CN107462885A - Millimetre-wave radar sensing device and system - Google Patents
Millimetre-wave radar sensing device and system Download PDFInfo
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- CN107462885A CN107462885A CN201710694519.8A CN201710694519A CN107462885A CN 107462885 A CN107462885 A CN 107462885A CN 201710694519 A CN201710694519 A CN 201710694519A CN 107462885 A CN107462885 A CN 107462885A
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- millimetre
- sensing device
- wave radar
- radar sensing
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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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/46—Indirect determination of position data
Abstract
The invention provides a kind of millimetre-wave radar sensing device and system, belong to radar detection field.The device includes locating module, radar module, signal processing module and interface module, the absolute location information of the millimetre-wave radar sensing device is obtained by locating module, relative position information of the object relative to millimetre-wave radar sensing device is obtained by radar module again, then signal processing module calculates the absolute location information of the object, then interface module is by the absolute location information of millimetre-wave radar sensing device, the object is exported relative to the relative position information of millimetre-wave radar sensing device and the absolute location information of the object, so as to which the millimetre-wave radar sensing device can more accurately obtain the absolute location information of the object by locating module and radar module, improve the detection accuracy and reliability of object.
Description
Technical field
The present invention relates to radar detection field, in particular to a kind of millimetre-wave radar sensing device and system.
Background technology
With the maturation of millimetre-wave radar radio frequency chip technology, millimetre-wave radar product is increasingly popularized in civil area,
Constantly come out including the Radar Products concept for vehicle, Industry Control and wearable field.Although millimetre-wave radar product can
To detect the relative distance of target object, speed and movement angle in coverage, but single millimetre-wave radar product
Can not position, speed and the movement angle of determining device in itself, can not also deduce absolute position, the absolute velocity of target object
With absolute movement angle.
The content of the invention
It is an object of the invention to provide a kind of millimetre-wave radar sensing device and system, and it can improve above mentioned problem.
What embodiments of the invention were realized in：
A kind of millimetre-wave radar sensing device, the millimetre-wave radar sensing device include locating module, radar module, letter
Number processing module and interface module, the locating module, the radar module couple with the signal processing module, the letter
Number processing module couples with the interface module；The locating module, for obtaining the exhausted of the millimetre-wave radar sensing device
To positional information；The radar module, for obtaining relative position of the object relative to the millimetre-wave radar sensing device
Information；The signal processing module, for the absolute location information based on the millimetre-wave radar sensing device and the target
Thing obtains the absolute location information of the object relative to the millimetre-wave radar sensing device relative position information；It is described
Interface module, for by the absolute location information of the millimetre-wave radar sensing device, the object relative to the millimeter
The relative position information of ripple radar sensing device and the absolute location information of the object are exported.
In preferred embodiments of the present invention, the locating module is wireless locating module.
In preferred embodiments of the present invention, the radar module include transmitting antenna, reception antenna, radio-frequency module, in
Frequency module, radar computing module and Radar interface module, the transmitting antenna, the reception antenna with the radio-frequency module coupling
Close, the radio-frequency module couples with the ifd module, and the ifd module couples with the radar computing module, the radar
Computing module couples with the Radar interface module；The radio-frequency module, for launching electromagnetic wave by the transmitting antenna；Institute
Reception antenna is stated, for receiving the electromagnetic wave reflected through the object, and the electromagnetic wave is sent to the radio frequency
Module；The radio-frequency module, for carrying out Frequency mixing processing to the electromagnetic wave to obtain intermediate-freuqncy signal；The ifd module, use
In the intermediate-freuqncy signal of acquisition is carried out into single-stage or multistage amplification filtering, filtered intermediate-freuqncy signal will be amplified and sent to described
Radar computing module；The radar computing module, for obtaining the object relative to the millimetre-wave radar sensing device
Relative position information, and the object is passed through into institute relative to the relative position information of the millimetre-wave radar sensing device
State Radar interface module and be sent to the signal processing module.
In preferred embodiments of the present invention, the radar computing module includes analog-to-digital conversion module, Radar Signal Processing
Module and radar control module, the analog-to-digital conversion module couple with the Radar Signal Processing module, the radar control mould
Block couples with the radio-frequency module；The analog-to-digital conversion module, for the intermediate-freuqncy signal to be converted into data signal；The thunder
Up to signal processing module, for the data signal to be handled, to obtain the object relative to the millimeter wave thunder
Up to the relative position information of sensing device；The radar control module, for controlling electromagnetism corresponding to the radio-frequency module transmitting
Ripple.
