Online continuous calibration and calibration device and method for working frequency of radar sensing module, and memory

Abstract

The invention provides an online radar sensing module working frequency continuous calibration and calibration device and method and a memory. The device at least comprises a frequency measurement module, a main control module, a radar module, a communication module and an air cylinder movement module. Wherein any one radar module to be tested comprises any number of radar modules; the main control module is connected with the frequency measurement module, the communication module and the air cylinder movement module. The input end of the frequency measurement module is connected with the output end of the radar module. According to the invention, after the cylinder motion module completes the pressing of the test needle bed, the radar module is controlled to be sequentially powered on according to the preset time difference, so that the frequency is synchronously displayed, the non-displayed frequency is marked, and the efficiency of continuous calibration and calibration is improved; the main control module carries out classification according to the radar modules which do not meet the preset frequency threshold range, and sends the frequency modulation calibration signals to the radar modules through the communication module, thereby achieving the parallel frequency modulation of different groups of radar modules, and improving the frequency modulation efficiency and precision.

Description

Technical Field

[0001] The present application belongs to the technical field of multi-radar online calibration, and in particular, relates to an online radar sensing module operating frequency continuous calibration device, method and memory. Background Art

[0002] At present, the calibration and calibration of traditional radar sensing modules usually require manual intervention, which is time-consuming and labor-intensive, and prone to errors. When it is necessary to adjust the frequency of multiple radar modules, the traditional method is often to do it one by one, which is inefficient and prone to inaccurate frequency modulation. During the frequency calibration and calibration process, the instability of the power supply system may affect the normal operation of the radar module, resulting in inaccurate or failed calibration and calibration results. In the event of an abnormal frequency of the radar module, the traditional system may not be able to detect and handle the fault in time, resulting in unstable or interrupted system operation. In addition, the frequency adjustment range of most radar modules is easily limited by hardware and cannot meet the frequency range required by FCC certification, resulting in difficulty in adjustment. Most traditional frequency modulation methods cannot guarantee the precise adjustment of the frequency of each radar module. The frequency fluctuation range is large, making it difficult to meet the accuracy requirements of FCC certification, and it is also difficult to adjust the frequency of multiple radar modules to 10.525GHz ± 25 MHz online. Summary of the invention

[0003] In response to the defects of the above-mentioned prior art, the present application provides an online radar sensing module operating frequency continuous calibration and calibration device, method and memory. Through the automated calibration and calibration process, the efficiency and accuracy of the radar system can be improved, while reducing manual intervention and errors, thereby improving the reliability and practicality of the radar system, and realizing continuous calibration and calibration of the operating frequency of the radar sensing module, thereby ensuring the accuracy and stability of the radar system.

[0004] To achieve the above-mentioned purpose, the present application provides an online radar sensing module operating frequency continuous calibration device, the device at least comprising: Frequency measurement module, main control module, radar module, communication module and cylinder motion module; wherein any radar module to be measured includes any number of radar modules.

[0005] The main control module is connected to the frequency measurement module, the communication module, and the cylinder motion module respectively; the main control module is used to detect when the radar module reaches a preset test position and state, and control the cylinder motion module to press down the test needle bed, so that the physical connection of the test link is completed between each radar module and the communication module in the radar module.

[0006] The input end of the frequency measurement module is connected to the frequency output end of each radar module in the radar module; the frequency measurement module is used to read the current operating frequency of each radar module to be tested in sequence according to a preset time sequence and perform corresponding number marking and recording, and feed back the marked and recorded data to each corresponding radar module in the radar module.

[0007] The main control module is also used to determine in sequence that when the current operating frequency of the radar module does not meet the preset frequency threshold range, the radar module that currently exceeds the lower limit of the preset frequency threshold range is classified into the first group to be adjusted, and the radar module that currently exceeds the upper limit of the preset frequency threshold range is classified into the second group to be adjusted.

[0008] The communication module is used to transmit the frequency modulation calibration signal of the main control module to the first group to be adjusted and the second group to be adjusted. The frequency modulation calibration signal executes a first frequency modulation calibration mode on the radar module in the first group to be adjusted, and simultaneously executes a second frequency modulation calibration mode on the radar module in the second group to be adjusted to complete the parallel frequency modulation calibration until the current operating frequency of the radar module is within the upper limit of the preset frequency threshold range and the lower limit of the preset frequency threshold range.

[0009] In the present application, the device also includes a power supply module; the input end of the power supply module is connected to the output end of the main control module, and the output end of the power supply module is connected to the input end of the radar module through the test needle bed to control the switching to keep the power on or off; the power supply module is used to control the radar modules to be tested to power on in sequence according to a preset time sequence after the cylinder motion module completes the downward pressure of the test needle bed; and the power supply module is also used to control the radar modules to be tested to power off in sequence according to a preset time sequence.

[0010] In the present application, the antenna receiving input end of the frequency measurement module and the antenna transmitting output end of each radar module in the radar module are coupled and connected through wireless space radiation; wherein the frequency bandwidth of the receiving end of the frequency measurement module is greater than the transmitting frequency swing value of each radar module to be measured.

[0011] In the present application, in any radar module whose current operating frequency is judged to be not up to standard, the radar modules whose current operating frequency is less than the lower limit of the preset frequency threshold range and their numbers are divided into the first group to be adjusted; wherein, the pulse control pin of the MCU chip in the main control module is connected to the voltage input end of the voltage-controlled oscillator in the radar module.

[0012] The first frequency modulation calibration mode is specifically: After receiving the frequency modulation calibration signal, the ADC values ​​at both ends of the thermistor in any radar module in the first group to be adjusted and the voltage VCO value of the voltage controlled oscillator are collected; according to the arrangement order of the radar modules in the first group to be adjusted, any radar module in the first group to be adjusted is used as the first test radar module; the current temperature value of the first test radar module is obtained according to the ADC values ​​at both ends of the thermistor, and the main control module adjusts and increases the voltage VCO value of the voltage controlled oscillator according to the current temperature value of the first test radar module, and the current operating frequency of the first test radar module increases with the increase of the voltage VCO value of the voltage controlled oscillator until the current operating frequency enters the preset frequency threshold range.

[0013] In any radar module whose current operating frequency does not meet the standard, the radar modules whose current operating frequency is greater than the upper limit of the preset frequency threshold range and their numbers are divided into the second group to be adjusted.

