CN107515394A - Millimetre-wave radar sensing device and system - Google Patents
Millimetre-wave radar sensing device and system Download PDFInfo
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- CN107515394A CN107515394A CN201710695401.7A CN201710695401A CN107515394A CN 107515394 A CN107515394 A CN 107515394A CN 201710695401 A CN201710695401 A CN 201710695401A CN 107515394 A CN107515394 A CN 107515394A
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- wave radar
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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
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
-
- 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
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention provides a kind of millimetre-wave radar sensing device and system, belong to radar detection field.The device includes image capture module,Radar module,Signal processing module and interface module,Image information in preset range is gathered by image capture module,Relative position information of the object relative to millimetre-wave radar sensing device is obtained by radar module again,Signal processing module is contrasted the image information of object with object relative to the relative position information of millimetre-wave radar sensing device,To verify accuracy of the object relative to the relative position information of millimetre-wave radar sensing device,Then interface module is exported object relative to the relative position information of millimetre-wave radar sensing device and the image information of object,So as to which the millimetre-wave radar sensing device can more accurately obtain relative position information of the object relative to millimetre-wave radar sensing device by image capture 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.Widely popularize civilian millimeter
Ripple Radar Technology needs the requirement for meeting three aspects：First, it is inexpensive；2nd, high detection accuracy；3rd, harsh building ring is adapted to
Border.
Existing single millimetre-wave radar product can only measure the relative distance of target object in coverage, speed and
Movement angle, but None- identified goes out the classification of object, can not also verify the target object that radar is measured relative distance,
Whether speed and movement angle are accurate, the problem of so as to cause measurement result inaccuracy.
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 image capture module, radar mould
Block, signal processing module and interface module, described image acquisition module, the radar module with the signal processing module coupling
Close, the signal processing module couples with the interface module；Described image acquisition module, for gathering the figure in preset range
As information, the image information in the preset range includes the image information of object；The radar module, it is described for obtaining
Object relative to the millimetre-wave radar sensing device relative position information；The signal processing module, for that will obtain
The object image information and the object relative to the millimetre-wave radar sensing device relative position information
Contrasted, to verify accuracy of the object relative to the relative position information of the millimetre-wave radar sensing device；
The interface module, for by relative position information of the object relative to the millimetre-wave radar sensing device and institute
The image information for stating object is exported.
In preferred embodiments of the present invention, described image acquisition module includes optical lens, imaging sensor, image and adopted
Storage and image interface, the optical lens couple with described image sensor, and described image sensor gathers with described image
Device couples, and described image collector couples with described image interface.
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, described image acquisition module, the radar module and interface module coupling；The fusion operation module
For the phase by the image information of the object of acquisition and the object relative to the millimetre-wave radar sensing device
Positional information is contrasted, to verify relative position information of the object relative to the millimetre-wave radar sensing device
Accuracy；The memory module is used for the image information for preserving the object and the object relative to the millimeter wave
The relative position information of radar sensing device.
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 relative position information of the object relative to the millimetre-wave radar sensing device and the object
Image information is exported.
In preferred embodiments of the present invention, the millimetre-wave radar sensing device also includes alarm module and display mould
Block, the alarm module couple with the display module with the interface module.
In preferred embodiments of the present invention, the millimetre-wave radar sensing device also includes housing, described image collection
Module, the radar module, the signal processing module and the interface module are fixedly mounted in the housing, the housing
Including the first housing and the second housing, first housing is connected with second housing, first housing and described second
Seal gasket is provided between housing.
In preferred embodiments of the present invention, described image acquisition module, the radar module, the signal processing module
Connected between the interface module by plug connector, described image acquisition module, the radar module, the signal transacting mould
Block and the interface module are 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 for the image information of the object of acquisition
With the object real-time display is carried out relative to the relative position information of the millimetre-wave radar sensing device.
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, is gathered by image capture module default
In the range of image information, wherein, the image information in the preset range includes the image information of object, then passes through radar
Module obtains relative position information of the object relative to millimetre-wave radar sensing device, and then signal processing module is by acquisition
The image information of the object is entered with the object relative to the relative position information of the millimetre-wave radar sensing device
Row contrast, to verify accuracy of the object relative to the relative position information of the millimetre-wave radar sensing device, so
Rear port module is by relative position information of the object relative to the millimetre-wave radar sensing device and the target
The image information of thing is exported, so as to which the millimetre-wave radar sensing device can be more by image capture module and radar module
It is accurate to obtain relative position information of the object relative to the millimetre-wave radar sensing device, improve the detection essence of object
Degree and reliability.