In preferred embodiments of the present invention, the signal processing module includes fusion operation module, memory module and electricity
Source module, the fusion operation module couple with the memory module, the power module respectively with the fusion operation module,
The memory module, the locating module, the radar module and interface module coupling；The fusion operation module is used for
By the absolute location information of the millimetre-wave radar sensing device of acquisition and the object relative to the millimetre-wave radar
The relative position information of sensing device carries out calculation process, to obtain the absolute location information of the object；The storage mould
Block is used to preserve the absolute location information of the millimetre-wave radar sensing device, the object relative to the millimetre-wave radar
The absolute location information of the relative position information of sensing device and the object.
In preferred embodiments of the present invention, the object relative to the millimetre-wave radar sensing device relative position
Confidence breath includes movement velocity, movement angle and position of the object relative to the millimetre-wave radar sensing device,
The absolute location information of the object includes movement velocity over the ground, over the ground movement angle and the position of the object.
In preferred embodiments of the present invention, the interface module includes power interface and communication interface, and the power supply connects
Mouth couples with external power source, for being powered for the signal processing module, the communication interface and the signal processing module coupling
Close, for by the absolute location information of the millimetre-wave radar sensing device, the object relative to the millimetre-wave radar
The absolute location information of the relative position information of sensing device and the object is exported.
In preferred embodiments of the present invention, the millimetre-wave radar sensing device also includes housing, the locating module,
The radar module, the signal processing module and the interface module are fixedly mounted in the housing, and the housing includes
First housing and the second housing, first housing are connected with second housing, first housing and second housing
Between be provided with seal gasket.
In preferred embodiments of the present invention, the locating module, the radar module, the signal processing module and institute
State and connected by plug connector between interface module, the locating module, the radar module, the signal processing module and described
Interface module is arranged in the second shell body by metal screws.
A kind of millimetre-wave radar sensor-based system, the system includes mobile terminal and millimetre-wave radar sensing device, described
Mobile terminal couples with the millimetre-wave radar sensing device, and the mobile terminal is used to pass the millimetre-wave radar of acquisition
Relative position information and the mesh of the absolute location information, object of induction device relative to the millimetre-wave radar sensing device
The absolute location information for marking thing carries out real-time display.
The beneficial effect of the embodiment of the present invention is：
The embodiment of the present invention provides a kind of millimetre-wave radar sensing device and system, and the millimeter wave is obtained by locating module
The absolute location information of radar sensing device, then object is obtained relative to millimetre-wave radar sensing device by radar module
Relative position information, then absolute location information and the mesh of the signal processing module based on the millimetre-wave radar sensing device
Relative position information of the thing relative to the millimetre-wave radar sensing device is marked, obtains the absolute location information of the object,
Then interface module by the absolute location information of the millimetre-wave radar sensing device, the object relative to the millimeter wave
The absolute location information of the relative position information of radar sensing device and the object is exported, so as to the millimetre-wave radar
Sensing device can more accurately obtain the absolute location information of the object by locating module and radar module, improve mesh
Mark the detection accuracy and reliability of thing.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below by embodiment it is required use it is attached
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, therefore be not construed as pair
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this
A little accompanying drawings obtain other related accompanying drawings.
Fig. 1 is a kind of structured flowchart of millimetre-wave radar sensing device provided in an embodiment of the present invention；
Fig. 2 is a kind of structured flowchart of radar module provided in an embodiment of the present invention；
Fig. 3 is a kind of structured flowchart of radar computing module provided in an embodiment of the present invention；
Fig. 4 is a kind of schematic diagram that movement angle is measured using phase method provided in an embodiment of the present invention；
Fig. 5 is a kind of structured flowchart of signal processing module provided in an embodiment of the present invention；
Fig. 6 is a kind of structural representation of millimetre-wave radar sensing device provided in an embodiment of the present invention；
Fig. 7 is a kind of millimetre-wave radar sensor-based system provided in an embodiment of the present invention.