[0014] The second frequency modulation calibration mode is specifically: After receiving the frequency modulation calibration signal, the ADC values ​​at both ends of the thermistor in any radar module in the second group to be adjusted and the voltage VCO value of the voltage controlled oscillator are collected; according to the arrangement order of the radar modules in the second group to be adjusted, any radar module in the second group to be adjusted is used as the second test radar module; the current temperature value of the second test radar module is obtained according to the ADC values ​​at both ends of the thermistor, and the main control module adjusts and reduces the voltage VCO value of the voltage controlled oscillator according to the current temperature value of the second test radar module, and the current operating frequency of the second test radar module decreases with the decrease of the voltage VCO value of the voltage controlled oscillator until the current operating frequency enters the preset frequency threshold range.

[0015] Furthermore, when the frequency measurement module feeds back to the main control module a signal that the current operating frequency of any radar module in the test radar module is within the upper and lower limits of the preset frequency threshold range, the main control module is also used to control the power supply module to cut off the power supply to any test radar module and start frequency detection for the next radar module to be tested.

[0016] To achieve the above purpose, the present application also provides a method for continuous calibration and calibration of the working frequency of an online radar sensing module, the method comprising: S100: When it is detected that the radar module in any radar module reaches a preset test position and state, the radar modules are controlled to be powered on in sequence according to a preset time sequence, and the current operating frequency of each radar module to be tested is obtained in sequence according to the preset time sequence and numbered and recorded.

[0017] S200: After the numbering and marking of the radar modules is completed, determine in turn whether the current operating frequency of each test radar module is within the upper and lower limits of the preset frequency threshold range. If both are within the range, proceed to step S400; otherwise, classify the radar modules that currently exceed the lower limit of the preset frequency threshold range into the first group to be adjusted, and classify the radar modules that currently exceed the upper limit of the preset frequency threshold range into the second group to be adjusted.

[0018] S300: Execute a first frequency modulation calibration mode on the radar modules in the first group to be adjusted, and simultaneously execute a second frequency modulation calibration mode on the radar modules in the second group to be adjusted to complete the parallel frequency modulation calibration until the current operating frequency of the radar module is within an upper limit of a preset frequency threshold range and a lower limit of a preset frequency threshold range.

[0019] S400: Power off any radar module that has completed the test, and start frequency detection for the next radar module to be tested.

[0020] In the present application, in the step S200, in any radar module whose current operating frequency is judged to be not up to standard, the number of the radar module whose current operating frequency is less than the lower limit of the preset frequency threshold range is filtered into the first group to be adjusted; the number of the radar module whose current operating frequency is greater than the upper limit of the preset frequency threshold range is filtered into the second group to be adjusted.

[0021] In the present application, in step S300, the first frequency modulation calibration mode is specifically: After receiving the frequency modulation calibration signal, the ADC values ​​at both ends of the thermistor in any radar module in the first group to be adjusted and the voltage VCO value of the voltage controlled oscillator are collected; according to the arrangement order of the radar modules in the first group to be adjusted, any radar module in the first group to be adjusted is used as the first test radar module; the current temperature value of the first test radar module is obtained according to the ADC values ​​at both ends of the thermistor, and the main control module adjusts and increases the voltage VCO value of the voltage controlled oscillator according to the current temperature value of the first test radar module, and the current operating frequency of the first test radar module increases with the increase of the voltage VCO value of the voltage controlled oscillator until the current operating frequency enters the preset frequency threshold range.

[0022] The second frequency modulation calibration mode is specifically: After receiving the frequency modulation calibration signal, the ADC values ​​at both ends of the thermistor in any radar module in the second group to be adjusted and the voltage VCO value of the voltage controlled oscillator are collected; according to the arrangement order of the radar modules in the second group to be adjusted, any radar module in the second group to be adjusted is used as the second test radar module; the current temperature value of the second test radar module is obtained according to the ADC values ​​at both ends of the thermistor, and the main control module adjusts and reduces the voltage VCO value of the voltage controlled oscillator according to the current temperature value of the second test radar module, and the current operating frequency of the second test radar module decreases with the decrease of the voltage VCO value of the voltage controlled oscillator until the current operating frequency enters the preset frequency threshold range.

[0023] To achieve the above-mentioned purpose, the present application also provides a memory located in any host computer, characterized in that the memory includes a computer program executable by a processor, and the computer program is used to execute any of the above-mentioned methods for continuous calibration and calibration of the working frequency of the online radar sensing module.

[0024] Compared with the prior art, the present invention has the following beneficial effects: The present application proposes an online radar sensing module operating frequency continuous calibration device, method and memory. The present application controls the radar modules to be powered on in sequence in a preset time sequence after the cylinder motion module completes the test needle bed downward pressure through the power supply module to synchronize the display frequency and mark the undisplayed frequency, thereby improving the efficiency of continuous calibration and calibration; the main control module classifies the radar modules according to the upper and lower limits of the preset frequency threshold range, and sends a frequency modulation calibration signal to them through the communication module to achieve parallel frequency modulation of different groups of radar modules, thereby improving the efficiency and accuracy of frequency modulation. The present application can improve the efficiency and accuracy of the radar system through an automated calibration and calibration process, while reducing manual intervention and errors, thereby improving the reliability and efficiency of the radar system frequency modulation. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a block diagram of the architecture of an online radar sensing module operating frequency continuous calibration and calibration device in one embodiment of the present application.

[0026] Figure 2 Schematic diagram of the structure of any radar module in the embodiments of the present application.

[0027] Figure 3 It is a schematic diagram of the framework of the connection method of the cylinder motion module in one embodiment of the present application.

[0028] Figure 4 This is a circuit schematic diagram for frequency adjustment of a radar module in one embodiment of the present application.

[0029] Figure 5This is a circuit principle structure in which a thermistor is connected to an MCU chip in one embodiment of the present application.

