively big, if needing to improve accuracy rate, need use range radar and use other sensors the most simultaneously.But so can increase the power consumption of battery.
In the present embodiment, security radar sensor most of time is operated on exploring antenna direction the continuous wave mode of the low-power consumption whether having object close, only just can be switched to Continuous Wave with frequency modulation pattern and finds range being likely encountered intruder.
Its operational process is summarized as follows, first, radar sensor module is operated in continuous wave mode, persistently detects whether antenna direction has object close.In this detection process, allow for certain time interval, as opened one-time continuous wave mode every 0. 5 seconds.If having detected certain sizable object under continuous wave mode close, then by data-interface, such as data wire, sending this abnormal signal to external equipment, this external equipment can be described as central authorities' control of security system.Central authorities control to analyze radar signal, and as judged, signal is probably intruder and then sends instruction to radar sensor module, and indication sensor is switched to Continuous Wave with frequency modulation pattern.When sensor finds that target is enough near with the distance of sensor, then explanation is probably intruder.Then sensor sends signal to central authorities' control.Central authorities control by analyzing, it is also possible to combine the information of other sensors, it may be judged whether have intruder and decide whether to report to the police.
Fig. 5 is the specific embodiment in the present invention, can use the radar sensor module operational process schematic diagram that smart mobile phone manipulates.
The radar sensor module being mainly characterized by smart mobile phone manipulation of this embodiment.In actual applications, it is also possible to other smart machines are handled and replaced mobile phone to handle, as long as it has and the radio connection of module coupling, such as intelligence wearable device etc..The radar sensor module that mobile phone controls can realize diversified application, as measured distance, measures movement velocity of car and ball etc..It is pre-loaded with corresponding application program on mobile phone, pattern and every control parameter can be selected thereon.Subsequently, mobile phone is connected with module by WiFi or other radio connection, and after successful connection, model selection is sent to data processor by radio connection by mobile phone with controlling parameter.Subsequently, data processor controlled transceiver, through transceiver modulates, amplifies, more emitted antenna sends specific microwave signal.After the microwave signal returned is received by the antenna, amplify through transceiver, demodulation, and pass the signal to data processor.After data processor carries out preliminary treatment to signal, after carrying out fast fourier transform, signal is sent to external equipment by radio connection.Data are further processed by the application program in mobile phone, and inform user.Here user can be natural person, it is also possible to be other application program.
Such as when measuring distance, application program switches to Continuous Wave with frequency modulation pattern, and then mobile phone is connected with module, and Continuous Wave with frequency modulation pattern and every control parameter are sent to data processor.Data processor controlled transceiver receives and dispatches Continuous Wave with frequency modulation signal by antenna.The data processor docking collection of letters number carries out fast fourier transform, it is thus achieved that its frequency spectrum.The application program again frequency spectrum being sent in mobile phone.After frequency spectrum is processed by application program, extract its eigenvalue, the radar sensor distance to target obstacle can be obtained.
This radar sensor is compared with traditional radar sensor module, has plurality of advantages.First, the application program user interface in smart mobile phone is friendly, and it is convenient to handle, secondly as be connected with external equipment by radio connection, can more easily incorporate each hardware platform such as Internet of Things and Smart Home etc..It addition, the software in data processor is relatively fixed in module, its algorithm is updated and is realized by the renewal of application program, and the renewal of such algorithm is the most more convenient.
Fig. 6 is the specific embodiment in the present invention, and a radar sensor module is for the operational process schematic diagram of synthetic aperture radar image-forming.
Synthetic aperture radar only uses one group of dual-mode antenna, constitutes a virtual big synthetic aperture by portable antenna, the echo-signal received is carried out Coherent processing, obtain orientation to high-resolution two dimensional image in synthetic aperture.Owing to movement compensating algorithm and imaging algorithm complexity, amount of calculation are relatively big, independent imaging the most also cannot be carried out on data processor.In this embodiment, utilizing structure relatively simple radar sensor module, the powerful server of collocation calculated performance is to realize complicated synthetic aperture imaging radar function.