Icon：200- millimetre-wave radar sensor-based systems；210- mobile terminals；100- millimetre-wave radar sensing devices；110-
Locating module；120- radar modules；121- transmitting antennas；122- reception antennas；123- radio-frequency modules；124- ifd modules；
125- radar computing modules；1252- analog-to-digital conversion modules；1254- Radar Signal Processing modules；1256- radar control modules；
126- Radar interface modules；130- signal processing modules；132- fusion operation modules；134- memory modules；136- power modules；
140- interface modules；150- housings；The housings of 151- first；The housings of 152- second；153- seal gaskets；154- metal screws；
155- plug connectors.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
Part of the embodiment of the present invention, rather than whole embodiments.The present invention implementation being generally described and illustrated herein in the accompanying drawings
The component of example can be configured to arrange and design with a variety of.
Therefore, below the detailed description of the embodiments of the invention to providing in the accompanying drawings be not intended to limit it is claimed
The scope of the present invention, but be merely representative of the present invention selected embodiment.It is common based on the embodiment in the present invention, this area
The every other embodiment that technical staff is obtained under the premise of creative work is not made, belong to the model that the present invention protects
Enclose.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent accompanying drawing in individual accompanying drawing.
In the description of the invention, it is necessary to explanation, the orientation or positional information relation of the instruction such as term " interior ", " outer "
For based on orientation shown in the drawings or positional information relation, or the invention product using when the orientation or position usually put
Information relationship, it is for only for ease of and describes the present invention and simplify description, rather than indicates or imply that signified device or element must
There must be specific orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.In addition, art
Language " first ", " second ", " the 3rd " etc. are only used for distinguishing description, and it is not intended that instruction or hint relative importance.
In the description of the invention, it is also necessary to explanation, unless otherwise clearly defined and limited, term " setting ",
" installation ", " coupling ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or one
Connect body；Can be mechanical connection or electrical connection；Can be joined directly together, can also be indirect by intermediary
It is connected, can is the connection of two element internals.For the ordinary skill in the art, on being understood with concrete condition
State the concrete meaning of term in the present invention.
Other features and advantages of the present invention will illustrate in subsequent specification, also, partly become from specification
It is clear that or understood by implementing the embodiment of the present invention.The purpose of the present invention and other advantages can be by being write
Specifically noted structure is realized and obtained in specification, claims and accompanying drawing.
Fig. 1 is refer to, Fig. 1 is a kind of structured flowchart of millimetre-wave radar sensing device 100 provided in an embodiment of the present invention,
The millimetre-wave radar sensing device 100 includes locating module 110, radar module 120, signal processing module 130 and interface mould
Block 140, the locating module 110, the radar module 120 couple with the signal processing module 130, the signal transacting
Module 130 couples with the interface module 140.
The locating module 110, it is described for obtaining the absolute location information of the millimetre-wave radar sensing device 100
The absolute location information of millimetre-wave radar sensing device 100 includes the position of the millimetre-wave radar sensing device 100, transported over the ground
Dynamic speed and over the ground movement angle etc..Based on radio positioning system, inertial navigation alignment system is the locating module 110
Auxiliary, by directly or indirectly determining reference point and the millimetre-wave radar sensing device 100 of the radio signal in known location
The change of time, phase difference, amplitude or frequency in direct communication process, the millimetre-wave radar sensing device is obtained with this
The parameter such as the distance between 100 and reference point, range difference, orientation, so that it is determined that the millimetre-wave radar sensing device 100 is absolute
Position.
The locating module 110 can be wireless locating module, and wireless locating module can be GNSS or architecture system
System, but said system is not limited to, as long as any system for having terrestrial positioning function can serve as millimetre-wave radar sensing dress
Put 100 locating module 110.The general principle of GNSS positioning is risen according to known to being used as the satellite instantaneous position of high-speed motion
Count evidence, using the method for space length resection, determines the position of tested point；The general principle of architecture is according to survey
Measure different base station downstream signal reach tested point time difference simultaneously combine base station coordinate, using triangle formula algorithm for estimating come
Measure the positional information of tested point.GNSS positioning precisions are higher, typically within several meters.The precision of architecture largely according to
Rely the distribution in base station and the size of coverage, error can be more than one kilometer sometimes.