[0030] Figure 6 This is a flow chart of a method for continuous calibration and calibration of the working frequency of an online radar sensing module in one embodiment of the present application. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme will be clearly and completely described below in conjunction with the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0032] Embodiment 1: As attached Figure 1 As shown, in order to solve the above technical problems, the present application provides an online radar sensing module operating frequency continuous calibration and calibration device, which realizes the synchronization and parallel precise frequency modulation of multiple radar modules, and can adjust the frequency of multiple radar modules to 10.525 GHz ± 25 MHz online, solving the problems of low efficiency and easy inaccurate frequency modulation. In this embodiment, the device at least includes: Frequency measurement module, main control module, radar module, communication module and cylinder motion module.

[0033] Among them, as attached Figure 2 As shown, any radar module in this embodiment can be composed of any number of radar modules connected.

[0034] It should be noted that the main control module mainly includes an MCU chip connected to an external host computer, which can be used to generate control signals to the main control module and adjust control parameters of the control signals, etc., but are not limited to this.

[0035] The main control module is connected to the frequency measurement module, the communication module, and the cylinder motion module respectively; the main control module is used to detect when the radar module reaches a preset test position and state, and control the cylinder motion module to press down the test needle bed, so that the physical connection of the test link is completed between each radar module and the communication module in the radar module.

[0036] In this embodiment, the preset test station refers to a fixed test position, and the preset test state refers to when the number of radar modules reaches a preset value, the cylinder motion module is automatically controlled by the main control module to realize the downward pressing action of the test needle bed. This automated process reduces manual intervention and improves production efficiency.

[0037] Preferably, the specific numerical value of the preset value can be flexibly set by the host computer according to the number of radar modules in the actual batch, but is not limited thereto.

[0038] In addition, through the precise control of the cylinder motion module, the force and position of the test needle bed's downward pressure are ensured to be accurate, making the connection between the radar module and the communication module more precise, ensuring the stability of signal transmission, while reducing errors that may be introduced by human operation and improving the accuracy and reliability of the connection; the above-mentioned device can realize parallel processing of online frequency adjustment of multiple radar modules, which can significantly improve the overall work efficiency for application scenarios that require simultaneous adjustment of multiple radar modules.

[0039] In this embodiment, the above-mentioned device also includes a power supply module; the input end of the power supply module is connected to the output end of the main control module, and the output end of the power supply module is connected to the input end of the radar module through the test needle bed to control the switching to keep the power on or off; the power supply module is used to control the radar modules to be tested to power on in sequence according to a preset time sequence after the cylinder motion module completes the downward pressure of the test needle bed; and the power supply module is also used to control the radar modules to be tested to power off in sequence according to a preset time sequence.

[0040] Preferably, as attached Figure 3 As shown, in this embodiment, the power supply module and the communication module can be integrated with the main control module on the same PCB board for flexible arrangement, so that the layout of the entire system is more compact and the space occupation is reduced. Among them, the cylinder motion module may include: a connecting harness, an adapter plate, a cylinder and a needle bed, etc. The connecting harness is responsible for transmitting the electrical signal from the main control module to the cylinder to control the movement of the cylinder; the adapter plate is used to convert the electronic signal into mechanical movement, which is used to receive the signal from the main control module and convert it into a pneumatic signal to control the cylinder movement; the cylinder is an actuator, which is responsible for pushing or pulling the needle bed through air pressure to achieve connection with the radar module, and its piston rod is connected to the needle bed. When the cylinder moves, it can drive the needle bed to move up and down; the needle bed is a mechanical component connecting the power supply module and the radar module, and it realizes electrical connection through physical contact; the design of the needle bed needs to match the interface of the radar module, and is usually arranged with multiple pins so as to correspond one-to-one with the corresponding interface of the radar module to achieve reliable electrical connection.

[0041] In other embodiments, a limit switch may be provided on the cylinder motion path in the cylinder motion module to prevent overshoot or damage to the equipment, but the present invention is not limited thereto.

[0042] The input end of the frequency measurement module is connected to the frequency output end of each radar module in the radar module; the frequency measurement module is used to read the current operating frequency of each radar module to be tested in sequence according to a preset time sequence and perform corresponding number marking and recording, and feed back the marked and recorded data to each corresponding radar module in the radar module.

[0043] The main control module is also used to determine in sequence that when the current operating frequency of the radar module does not meet the preset frequency threshold range, the radar module that currently exceeds the lower limit of the preset frequency threshold range is classified into the first group to be adjusted, and the radar module that currently exceeds the upper limit of the preset frequency threshold range is classified into the second group to be adjusted.

[0044] Preferably, the frequency measurement module may be a spectrum analyzer or a frequency counter, but is not limited thereto.

[0045] It should be noted that the certain number of radar modules are powered on in a certain preset time sequence, and this step can be achieved by setting a time difference, and the spectrum analyzer will synchronously display the frequency according to the time difference. This time difference is to avoid the current shock or the congestion of the spectrum analyzer display that may be caused by the simultaneous power-on of all modules. For example, the preset time difference is: 1 second, 2 seconds, 3 seconds or 5 seconds, etc., and is not limited thereto.

[0046] When a certain frequency is not displayed, it is marked, so that the radar module numbers corresponding to different channels can be identified, and parallel frequency modulation can save a lot of time. When a certain number of radar modules are all displayed and the corresponding numbers are identified, it is determined whether the frequency is within the required frequency range, and the corresponding frequency modulation is performed according to the predetermined procedure.

[0047] The spectrum analyzer synchronously displays the operating frequency of each module according to the time difference of the radar module power-on. In this way, the operator can observe the frequency information of each module through the spectrum analyzer. If the corresponding frequency is not displayed on the spectrum analyzer at a certain time point, the corresponding radar module may have a problem, such as no power on, damage or abnormal frequency output, etc. At this time, the module is marked.

[0048] Through the power-on time and the frequency displayed by the spectrum analyzer, the radar module number corresponding to each channel can be identified, so that the frequency information can be associated with the specific module. In addition, since the frequencies of multiple modules can be detected at the same time, this process can be carried out in parallel, greatly saving the time required for frequency modulation.

[0049] When the frequencies of all radar modules are displayed on the spectrum analyzer and the corresponding numbers have been identified, it is necessary to determine whether the operating frequency of each module is within the preset frequency range. For those radar modules whose operating frequencies are not within the required range, frequency calibration is performed according to a predetermined procedure, that is, the frequencies of these modules are adjusted to meet the preset threshold requirements.

[0050] In summary, this embodiment improves the efficiency and accuracy of frequency calibration and calibration of the radar system through synchronous power-on, parallel detection and automatic frequency modulation.