Here the present embodiment uses (but being not limited to) linear frequency modulation mechanism.It is pre-loaded with corresponding application program on server, the control parameter of synthetic aperture radar, such as modulating bandwidth can be selected thereon, (chirp) length of warbling, the sample frequency etc. of intermediate frequency.Subsequently, server is connected with module by WiFi, and after successful connection, server will be controlled parameter and be sent to data processor by WiFi.Subsequently, data processor produces, according to controlling parameter, the chirp signal specified, and through transceiver modulates, amplifies, more emitted antenna sends specific microwave signal.After the microwave signal returned is received by the antenna, amplifies through transceiver, be demodulated to intermediate-freuqncy signal.The intermediate-freuqncy signal of data processor sampling afterwards, and by DMA(direct memory access) form passed through WiFi crossfire to server.Application program in server processes crossfire signal in real time, carries out carrying out movement compensating algorithm and imaging algorithm to it, generates the two dimensional image in radar scanning region the most in real time, and inform user.Here user can be natural person, it is also possible to be other application program.
The major advantage of this mode of operation is, data processing algorithm big for operand is had been moved to server and completes, and these processor active tasks the most also cannot in module complete independently.Additionally, due to radar sensor module is only responsible for crossfire primary signal, it is easy to carry out debugging and the renewal of algorithm at server end.
Claims (10)
1. a radar sensor module, this module has antenna, transceiver, data processor and data-interface, the data-interface of this radar sensor module can be connected with multiple external equipment, it is characterized in that, this radar sensor module can be applicable to multiple-working mode, and data processor is configured to perform following function:
Step one, obtains the external equipment instruction about a certain mode of operation of execution via data-interface,
Step 2, according to the instruction of this mode of operation, arranges adjustment data processor and transceiver so that it is work in this mode of operation.
Radar sensor module the most according to claim 1, it is characterised in that: described mode of operation is chosen as continuous wave mode, Continuous Wave with frequency modulation pattern, linear frequency modulation pattern, shift keying modulation pattern, pulsed mode, or multichannel composite mode.
Radar sensor module the most according to claim 1, it is characterized in that: this data processor is in addition to obtaining the external equipment instruction about a certain mode of operation of execution, also can obtain the external equipment instruction about control parameter, and adjustment data processor and transceiver are set according to the instruction of this control parameter.
Radar sensor module the most according to claim 1, it is characterised in that: antenna and transceiver are the transmitting-receiving submodule being assembled into one.
Radar sensor module the most according to claim 4, it is characterised in that: this transmitting-receiving submodule is connected with other parts of radar sensor module through interface, and detachably replaces with the other kinds of transmitting-receiving submodule of compatibility interface.
Radar sensor module the most according to claim 1, it is characterised in that this data-interface can be USB, wireless network adapter, bluetooth, serial port, GPIB, or XBee.
Radar sensor module the most according to claim 1, it is characterised in that further, data processor is configured to perform following function:
Step 3, the signal extraction characteristic parameter that sensor acquisition is obtained by data processor,
Step 4, this feature parameter is sent to external equipment through data-interface by data processor.
Radar sensor module the most according to claim 7, it is characterised in that this feature parameter can be time domain or frequency domain sample signal, it is possible to for time domain or the eigenvalue of frequency domain sample signal.
Radar sensor module the most according to claim 8, it is characterised in that the eigenvalue of described sampled signal can be the peak value of frequency domain.
Radar sensor module the most according to claim 8, it is characterised in that the eigenvalue of described sampled signal can be by the calculated object speed of sampled signal, moving direction, distance and/or azimuth information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510203973.XA CN106154254A (en) | 2015-04-27 | 2015-04-27 | Radar sensor module |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510203973.XA CN106154254A (en) | 2015-04-27 | 2015-04-27 | Radar sensor module |
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| CN106154254A true CN106154254A (en) | 2016-11-23 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108806280A (en) * | 2018-07-10 | 2018-11-13 | 森思泰克河北科技有限公司 | parking space state detection method and device |
| CN109116310A (en) * | 2018-09-11 | 2019-01-01 | 广东圣大电子有限公司 | A kind of aircraft collision avoidance system secondary radar radio frequency transceiver |
-
2015
- 2015-04-27 CN CN201510203973.XA patent/CN106154254A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108806280A (en) * | 2018-07-10 | 2018-11-13 | 森思泰克河北科技有限公司 | parking space state detection method and device |
| CN109116310A (en) * | 2018-09-11 | 2019-01-01 | 广东圣大电子有限公司 | A kind of aircraft collision avoidance system secondary radar radio frequency transceiver |
| CN109116310B (en) * | 2018-09-11 | 2023-10-20 | 广东圣大电子有限公司 | Secondary radar radio frequency transceiver of airplane anti-collision system |
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Application publication date: 20161123 |