In inertial navigation alignment system, the acceleration of motion carrier and angle speed are measured using accelerometer and gyroscope
Degree, and then estimate position, posture and the speed of the motion carrier.Millimetre-wave radar sensing device 100 in the present invention can pacify
Loaded on motion carrier, you can in the case of in GNSS or can not being obtained in the architecture short time, passed according to millimetre-wave radar
The historical position information of induction device 100, the absolute location information of the millimetre-wave radar sensing device 100 is extrapolated indirectly.
In the present embodiment, in order to obtain higher positioning precision, the locating module 110 is GNSS locating modules.
, can also further root after the position of the millimetre-wave radar sensing device 100 is obtained above by locating module 110
According to the position of the millimetre-wave radar sensing device 100 measured in a certain section of continuous time, millimetre-wave radar sensing device is obtained
100 move distance, and then the movement velocity of millimetre-wave radar sensing device 100 is obtained, it can also obtain millimetre-wave radar sensing
The direction of motion of device 100, i.e. movement angle.
The radar module 120, for obtaining relative position of the object relative to the millimetre-wave radar sensing device 100
Confidence ceases.
It refer to Fig. 2, Fig. 2 is a kind of structured flowchart of radar module 120 provided in an embodiment of the present invention, the radar mould
Block 120 includes transmitting antenna 121, reception antenna 122, radio-frequency module 123, ifd module 124, radar computing module 125 and thunder
Up to interface module 126, the transmitting antenna 121, the reception antenna 122 couple with the radio-frequency module 123, the radio frequency
Module 123 couples with the ifd module 124, and the ifd module 124 couples with the radar computing module 125, the thunder
Coupled up to computing module 125 with the Radar interface module 126.
The radio-frequency module 123, for launching electromagnetic wave, the work of the radio-frequency module 123 by the transmitting antenna 121
Pattern is chosen as continuous wave mode, CW with frequency modulation pattern, linear frequency modulation pattern, shift keying modulation pattern, impulse modulation mould
The composite mode of formula or multichannel, wavelength band are 24-24.25GHz or 76-81GHz, frequency modulation cycle 1-1000ms.
The electromagnetic beam that emitted antenna 121 is launched is after barrier reflects, and the barrier is object, reception antenna
122 receive the electromagnetic wave reflected through the object, and the electromagnetic wave is sent to the radio-frequency module 123, radio frequency
Module 123 obtains intermediate-freuqncy signal to electromagnetic wave progress Frequency mixing processing and sent to ifd module 124, the general of ifd module 124 again
The intermediate-freuqncy signal of acquisition carries out single-stage or multistage amplification filtering, will amplify filtered intermediate-freuqncy signal and send to the radar computing
Module 125, radar computing module 125 therefrom obtain the object relative to the millimetre-wave radar sensing device 100 again
Relative position information, and the object is passed through relative to the relative position information of the millimetre-wave radar sensing device 100
The Radar interface module 126 is sent to the signal processing module 130.
It refer to Fig. 3, Fig. 3 is a kind of structured flowchart of radar computing module 125 provided in an embodiment of the present invention, the thunder
Include analog-to-digital conversion module 1252, Radar Signal Processing module 1254 and radar control module 1256 up to computing module 125, it is described
Mould modular converter couples with the Radar Signal Processing module 1254, the Radar Signal Processing module 1254 and the radar control
Molding block 1256 couples.
Intermediate-freuqncy signal obtained above is converted to data signal by the analog-to-digital conversion module 1252, at the radar signal
Manage module 1254 and receive data signal, carry out signal transacting, sensed with obtaining the object relative to the millimetre-wave radar
The relative position information of device 100, that is, obtain the object and the millimetre-wave radar sensing device 100 distance,
The speed and movement angle of the object, the radar control module 1256 are used to control the transmitting of radio-frequency module 123 symbol
Desired radio frequency electromagnetic is closed, for example, wavelength band is 24-24.25GHz or 76-81GHz, frequency modulation cycle 1-1000ms electricity
Magnetic wave.
The absolute location information of millimetre-wave radar sensing device 100 includes the fortune over the ground of millimetre-wave radar sensing device 100
Dynamic speed, over the ground movement angle and real time position, object relative to the millimetre-wave radar sensing device 100 relative position
Information includes distance, movement velocity and the movement angle of the relatively described millimetre-wave radar sensing device 100 of object.