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-
Image capture module；120- radar modules；121- transmitting antennas；122- reception antennas；123- radio-frequency modules；124- intermediate frequency moulds
Block；125- radar computing modules；1252- analog-to-digital conversion modules；1254- Radar Signal Processing modules；1256- radar control moulds
Block；126- Radar interface modules；130- signal processing modules；132- fusion operation modules；134- memory modules；136- power supply moulds
Block；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 ",
It for example can be to be fixedly connected or be detachably connected that " installation ", " coupling ", " connection ", which should be interpreted broadly, or one
Ground connects；Can be mechanical connection or electrical connection；Can be joined directly together, the indirect phase of intermediary can also be passed through
Even, can be the connection of two element internals.For the ordinary skill in the art, can be understood with concrete condition above-mentioned
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 image capture module 110, radar module 120, signal processing module 130 and connect
Mouth mold block 140, described image acquisition module 110, the radar module 120 couple with the signal processing module 130, described
Signal processing module 130 couples with the interface module 140.
Described image acquisition module 110 is used to gather the image information in preset range, wherein, in the preset range
Image information includes the image information of object, and the image capture module 110 includes optical lens, imaging sensor, image and adopted
Storage and image interface, the optical lens couple with described image sensor, and described image sensor gathers with described image
Device couples, and described image collector couples with described image interface.
Wherein, optical lens can shoot a range of image, and above-mentioned preset range can be according to the actual requirements
Flexibly set, the image in the preset range can generate optical imagery by optical lens and project imaging sensor
On surface, electric signal is then converted into, is transformed to data image signal by image acquisition device, then be transferred to by image interface
Signal processing module 130.
The image capture module 110 can provide the ambient image information in preset range, and using image recognition skill
Art, the specifying information of object in acquisition field of view, for supplementing the relevant information for the object that radar module 120 is detected,
Then fusion operation is carried out to these data by signal processing module 130, mutually tested so as to carry out data, to exclude false letter
Breath.
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.
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, is all triangular wave rule, simply there is a time difference, then can by the speed of triangular wave with
Time difference calculates the distance of object 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 presentWherein, λ is radar wavelength, is such as carried out, than phase, measuring its phase difference with phasometerIt is assured that the movement angle θ of object.
The signal processing module 130, for the image information of the object of acquisition is relative with the object
Contrasted in the relative position information of the millimetre-wave radar sensing device 100, to verify the object relative to described
The accuracy of the relative position information of millimetre-wave radar sensing device 100.
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, described image acquisition module 110, the radar module 120, the interface module 140 couple.
The fusion operation module 132 be used for by the image information of the object of acquisition and the object relative to
The relative position information of the millimetre-wave radar sensing device 100 is contrasted, to verify the object relative to the milli
The accuracy of the relative position information of metre wave radar sensing device 100.
Specifically, so that road traffic is applied as an example, image capture module 110 can shoot a range of image, and
Tell the environmental informations such as road surface cut-off rule, isolation strip, electric pole, and the object information such as pedestrian, vehicle, radar module 120
Movement velocity and movement angle of the object relative to millimetre-wave radar sensing device 100 can be obtained, but can not resolution target
The classification of thing.If a non-motor vehicle rear is equipped with the image capture module 110 of the millimetre-wave radar sensing device 100, single
The radar module 120 of individual receiving terminal may determine that the distance of motor vehicle below and close speed, but can not judge the motor vehicle
Be in this track or adjacent lane, so, the motor vehicle for being obtained image capture module 110 by fusion operation module 132
Image information and radar module 120 obtain motor vehicle contrasted relative to the relative position information of the non-motor vehicle,
It can then show whether motor vehicle is in this track or adjacent lane, so as to can verify that the motor vehicle of acquisition relative to non-motor vehicle
Relative position information it is whether accurate, so as to improve the detection accuracy of object.