[0051] In this embodiment, in any radar module whose current operating frequency is judged to be not up to standard, the radar module whose current operating frequency is less than the lower limit of the preset frequency threshold range and its number are divided into the first waiting group; in any radar module whose current operating frequency is judged to be not up to standard, the radar module whose current operating frequency is greater than the upper limit of the preset frequency threshold range and its number are divided into the second waiting group. Among them, the pulse control pin of the MCU chip in the main control module is connected to the voltage input terminal of the voltage-controlled oscillator in the radar module.

[0052] In this embodiment, the antenna receiving input end of the frequency measurement module and the antenna transmitting output end of each radar module in the radar module are coupled and connected by wireless space radiation; wherein the frequency bandwidth of the receiving end of the frequency measurement module is greater than the transmitting frequency swing value of each radar module to be measured. Preferably, electromagnetic coupling connection can also be used, but it is not limited thereto.

[0053] It should be noted that, in this embodiment, the transmission and reception of antenna signals can be transmitted through electromagnetic waves in the air, that is, wireless space radiation, and the antennas of the two modules are coupled with signals in this wireless manner. Coupling refers to the transfer of energy or information between two systems or devices.

[0054] Bandwidth refers to the frequency range that the receiver can handle. The receiving bandwidth of the frequency measurement module is wide enough to cover any changes in the radar module's transmit frequency, that is, the frequency swing value. The frequency swing value may refer to the deviation or fluctuation of the radar module's transmit frequency. Among them, bandwidth refers to the range of signal frequencies that the frequency measurement module can receive. The wider this range, the more types of signals the module can handle. The transmit frequency swing value refers to the frequency changes that may occur when the radar module transmits a signal, which may be caused by manufacturing tolerances, temperature changes, or other factors.

[0055] In this embodiment, the frequency measurement module is designed to receive and accurately measure the signals transmitted by the radar module. Even if the frequencies of these signals fluctuate to a certain extent, the frequency bandwidth of the frequency measurement module can also include these fluctuations, ensuring accurate reception and measurement of the signals. This helps to ensure the stability and accuracy of the system.

[0056] As attached Figure 4 As shown, it is a circuit principle structure diagram for frequency regulation of the radar module in this embodiment, which includes any radar module. The radar module adopts the radar chip U1 of the XBR816C model, which is connected to the RX and TX antennas. Among them, the 14th pin of the radar chip U1 is connected to the voltage input end of the voltage-controlled oscillator, that is, its output voltage can be adjusted by the pulse control of the MCU chip to achieve different frequency modulation modes. The voltage input end of the voltage-controlled oscillator is also connected to resistor R1, resistor R2 and capacitor C1. The voltage input end of the voltage-controlled oscillator is connected to one end of the resistor R1 and to one end of the resistor R2. The other end of the resistor R1 is connected to one end of the resistor R2 through the capacitor C1. The other end of the resistor R2 is connected to the pulse control pin of the MCU chip, which is represented by MCU_pin 5 in the figure. Among them, it can be connected by the attached Figure 3 FREQ_V in the figure refers to the voltage of the voltage-controlled oscillator that needs to be controlled in this embodiment.

[0057] It should be noted that the voltage-controlled oscillator can generate a signal with a variable frequency and output it at the voltage output terminal, and its output frequency can be controlled by changing the input voltage.

[0058] Among them, resistor R1 is used to limit the current and protect the voltage-controlled oscillator from overcurrent damage. It also forms a low-pass filter with capacitor C1 to smooth the pulse signal output by the MCU, reduce noise and transient interference, and ensure that the VCO receives a stable control voltage; resistor R2 is also used to limit the current and protect the pulse control pin of the MCU. It also acts as part of the voltage divider to help adjust the input voltage of the VCO, thereby affecting the output frequency.

[0059] Capacitor C1 works with resistors R1 and R2 to form an RC filter, whose main function is filtering and decoupling. It helps remove high-frequency noise output by the MCU pulse control pin, ensuring that the input voltage of the VCO changes smoothly, thereby accurately controlling the frequency of the radar module. After filtering through resistor R2 and capacitor C1, the input voltage of the VCO is controlled.

[0060] In summary, the MCU chip in this embodiment adjusts the output frequency of the radar module by controlling the input voltage of the VCO. The combination of resistors and capacitors ensures the stability and smoothness of the control signal.

[0061] The communication module is used to transmit the frequency modulation calibration signal of the main control module to the first group to be adjusted and the second group to be adjusted. The frequency modulation calibration signal executes a first frequency modulation calibration mode on the radar module in the first group to be adjusted, and simultaneously executes a second frequency modulation calibration mode on the radar module in the second group to be adjusted to complete the parallel frequency modulation calibration until the current operating frequency of the radar module is within the upper limit of the preset frequency threshold range and the lower limit of the preset frequency threshold range.

[0062] As attached Figure 5 As shown in the figure, a circuit principle structure of a thermistor connected to the MCU_ pin 9 of the MCU chip in this embodiment is shown. Among them, one end of the thermistor RT is connected to the 3V voltage, the other end of the thermistor RT is connected to one end of the resistor R3, the other end of the thermistor RT is connected to the MCU_ pin 9 of the MCU chip, and the other end of the resistor R3 is connected to the MCU_ pin 9 of the MCU chip through the capacitor C2.

[0063] In this embodiment, the first frequency modulation calibration mode is specifically: After receiving the frequency modulation calibration signal, the ADC values ​​at both ends of the thermistor in any radar module in the first group to be adjusted and the voltage VCO value of the voltage controlled oscillator are collected; according to the arrangement order of the radar modules in the first group to be adjusted, any radar module in the first group to be adjusted is used as the first test radar module; the current temperature value of the first test radar module is obtained according to the ADC values ​​at both ends of the thermistor, and the main control module adjusts and increases the voltage VCO value of the voltage controlled oscillator according to the current temperature value of the first test radar module, and the current operating frequency of the first test radar module increases with the increase of the voltage VCO value of the voltage controlled oscillator until the current operating frequency enters the preset frequency threshold range.