Wherein, the object is surveyed with the distance of the millimetre-wave radar sensing device 100 mainly by CW with frequency modulation
Amount, radar transmitting wave be high frequency continuous wave, and its frequency changes with the time according to triangular wave rule, echo frequency that radar receives and
The frequency changing rule of transmitting is identical, simply there is a time difference, then can calculate target with the time difference by the speed of triangular wave
The distance of thing and the millimetre-wave radar sensing device 100.
The speed of object is obtained by Doppler effect, when the impulse wave of radar emission one fixed frequency scans to sky
When, moving target is such as run into, the frequency of echo and the frequency frequency of occurrences of transmitted wave are poor, referred to as Doppler frequency, according to how general
The size of frequency is strangled, diametrically movement velocity of the object relative to millimetre-wave radar sensing device 100 can be measured.Speed is also
It can be obtained according to continuous range measurement, if the distance of measurement object and millimetre-wave radar sensing device 100 for the first time
For 50 meters, interval measures object and the distance of millimetre-wave radar sensing device 100 after 0.1 second be 49 meters, then the shifting of object
Dynamic speed is (50-49)/0.1=10 meter per seconds.
The movement angle of object needs two or more millimetre-wave radar receiving terminals, can be surveyed by phase method
Measure to obtain.Phase method angle measurement is to carry out angle measurement using the phase difference between multiple receiving terminal receives echo-signals, specifically
Ground, refer to Fig. 4, and Fig. 4 is a kind of schematic diagram that movement angle is measured using phase method provided in the embodiment of the present invention.Such as figure
Shown in 4, being located at θ directions has a far field object, then the electromagnetic wave that the object of arrival receiver is reflected is approximately plane wave,
Because two antenna spacing are d, so the signal that they are received produces a phase difference due to wave path-difference Δ R be present Wherein, λ is radar wavelength, is such as carried out, than phase, measuring its phase difference with phasometerJust
The movement angle θ of object can be determined.
The signal processing module 130, for the absolute location information based on the millimetre-wave radar sensing device 100 and
The object obtains the absolute of the object relative to the relative position information of the millimetre-wave radar sensing device 100
Positional information.
It refer to Fig. 5, Fig. 5 is a kind of structured flowchart of signal processing module 130 provided in an embodiment of the present invention, the letter
Number processing module 130 includes fusion operation module 132, memory module 134 and power module 136, the fusion operation module 132
Coupled with the memory module 134, the power module 136 respectively with the fusion operation module 132, the memory module
134th, the locating module 110, the radar module 120 and the interface module 140 couple.
The fusion operation module 132 is used to the millimetre-wave radar obtained from the locating module 110 sensing dress
The object put 100 absolute location information and obtained from the radar module 120 passes relative to the millimetre-wave radar
The relative position information of induction device 100 carries out calculation process, to obtain the absolute location information of the object.
Specifically, in the absolute location information of the above-mentioned acquisition millimetre-wave radar sensing device 100, i.e. millimetre-wave radar
The position of sensing device 100, over the ground movement velocity and over the ground movement angle, and obtain the relative position letter of the object
Cease, i.e., the distance of object and millimetre-wave radar sensing device 100, object are relative to millimetre-wave radar sensing device 100
Speed of related movement and relative motion angle, by computing, obtain the absolute location information of object, i.e., pair of described object
Ground movement velocity and over the ground movement angle.
For example, it is with westwards by the absolute location information of the acquisition millimetre-wave radar of locating module 110 sensing device 100
30KM/H move, by radar module 120 obtain object relative to millimeter wave sensing device movement velocity for 50KM/H with
And the distance between object and the millimetre-wave radar sensor are 200 meters, by continuously following the trail of, radar computing module 125 can
It is vertical with the direction of motion of the millimetre-wave radar sensing device 100 to calculate the direction of motion of object, then by fusion
Computing module 132 is calculated, and the absolute location information that can calculate object is away from the straight of the millimetre-wave radar sensing device 100
The opening position 40KM/H motions to the south that linear distance is 200 meters.