In addition, if having reflection unit in the preset range that image capture module 110 gathers, then image capture module 110
It is possible to the image in reflection unit to be mistaken for real-world object, the information that image collecting device provides in this case is falseness
Information, and radar module 120 is then without the deceptive information.For the radar of single receiving terminal, the angle that can not provide object is believed
Breath, it is possible to detect object in front, it is also possible to object is detected in side, if millimetre-wave radar sensing dress
Put the close object in 100 pairs of sides and alarm is provided, be then wrong report, and image capture module 110 then may determine that object institute
The orientation at place, so, image capture module 110 and radar module 120 can both mutually test, to exclude deceptive information, Ke Yiyou
Effect reduces rate of false alarm.
The memory module 134 is used to preserve the image information of the object of above-mentioned acquisition and the object in real time
Relative to the relative position information of the millimetre-wave radar sensing device 100, and real-time update is carried out, then can pass through interface mould
Block 140 is exported.
Power module 136 in signal processing module 130 is used for the fusion operation module 132, the memory module
134th, described image acquisition module 110, the radar module 120 and the interface module 140 are powered.
The interface module 140, for by the object relative to the relative of the millimetre-wave radar sensing device 100
Positional information and the image information of the object are exported.
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 object
Carried out relative to the relative position information of the millimetre-wave radar sensing device 100 and the image information of the object defeated
Go out.
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 module and alarm module, the report
Alert module couples with the display module with the interface module 140, and the interface module 140 can be relative by the object
Exported in the relative position information of the millimetre-wave radar sensing device 100 and the image information of the object to aobvious
Show that module is shown, the display module 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
Relative position information, judges whether the distance between object and millimetre-wave radar sensing device 100 are less than pre-determined distance, and
Whether relative velocity is more than pre-set velocity, the distance between object and millimetre-wave radar sensing device 100 be less than it is default away from
From or relative velocity be more than pre-set velocity, or both and all meet simultaneously when, then alarm module is alarmed.The alarm module
It may include control module and sound module, control module is used to carry out above-mentioned judgement, can be single-chip microcomputer, processor etc., sound
Module can be buzzer.
Warning device, it may also be used for according to signal processing module 130 judge obtain the object image information with
The alarm signal that the object exports relative to the relative position information of the millimetre-wave radar sensing device 100 when inconsistent
Alarmed, alarm module can be buzzer or acoustic-optic alarm.
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, described image acquisition module 110, the radar module 120, the signal processing module 130 and the interface module 140
It is fixedly mounted in the housing 150, the housing 150 includes the first housing 151 and the second housing 152, first housing
151 are connected with second housing 152, 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
Described image acquisition module 110, the radar module 120, the signal processing module 130 and the interface module 140, and
Reserved aperture position, for installing the interface module 140.First housing 151 can use PEI materials, PEI materials tool
There are excellent 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 milli
Metre wave radar sensing device 100 is protected.
Described image acquisition module 110, the radar module 120, the signal processing module 130 and the interface module
Connected between 140 by plug connector 155, the inner space utilization rate of housing 150 can be improved, make the millimetre-wave radar sensing device
100 can reduce volume, mitigate weight, reduce 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 image information of the object of acquisition and the object relative to institute
The relative position information for stating millimetre-wave radar sensing device 100 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 object relative to the millimetre-wave radar sensing device 100 relative position information and the object image believe
Breath, that is, target vehicle, relative to the relative position information of vehicle and the image information of target vehicle, such user can
Understand the positional information of vehicle and other vehicles in real time on mobile terminal 210, so as to can determine whether to need to slow down, be
It is no to need avoidance etc., 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, passes through IMAQ mould
Image information in block collection preset range, wherein, the image information in the preset range includes the image information of object,
Relative position information of the object relative to millimetre-wave radar sensing device is obtained by radar module again, then signal transacting mould
Block is by the image information of the object of acquisition with the object relative to the relative of the millimetre-wave radar sensing device
Positional information is contrasted, to verify the object relative to the relative position information of the millimetre-wave radar sensing device
Accuracy, then interface module by the object relative to the relative position information of the millimetre-wave radar sensing device and
The image information of object is exported, so as to which the millimetre-wave radar sensing device can by image capture module and radar module
Object is more accurately obtained relative to the relative position information of the millimetre-wave radar sensing device, improves the spy of object
Survey precision and reliability.