[0064] It should be noted that, after receiving the frequency modulation calibration signal, the ADC values ​​at both ends of the thermistor in any radar module in the first group to be adjusted and the voltage VCO value of the voltage controlled oscillator are collected; starting from the first radar module in the first group to be adjusted, the frequency of each radar module is tested and calibrated; according to the ADC values ​​at both ends of the thermistor, the current temperature value of the test radar module is obtained, and the main control module adjusts and increases the voltage VCO value of the voltage controlled oscillator according to the current temperature value of the first test radar module, and the current operating frequency of the first test radar module increases with the increase of the voltage VCO value of the voltage controlled oscillator until the current operating frequency of the radar module enters the preset frequency threshold range, and the operating frequency calibration of the first radar module in the first group to be adjusted is completed. The above process is repeated until all radar modules in the first group to be adjusted complete the operating frequency calibration.

[0065] When the radar module receives the frequency modulation calibration signal, it first collects the current resistance value of the thermistor RT and the voltage value of the voltage controlled oscillator (VCO). The thermistor RT can be of the QN0402X or 103F3380FB type, but is not limited thereto.

[0066] In this embodiment, when the radar module receives the frequency modulation calibration signal, the MCU collects the voltage across the thermistor RT through MCU_pin 9. This voltage is related to the resistance of the thermistor, and the resistance is related to the temperature. The ADC module inside the MCU converts the collected voltage value into a digital ADC value, which can be used to calculate the resistance of the thermistor, and then deduce the current temperature of the radar module. Preferably, in this embodiment, the MCU can determine whether the voltage of the VCO needs to be increased to increase the operating frequency based on the resistance of the thermistor and the preset temperature-frequency curve. The MCU adjusts the input voltage of the VCO by controlling the pin connected to the VCO, thereby changing its oscillation frequency.

[0067] As the VCO voltage increases, the operating frequency of the radar module also increases. The MCU will continuously monitor the operating frequency and can continuously adjust the VCO voltage through a closed-loop control algorithm until the current operating frequency meets the preset threshold range. Among them, the closed-loop control enables the MCU to increase the VCO voltage according to the difference between the actual operating frequency and the target frequency. This process will continue until the frequency stabilizes within the preset range.

[0068] Resistor R3 and capacitor C2 form an RC filter to smooth the signal output by the MCU, reduce noise and transient interference, and ensure that the thermistor RT receives a stable control signal. If the current operating frequency of the radar module is lower than the lower limit of the preset threshold range, the MCU directly controls the increase of the VCO voltage through the resistance of the thermistor and the preset temperature-frequency curve in the first frequency modulation calibration mode, thereby increasing the operating frequency of the radar module.

[0069] In this embodiment, this adjustment method can effectively adjust the radar module with a relatively low frequency to within the required frequency range.

[0070] The second frequency modulation calibration mode is specifically: After receiving the frequency modulation calibration signal, the ADC values ​​at both ends of the thermistor in any radar module in the second group to be adjusted and the voltage VCO value of the voltage controlled oscillator are collected; according to the arrangement order of the radar modules in the second group to be adjusted, any radar module in the second group to be adjusted is used as the second test radar module; the current temperature value of the second test radar module is obtained according to the ADC values ​​at both ends of the thermistor, and the main control module adjusts and reduces the voltage VCO value of the voltage controlled oscillator according to the current temperature value of the second test radar module, and the current operating frequency of the second test radar module decreases with the decrease of the voltage VCO value of the voltage controlled oscillator until the current operating frequency enters the preset frequency threshold range.

[0071] It should be noted that, after receiving the frequency modulation calibration signal, the ADC values ​​at both ends of the thermistor in any radar module in the second group to be adjusted and the voltage VCO value of the voltage controlled oscillator are collected; starting from the first radar module in the second group to be adjusted, the frequency of the radar module is tested and calibrated; according to the ADC values ​​at both ends of the thermistor, the current temperature value of the tested radar module is obtained, and the main control module adjusts and reduces the voltage VCO value of the voltage controlled oscillator according to the current temperature value of the first radar module in the second group to be adjusted, and the current operating frequency of the first radar module in the second group to be adjusted decreases with the decrease of the voltage VCO value of the voltage controlled oscillator, until the current operating frequency of the first radar module in the second group to be adjusted enters the preset frequency threshold range, and the operating frequency calibration of the first radar module in the second group to be adjusted is completed. The above process is repeated until all radar modules in the second group to be adjusted complete the operating frequency calibration.

[0072] It should be noted that the specific working principle of the second FM calibration mode is similar to that of the first FM calibration mode. Through the resistance value of the thermistor and the preset temperature-frequency curve, the MCU directly controls the reduction of the VCO voltage. As the VCO voltage value decreases, the current operating frequency of the radar module also decreases, thereby increasing the operating frequency of the radar module.

[0073] The RC filter formed by resistor R3 and capacitor C2 also plays the role of smoothing the MCU output signal in this mode, ensuring that the thermistor RT receives a stable control signal.

[0074] In summary, in this embodiment, the first frequency modulation calibration mode and the second frequency modulation calibration mode are respectively used to adjust the operating frequency of the radar module so that it reaches a preset threshold range. These two modes are controlled by the MCU to directly control the voltage of the VCO through the resistance of the thermistor and the preset temperature-frequency curve, thereby increasing or decreasing the frequency. The resistor R3 and capacitor C2 in the circuit ensure the stability and smoothness of the control signal, which is crucial for the precise frequency modulation of the radar system. Through parallel frequency modulation, the frequency adjustment of multiple radar modules can be completed in a shorter time, improving the efficiency and response speed of the system.

[0075] Furthermore, when the frequency measurement module feeds back to the main control module a signal that the current operating frequency of any radar module in the test radar module is within the upper and lower limits of the preset frequency threshold range, the main control module is also used to control the power supply module to cut off the power supply to any test radar module and start frequency detection for the next radar module to be tested.

[0076] It should be noted that after a radar module completes frequency adjustment and reaches the expected operating frequency, the main control module will instruct the power supply module to power off the radar module. This avoids unnecessary energy consumption because it is not necessary to keep all radar modules in working order. In addition, powering off can reduce electromagnetic interference, especially when multiple radar modules are working at close range, and also prevents radar modules from working under high temperature or other adverse conditions for a long time, which helps to extend the service life of the equipment.