Certain speed of related movement that can also calculate millimetre-wave radar sensing device 100 relative to object, motion angle
Degree and position, for example, in the case that vehicle of the rear equipped with millimetre-wave radar sensing device 100 is knocked into the back, measure millimeter wave
The absolute location information of radar sensing device 100 is moved with 40KM/H westwards, and radar module 120 measures object with respect to millimeter
The speed of related movement of ripple thunder sensing device is 10KM/H motions, while is also westwards to move, then can be obtained according to locating module 110
The movement velocity of the millimetre-wave radar sensing device 100 obtained, and then the speed that can calculate object is 50KM/H, this is traffic police
Foundation is provided when differentiating responsibility.And the distance of the millimetre-wave radar sensing device 100 and object, example can be also obtained in real time
Such as, on road, the vehicle that a rear is provided with millimetre-wave radar sensing device 100 measures the front vehicle on same track
Distance be 100 meters, the movement velocity over the ground of front vehicle is 60KM/H, measured at 50 meters front vehicle motion over the ground speed
When degree still changes travel direction for 60KM/H or higher and front vehicle are still no, then it can determine whether that front vehicle is braked
Failure or failure, it is likely that the occurrence of causing to knock into the back, the at this moment alarm in millimetre-wave radar sensing device 100
Module can be alarmed, and remind driver rear dangerous, to avoid etc. in time.
The memory module 134 is used for the absolute position for preserving the millimetre-wave radar sensing device 100 of above-mentioned acquisition in real time
Information, the object relative to the millimetre-wave radar sensing device 100 relative position information and the object it is exhausted
To positional information, and real-time update is carried out, then can be exported by interface module 140.
Power module 136 in signal processing module 130 is used for the fusion operation module 132, the memory module
134th, the locating module 110, the radar module 120 and the interface module 140 are powered.
The interface module 140, for by the absolute location information of the millimetre-wave radar sensing device 100, the mesh
Mark thing enters relative to the relative position information of the millimetre-wave radar sensing device 100 and the absolute location information of the object
Row output.
Interface module 140 includes power interface and communication interface, and the power interface couples with external power source, for for institute
State signal processing module 130 to power, the communication interface couples with the signal processing module 130, for by the millimeter wave
The absolute location information of radar sensing device 100, the object are relative relative to the millimetre-wave radar sensing device 100
Positional information and the absolute location information of the object are exported.
The power interface can be with the coupling of power module 136 in external direct current power supply, with the signal processing module 130 of inside
Close, the power module 136 can be battery, and the battery is charged by external power source, can be stored electric energy with right
Other modules are powered.Certainly, the power interface can directly connect external power source and the millimetre-wave radar sensing device 100 is supplied
Electricity.When using external power supply and serial communication mode, power interface and communication interface can use a multicore cable, simultaneously
An interface can externally be reserved, both conveniently make by completing power supply and signal transfer function, whole millimetre-wave radar sensing device 100
With facilitating encapsulation process again.
Above-mentioned communication interface includes serial communication interface and wireless communication interface.
As a kind of mode, the millimetre-wave radar sensing device 100 may also include display device and warning device, described to connect
Mouth mold block 140 can be by the absolute location information of the millimetre-wave radar sensing device 100, the object relative to the millimeter
The relative position information of ripple radar sensing device 100 and the absolute location information of the object are exported to display device
Row display, the display device can use LED display either LCDs or OLCD display screens.
Warning device, available for the object based on acquisition relative to the millimetre-wave radar sensing device 100
The absolute location information of relative position information and the object, judge between object and millimetre-wave radar sensing device 100
Distance whether be less than pre-determined distance, and whether relative velocity is more than pre-set velocity, is sensed in object and millimetre-wave radar
When the distance between device 100 is more than pre-set velocity, or both all less than pre-determined distance or relative velocity while met, then
Alarm module is alarmed.The alarm module may include control module and sound module, and control module is used to carry out above-mentioned judgement,
Can be single-chip microcomputer, processor etc., sound module can be buzzer.
In addition, refer to Fig. 6, Fig. 6 is a kind of structure of millimetre-wave radar sensing device 100 provided in an embodiment of the present invention
Schematic diagram.In actual use, in order to protect the millimetre-wave radar sensing device 100, the device may also include housing
150, the locating module 110, the radar module 120, the signal processing module 130 and the interface module 140 are fixed
In the housing 150, the housing 150 includes the first housing 151 and the second housing 152, first housing 151 with
Second housing 152 is connected, and seal gasket 153 is provided between first housing 151 and second housing 152.