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 IMAQ mould
Block, radar module, signal processing module and interface module, described image acquisition module, the radar module with the signal
Processing module couples, and the signal processing module couples with the interface module；
Described image acquisition module, for gathering the image information in preset range, the image information bag in the preset range
Include the image information of object；
The radar module, believe for obtaining the object relative to the relative position of the millimetre-wave radar sensing device
Breath；
The signal processing module, for by the image information of the object of acquisition and the object relative to the milli
The relative position information of metre wave radar sensing device is contrasted, to verify that the object passes relative to the millimetre-wave radar
The accuracy of the relative position information of induction device；
The interface module, for by the object relative to the relative position information of the millimetre-wave radar sensing device with
And the image information of the object is exported.
2. millimetre-wave radar sensing device according to claim 1, it is characterised in that described image acquisition module includes light
Camera lens, imaging sensor, image acquisition device and image interface are learned, the optical lens couples with described image sensor, described
Imaging sensor couples with described image collector, and described image collector couples with described image interface.
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 intermediate-freuqncy 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, described image acquisition module, the radar module and the interface mould
Block couples；
The fusion operation module is used for the image information of the object of acquisition and the object relative to the milli
The relative position information of metre wave radar sensing device is contrasted, to verify that the object passes relative to the millimetre-wave radar
The accuracy of the relative position information of induction device；
The memory module is used for the image information for preserving the object and the object relative to the millimetre-wave radar
The relative position information of sensing device.
6. 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
Mouth couples with the signal processing module, for the relative position by the object relative to the millimetre-wave radar sensing device
Confidence is ceased and the image information of the object is exported.
7. millimetre-wave radar sensing device according to claim 1, it is characterised in that the millimetre-wave radar sensing device
Also include alarm module and display module, the alarm module couples with the display module with the interface module.
8. millimetre-wave radar sensing device according to claim 1, it is characterised in that the millimetre-wave radar sensing device
Also include housing, described image acquisition module, the radar module, the signal processing module and the interface module fix peace
In the housing, the housing includes the first housing and the second housing, and first housing is connected with second housing,
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 described image acquisition module, described
Connected between radar module, the signal processing module and the interface module by plug connector, described image acquisition module, institute
Radar module, the signal processing module and the interface module is stated to be 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 phase by the image information of the object of acquisition with the object relative to the millimetre-wave radar sensing device
Real-time display is carried out to positional information.
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| CN201710695401.7A CN107515394A (en) | 2017-08-11 | 2017-08-11 | Millimetre-wave radar sensing device and system |
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| CN108896989A (en) * | 2018-05-10 | 2018-11-27 | 闻鼓通信科技股份有限公司 | Millimetre-wave radar imaging and pattern-recognition |
| CN109061631A (en) * | 2018-08-14 | 2018-12-21 | 苏州成云旺发信息科技有限公司 | A kind of intelligent security guard Millimeter Wave Phased Array Antenna radar warning system and method |
| CN110412563A (en) * | 2019-07-29 | 2019-11-05 | 哈尔滨工业大学 | A kind of Portable distance meter and its working method of the auxiliary train railway carriage mounting based on Multi-sensor Fusion |
| CN111060911A (en) * | 2018-10-16 | 2020-04-24 | 天津所托瑞安汽车科技有限公司 | Vehicle anti-collision recognition method based on scene analysis |
| CN111546983A (en) * | 2019-02-12 | 2020-08-18 | 上汽通用汽车有限公司 | Vehicle door opening control system and method |
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| CN115421113A (en) * | 2022-09-29 | 2022-12-02 | 成都环泰睿诚科技有限公司 | A testing arrangement for millimeter wave radar |
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| CN110412563A (en) * | 2019-07-29 | 2019-11-05 | 哈尔滨工业大学 | A kind of Portable distance meter and its working method of the auxiliary train railway carriage mounting based on Multi-sensor Fusion |
| CN111696390A (en) * | 2020-06-23 | 2020-09-22 | 五冶集团上海有限公司 | Intelligent airport runway FOD device and working process thereof |
| CN112629486A (en) * | 2020-12-21 | 2021-04-09 | 西安京维智网科技有限公司 | Transmission tower roadbed settlement online monitoring system and method based on millimeter wave radar |
| CN115421113A (en) * | 2022-09-29 | 2022-12-02 | 成都环泰睿诚科技有限公司 | A testing arrangement for millimeter wave radar |
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Application publication date: 20171226 |