[0077] After completing the frequency adjustment and power-off processing of a radar module, the main control module will start the frequency detection of the next radar module. This ensures that each radar module can perform frequency adjustment and detection in a predetermined order, maintains the orderliness of the system, and can efficiently complete the frequency calibration of the entire system.

[0078] In summary, the first embodiment of the present invention provides a detailed analysis and example description of an online radar sensing module operating frequency continuous calibration and calibration device. The present invention realizes online continuous calibration and calibration of the radar sensing module operating frequency by integrating a main control module, a frequency measurement module, a power supply module, and a radar module. Among them, the voltage-controlled oscillator (VCO) of the radar module is precisely controlled by the main control module to automatically adjust the operating frequency of the radar module to meet the preset threshold range; the frequency measurement module can continuously monitor the operating frequency of the radar module to ensure that it is always in a calibrated state; the main control module can control the power supply module to power off the radar module that has completed the calibration, and sequentially start the frequency detection and calibration of the next radar module, thereby realizing continuous calibration of multiple radar modules. By controlling the power supply state of the radar module, unnecessary energy consumption is avoided and the overall energy efficiency of the system is improved. Through continuous calibration and calibration, the present invention improves the stability of the operating frequency of the radar module, extends the service life of the equipment, ensures the accuracy of the operating frequency of the radar module, and improves the detection accuracy and reliability of the radar system.

[0079] Embodiment 2: As attached Figure 6 As shown, in order to solve the above technical problems, the present application also proposes a method for continuous calibration and calibration of the working frequency of an online radar sensing module, the method comprising: S100: When it is detected that the radar module in any radar module reaches a preset test position and state, the radar modules are controlled to be powered on in sequence according to a preset time sequence, and the current operating frequency of each radar module to be tested is obtained in sequence according to the preset time sequence and numbered and recorded.

[0080] It should be noted that the system first detects whether the current radar module has reached the predicted test station position, and the number of radar modules in the test radar module needs to be ensured to reach the preset number, which can be achieved through hardware detection or software counting. Once it is detected that the radar module has reached the test position and the number of radar modules meets the preset conditions, the system will control these radar modules to power on in sequence according to the preset time difference. The preset time difference is to avoid the current peak caused by simultaneous power-on and ensure the stable operation of the system.

[0081] After each radar module is powered on, the system will obtain their current operating frequencies in turn, mark and record them by number, so that the status of each radar module can be accurately identified and tracked in the subsequent processing.

[0082] By detecting the number of radar modules, ensuring that there are enough modules participating in the frequency calibration process is critical to ensuring system performance. Powering on in sequence according to the preset time difference helps avoid current peaks caused by powering on multiple modules at the same time, protecting the power supply system and radar modules from damage.

[0083] Obtaining the current operating frequency of the radar module and marking it with a number provides basic data for subsequent frequency analysis and adjustment. The number marking ensures that each radar module can be accurately distinguished and processed in subsequent steps.

[0084] By automatically acquiring the operating frequency and number mark, manual intervention is reduced and the efficiency and accuracy of the calibration and calibration process are improved.

[0085] In summary, step S100 is the basis of the entire online radar sensing module operating frequency continuous calibration method, which ensures that the system starts the frequency calibration process under the correct conditions and provides accurate data and module identification for subsequent steps.

[0086] S200: After the numbering and marking of the radar modules is completed, determine in turn whether the current operating frequency of each test radar module is within the upper and lower limits of the preset frequency threshold range. If both are within the range, proceed to step S400; otherwise, classify the radar modules that currently exceed the lower limit of the preset frequency threshold range into the first group to be adjusted, and classify the radar modules that currently exceed the upper limit of the preset frequency threshold range into the second group to be adjusted.

[0087] In step S200, in any radar module whose current operating frequency is judged to be unsatisfactory, the number of the radar module whose current operating frequency is less than the lower limit of the preset frequency threshold range is filtered into the first group to be adjusted; the number of the radar module whose current operating frequency is greater than the upper limit of the preset frequency threshold range is filtered into the second group to be adjusted.

[0088] It should be noted that by determining whether the operating frequency meets the upper and lower limits of the preset frequency threshold range, the operating frequency of the radar module is ensured to be within an acceptable range, which is crucial to the performance of the radar system.

[0089] Classifying radar modules that do not meet the standards into the first group to be adjusted and the second group to be adjusted helps the system to make targeted frequency adjustments. Different adjustment strategies are required for modules with low and high frequencies.

[0090] By classifying, the system can adjust the frequencies of multiple radar modules at the same time, improving the efficiency of adjustment. The modules of the first and second groups can be processed in parallel, reducing the time required to adjust a single module. The classified radar module numbers facilitate system management and tracking. In the subsequent adjustment process, the system can quickly identify and adjust the corresponding radar module according to the number.

[0091] In summary, step S200 ensures the accuracy of the radar module's operating frequency during the calibration process and provides clear guidance for subsequent frequency adjustment. Through classified management, the system can efficiently complete frequency adjustment and ensure the performance and stability of the radar system.

[0092] S300: Execute a first frequency modulation calibration mode on the radar modules in the first group to be adjusted, and simultaneously execute a second frequency modulation calibration mode on the radar modules in the second group to be adjusted to complete the parallel frequency modulation calibration until the current operating frequency of the radar module is within an upper limit of a preset frequency threshold range and a lower limit of a preset frequency threshold range.

[0093] In the present application, in step S300, the first frequency modulation calibration mode is specifically: After receiving the frequency modulation calibration signal, the ADC values ​​at both ends of the thermistor in any radar module in the first group to be adjusted and the voltage VCO value of the voltage controlled oscillator are collected; according to the arrangement order of the radar modules in the first group to be adjusted, any radar module in the first group to be adjusted is used as the first test radar module; the current temperature value of the first test radar module is obtained according to the ADC values ​​at both ends of the thermistor, and the main control module adjusts and increases the voltage VCO value of the voltage controlled oscillator according to the current temperature value of the first test radar module, and the current operating frequency of the first test radar module increases with the increase of the voltage VCO value of the voltage controlled oscillator until the current operating frequency enters the preset frequency threshold range.