Second housing 152 can use plastics or aluminum alloy material, and inside is by metal screws 154 come fixing internal
The locating module 110, the radar module 120, the signal processing module 130 and the interface module 140, and reserve
Aperture position, for installing the interface module 140.First housing 151 can use PEI materials, and PEI materials have excellent
Good electrical insulating property and microwave permeability, the reachable very high water proof and dust proof grade of the design of housing 150, can be effectively to the millimeter wave
Radar sensing device 100 is protected.
The locating module 110, the radar module 120, the signal processing module 130 and the interface module 140
Between connected by plug connector 155, the inner space utilization rate of housing 150 can be improved, make the millimetre-wave radar sensing device 100
Volume can be reduced, mitigates weight, reduces cost.
Carried in addition, the millimetre-wave radar sensing device 100 is used as using 24-24.25GHz or 76-81GHz millimeter wave
Ripple, the electromagnetic wave of this frequency range can preferably penetrate dense fog sleet, not disturbed by light, adapt to harsh working environment, possess complete
Weather ability to work.Device size in the millimetre-wave radar sensing device 100 is grade, and level of integrated system is high, design letter
It is single, small volume.
It refer to Fig. 7, Fig. 7 is a kind of millimetre-wave radar sensor-based system 200 provided in an embodiment of the present invention, the system bag
Mobile terminal 210 and above-mentioned millimetre-wave radar sensing device 100 are included, the mobile terminal 210 passes with the millimetre-wave radar
Induction device 100 couples, and the mobile terminal 210 is used for the absolute position of the millimetre-wave radar sensing device 100 of acquisition
Information, object are relative to the relative position information of the millimetre-wave radar sensing device 100 and the absolute position of the object
Confidence breath carries out real-time display.
If for example, when the millimetre-wave radar sensing device 100 is arranged on vehicle, user can be real by mobile terminal 210
When watch the absolute location information of millimetre-wave radar sensing device 100, the object senses relative to the millimetre-wave radar
The absolute location information of the relative position information of device 100 and the object, that is, the absolute location information of the vehicle, mesh
Marking vehicle can be in mobile terminal relative to the relative position information of the vehicle and the absolute location information of target vehicle, such user
The positional information of vehicle and other vehicles is understood on 210 in real time, so as to can determine whether to need to slow down, if need to avoid
Deng so as to improve the security of vehicle traveling.
As a kind of mode, the mobile terminal 210 can be tablet personal computer, smart mobile phone, personal digital assistant
The terminal such as (personal digital assistant, PDA), wearable device.
In summary, the embodiment of the present invention provides a kind of millimetre-wave radar sensing device and system, is obtained by locating module
The absolute location information of the millimetre-wave radar sensing device is taken, then object is obtained relative to millimetre-wave radar by radar module
The relative position information of sensing device, then signal processing module based on the millimetre-wave radar sensing device absolute position letter
Breath and the object obtain the absolute of the object relative to the relative position information of the millimetre-wave radar sensing device
Positional information, then interface module by the absolute location information of the millimetre-wave radar sensing device, the object relative to
The relative position information of the millimetre-wave radar sensing device and the absolute location information of the object are exported, so as to be somebody's turn to do
Millimetre-wave radar sensing device can more accurately obtain the absolute location information of object by locating module and radar module, carry
The high detection accuracy and reliability of object.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for those skilled in the art
For member, the present invention can have various modifications and variations.Any modification within the spirit and principles of the invention, being made,
Equivalent substitution, improvement etc., should be included in the scope of the protection.
Claims (10)
1. a kind of millimetre-wave radar sensing device, it is characterised in that the millimetre-wave radar sensing device includes locating module, thunder
Up to module, signal processing module and interface module, the locating module, the radar module with the signal processing module coupling
Close, the signal processing module couples with the interface module；
The locating module, for obtaining the absolute location information of the millimetre-wave radar sensing device；
The radar module, for obtaining relative position information of the object relative to the millimetre-wave radar sensing device；
The signal processing module, for the absolute location information based on the millimetre-wave radar sensing device and the object
Relative to the millimetre-wave radar sensing device relative position information, the absolute location information of the object is obtained；
The interface module, for by the absolute location information of the millimetre-wave radar sensing device, the object relative to
The relative position information of the millimetre-wave radar sensing device and the absolute location information of the object are exported.
2. millimetre-wave radar sensing device according to claim 1, it is characterised in that the locating module is wireless location
Module.