[0094] It should be noted that the MCU collects the voltage across the thermistor RT through MCU_pin 9 and converts it into a digital ADC value using the internal ADC module. According to the resistance-temperature curve of the thermistor, the MCU calculates the current temperature of the radar module. According to the preset temperature-frequency curve, the MCU determines that the voltage of the VCO needs to be increased to increase the operating frequency. In this embodiment, the MCU adjusts the input voltage of the VCO by controlling the pin connected to the VCO, thereby changing its oscillation frequency; the MCU can also continuously monitor the operating frequency and continuously adjust the VCO voltage through a closed-loop control algorithm until the current operating frequency meets the preset threshold range.

[0095] The second frequency modulation calibration mode is specifically: After receiving the frequency modulation calibration signal, the ADC values ​​at both ends of the thermistor in any radar module in the second group to be adjusted and the voltage VCO value of the voltage controlled oscillator are collected; according to the arrangement order of the radar modules in the second group to be adjusted, any radar module in the second group to be adjusted is used as the second test radar module; the current temperature value of the second test radar module is obtained according to the ADC values ​​at both ends of the thermistor, and the main control module adjusts and reduces the voltage VCO value of the voltage controlled oscillator according to the current temperature value of the second test radar module, and the current operating frequency of the second test radar module decreases with the decrease of the voltage VCO value of the voltage controlled oscillator until the current operating frequency enters the preset frequency threshold range.

[0096] It should be noted that the second frequency modulation calibration mode is the same as the first frequency modulation calibration mode. The MCU collects the voltage across the thermistor RT and converts it into a digital ADC value using the internal ADC module. According to the resistance-temperature curve of the thermistor, the MCU calculates the current temperature of the radar module. Based on the preset temperature-frequency curve, the MCU decides that the voltage of the VCO needs to be reduced to reduce the operating frequency. The MCU adjusts the input voltage of the VCO by controlling the pin connected to the VCO, thereby reducing its oscillation frequency.

[0097] The first frequency modulation calibration mode and the second frequency modulation calibration mode are both used to adjust the operating frequency of the radar module by adjusting the voltage of the VCO to reach a preset threshold range. The first frequency modulation calibration mode is used to increase the frequency, while the second frequency modulation calibration mode is used to reduce the frequency. Through these two frequency modulation modes, the radar module can maintain the stability and accuracy of its operating frequency under different working environments and conditions.

[0098] The embodiment of the present application realizes parallel processing by simultaneously executing different frequency modulation modes on the radar modules in the first group to be adjusted and the second group to be adjusted, thereby greatly improving the efficiency of frequency adjustment, realizing precise control of the operating frequency of the radar module, and ensuring the performance of the radar system. It also reduces manual intervention and improves the degree of automation by automatically collecting the parameters of thermistors and VCOs and automatically adjusting the operating frequency of the radar module according to these parameters. It also ensures through continuous frequency adjustment that the operating frequencies of all radar modules can eventually meet the preset threshold range, thereby ensuring the stability and reliability of the radar system.

[0099] In summary, step S300 is the core step in the entire frequency calibration process. Through parallel processing and precise control, it realizes the rapid adjustment of the operating frequency of the radar module and ensures the performance and stability of the radar system.

[0100] S400: Power off any radar module that has completed the test, and start frequency detection for the next radar module to be tested.

[0101] It should be noted that after completing the frequency adjustment of a certain radar module and ensuring that its operating frequency meets the preset frequency threshold range, the main control module will instruct the power supply module to power off the radar module. This means stopping the power supply to the module so that it can enter standby or sleep mode. After powering off the current radar module, the system will immediately start frequency detection for the next radar module. This is to maintain the continuity and efficiency of the entire calibration process.

[0102] In summary, Example 2 provides a detailed analysis and example description of an online radar sensing module operating frequency continuous calibration method proposed in this application. This application achieves precise control, automatic adjustment and efficient management of the radar module operating frequency, thereby improving the performance, stability and operational convenience of the radar system. The specific implementation process and principle have been introduced in detail in Example 1 and will not be repeated in this embodiment.

[0103] Embodiment three: The present application also provides a memory located in any host computer, characterized in that the memory includes a computer program executable by a processor, and the computer program is used to execute any of the above-described methods for continuous calibration and calibration of the working frequency of an online radar sensing module.

[0104] Preferably, according to the requirements of the online radar sensing module operating frequency continuous calibration and calibration method, the corresponding computer program code program is stored in the memory of the host computer, which can be a hard disk, solid state drive or any other form of non-volatile storage device, not limited to this.

[0105] When the radar module's operating frequency calibration is required, the host computer's processor will load and execute the computer program in the memory.

[0106] Among them, the computer program in the memory can automatically execute the entire calibration process, reducing human intervention and improving efficiency and accuracy.

[0107] Encoding the calibration and calibration methods into computer programs makes them easier to manage and update. When improvements or adjustments are needed, they can be implemented by modifying the program code without changing the hardware.

[0108] The computer program can record detailed information for each calibration and adjustment, including the operating frequency of the radar module, adjustment process, etc., for easy tracking and auditing.

[0109] In other embodiments, a user interface may be provided to allow an operator to monitor the calibration process and intervene when necessary.

[0110] The computer program in the memory can be designed to be compatible with different radar systems and host computer hardware, and has a certain degree of portability.

[0111] In other embodiments, a fault detection and response mechanism may also be designed to automatically take measures or notify operators when an abnormal situation is detected.

[0112] In summary, by encoding the continuous calibration and calibration method of the working frequency of the online radar sensing module into a computer program and storing it in the memory of the host computer, the present application provides an efficient, automated and easy-to-manage solution to ensure the performance and stability of the radar system.

[0113] The processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc. The memory is used to store an operating system, an application program, a boot loader, data, and other programs, such as the program code of the computer program, etc. The memory may also be used to temporarily store data that has been output or is to be output.

[0114] In several embodiments provided in the present application, it is understood that each box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved.

[0115] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for a computer device to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, and other media that can store program codes.

[0116] The specific embodiments described above further describe the purpose, technical solutions and beneficial effects of the present application in detail. It should be understood that the above description is only a specific embodiment of the present application and is not intended to limit the scope of protection of the present application. It is particularly pointed out that for those skilled in the art, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of protection of the present application.