3. millimetre-wave radar sensing device according to claim 1, it is characterised in that the radar module includes transmitting day
Line, reception antenna, radio-frequency module, ifd module, radar computing module and Radar interface module, the transmitting antenna, described connect
Receive antenna coupled with the radio-frequency module, the radio-frequency module couples with the ifd module, the ifd module with it is described
Radar computing module couples, and the radar computing module couples with the Radar interface module；
The radio-frequency module, for launching electromagnetic wave by the transmitting antenna；
The reception antenna, for receiving the electromagnetic wave reflected through the object, and the electromagnetic wave is sent to institute
State radio-frequency module；
The radio-frequency module, for carrying out Frequency mixing processing to the electromagnetic wave to obtain intermediate-freuqncy signal；
The ifd module, for the intermediate-freuqncy signal of acquisition to be carried out into single-stage or multistage amplification filtering, after amplification is filtered
Intermediate-freuqncy signal send to the radar computing module；
The radar computing module, for obtaining relative position of the object relative to the millimetre-wave radar sensing device
Information, and the object is passed through into the Radar interface relative to the relative position information of the millimetre-wave radar sensing device
Module is sent to the signal processing module.
4. millimetre-wave radar sensing device according to claim 3, it is characterised in that the radar computing module includes mould
Number modular converter, Radar Signal Processing module and radar control module, the analog-to-digital conversion module and the Radar Signal Processing
Module couples, and the radar control module couples with the radio-frequency module；
The analog-to-digital conversion module, for the intermediate-freuqncy signal to be converted into data signal；
The Radar Signal Processing module, for the data signal to be handled, to obtain the object relative to institute
State the relative position information of millimetre-wave radar sensing device；
The radar control module, for controlling electromagnetic wave corresponding to the radio-frequency module transmitting.
5. millimetre-wave radar sensing device according to claim 1, it is characterised in that the signal processing module includes melting
Close computing module, memory module and power module, the fusion operation module to couple with the memory module, the power module
Respectively with the fusion operation module, the memory module, the locating module, the radar module and the interface module coupling
Close；
The fusion operation module is used for the absolute location information of the millimetre-wave radar sensing device of acquisition and the mesh
Mark thing and carry out calculation process relative to the relative position information of the millimetre-wave radar sensing device, to obtain the object
Absolute location information；
The memory module be used to preserving the absolute location information of the millimetre-wave radar sensing device, the object relative to
The relative position information of the millimetre-wave radar sensing device and the absolute location information of the object.
6. millimetre-wave radar sensing device according to claim 5, it is characterised in that the object is relative to the milli
The relative position information of metre wave radar sensing device includes fortune of the object relative to the millimetre-wave radar sensing device
Dynamic speed, movement angle and position, over the ground movement velocity of the absolute location information including the object of the object,
Movement angle and position over the ground.
7. millimetre-wave radar sensing device according to claim 1, it is characterised in that the interface module connects including power supply
Mouth and communication interface, the power interface couple with external power source, and for being powered for the signal processing module, the communication connects
Mouthful coupled with the signal processing module, for by the absolute location information of the millimetre-wave radar sensing device, the target
Thing carries out defeated relative to the relative position information of the millimetre-wave radar sensing device and the absolute location information of the object
Go out.
8. millimetre-wave radar sensing device according to claim 1, it is characterised in that the millimetre-wave radar sensing device
Also include housing, the locating module, the radar module, the signal processing module and the interface module are fixedly mounted on
In the housing, the housing includes the first housing and the second housing, and first housing is connected with second housing, described
Seal gasket is provided between first housing and second housing.
9. millimetre-wave radar sensing device according to claim 8, it is characterised in that the locating module, the radar
Connected between module, the signal processing module and the interface module by plug connector, the locating module, the radar mould
Block, the signal processing module and the interface module are arranged in the second shell body by metal screws.
10. a kind of millimetre-wave radar sensor-based system, it is characterised in that the system includes mobile terminal and claim 1-9 appoints
Millimetre-wave radar sensing device described in one, the mobile terminal couple with the millimetre-wave radar sensing device, the movement
Terminal is used for the absolute location information of the millimetre-wave radar sensing device of acquisition, object relative to the millimeter wave thunder
The absolute location information of relative position information and the object up to sensing device carries out real-time display.
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Application publication date: 20171212 |