Claims

1. An online radar sensing module operating frequency continuous calibration device, It is characterized in that At least: A frequency measurement module, a main control module, a radar module, a communication module and a cylinder motion module; wherein any radar module to be measured includes any number of radar modules; The main control module is connected to the frequency measurement module, the communication module, and the cylinder motion module respectively; the main control module is used to detect when the radar module reaches a preset test position and state, and control the cylinder motion module to press down the test needle bed, so that each radar module in the radar module is physically connected to the communication module for the test link; The input end of the frequency measurement module is connected to the frequency output end of each radar module in the radar module; The frequency measurement module is used to read the current operating frequency of each radar module to be tested in turn according to a preset time sequence and mark and record the corresponding numbers, and feed back the marked and recorded data to each corresponding radar module in the radar module; The main control module is further used to sequentially determine that when the current operating frequency of the radar module does not meet the preset frequency threshold range, the radar module that currently exceeds the lower limit of the preset frequency threshold range is classified into a first to-be-adjusted group, and the radar module that currently exceeds the upper limit of the preset frequency threshold range is classified into a second to-be-adjusted group; The communication module is used to transmit the frequency modulation calibration signal of the main control module to the first group to be adjusted and the second group to be adjusted. The frequency modulation calibration signal executes a first frequency modulation calibration mode on the radar module in the first group to be adjusted, and simultaneously executes a second frequency modulation calibration mode on the radar module in the second group to be adjusted to complete the parallel frequency modulation calibration until the current operating frequency of the radar module is within the upper limit of the preset frequency threshold range and the lower limit of the preset frequency threshold range.

2. The device for continuous calibration and calibration of the working frequency of an online radar sensing module according to claim 1, It is characterized in that The device also includes a power supply module; The input end of the power supply module is connected to the output end of the main control module, and the output end of the power supply module is connected to the input end of the radar module through the test needle bed to control the switching to keep the power on or off; the power supply module is used to control the radar modules to be tested to power on in sequence according to a preset time sequence after the cylinder motion module completes the downward pressure of the test needle bed; and the power supply module is also used to control the radar modules to be tested to power off in sequence according to a preset time sequence.

3. The device for continuous calibration and calibration of the working frequency of an online radar sensing module according to claim 1, It is characterized in that The antenna receiving input end of the frequency measurement module and the antenna transmitting output end of each radar module in the radar module are coupled and connected through wireless space radiation; wherein the frequency bandwidth of the receiving end of the frequency measurement module is greater than the transmitting frequency swing value of each radar module to be measured.

4. The device for continuous calibration and calibration of the working frequency of an online radar sensing module according to claim 1, It is characterized in that In any radar module whose current operating frequency is judged to be not up to standard, the radar modules whose current operating frequency is less than the lower limit of the preset frequency threshold range and their numbers are divided into the first waiting group; wherein the pulse control pin of the MCU chip in the main control module is connected to the voltage input terminal of the voltage-controlled oscillator in the radar module; The first frequency modulation calibration mode is specifically: After receiving the frequency modulation calibration signal, the ADC values ​​at both ends of the thermistor in any radar module in the first group to be adjusted and the voltage VCO value of the voltage controlled oscillator are collected; according to the arrangement order of the radar modules in the first group to be adjusted, any radar module in the first group to be adjusted is used as the first test radar module; the current temperature value of the first test radar module is obtained according to the ADC values ​​at both ends of the thermistor, and the main control module adjusts and increases the voltage VCO value of the voltage controlled oscillator according to the current temperature value of the first test radar module, and the current operating frequency of the first test radar module increases with the increase of the voltage VCO value of the voltage controlled oscillator until the current operating frequency enters the preset frequency threshold range.

5. The device for continuous calibration and calibration of the working frequency of an online radar sensing module according to claim 1, It is characterized in that In any radar module whose current operating frequency is judged to be not up to standard, the radar modules whose current operating frequency is greater than the upper limit of the preset frequency threshold range and their numbers are divided into the second waiting-to-adjust group; The second frequency modulation calibration mode is specifically: After receiving the frequency modulation calibration signal, the ADC values ​​at both ends of the thermistor in any radar module in the second group to be adjusted and the voltage VCO value of the voltage controlled oscillator are collected; according to the arrangement order of the radar modules in the second group to be adjusted, any radar module in the second group to be adjusted is used as the second test radar module; the current temperature value of the second test radar module is obtained according to the ADC values ​​at both ends of the thermistor, and the main control module adjusts and reduces the voltage VCO value of the voltage controlled oscillator according to the current temperature value of the second test radar module, and the current operating frequency of the second test radar module decreases with the decrease of the voltage VCO value of the voltage controlled oscillator until the current operating frequency enters the preset frequency threshold range.

6. The device for continuous calibration and calibration of the working frequency of an online radar sensing module according to claim 1, It is characterized in that When the frequency measurement module feeds back to the main control module a signal that the current operating frequency of any radar module in the test radar module is within the upper and lower limits of the preset frequency threshold range, the main control module is also used to control the power supply module to cut off the power supply to any test radar module and start frequency detection for the next radar module to be tested.

7. A method for continuous calibration and calibration of the working frequency of an online radar sensing module. It is characterized in that include: S100: when it is detected that a radar module in any radar module reaches a preset test position and state, the radar modules are controlled to be powered on in sequence according to a preset time sequence, and the current operating frequency of each radar module to be tested is obtained in sequence according to the preset time sequence and numbered and recorded; S200: After the numbering and marking of the radar modules is completed, determine in turn whether the current operating frequency of each test radar module is within the upper limit and the lower limit of the preset frequency threshold range. If both are within the upper limit, go to step S400; otherwise, classify the radar modules that currently exceed the lower limit of the preset frequency threshold range into the first to-be-adjusted group, and classify the radar modules that currently exceed the upper limit of the preset frequency threshold range into the second to-be-adjusted group; S300: Execute a first frequency modulation calibration mode on the radar modules in the first to-be-adjusted group, and simultaneously execute a second frequency modulation calibration mode on the radar modules in the second to-be-adjusted group, so as to complete the parallel frequency modulation calibration, until the current operating frequency of the radar module is within an upper limit of a preset frequency threshold range and a lower limit of a preset frequency threshold range; S400: Power off any radar module that has completed the test, and start frequency detection for the next radar module to be tested.

8. The method for continuous calibration and calibration of the working frequency of an online radar sensing module according to claim 7, It is characterized in that In step S200, the radar modules that currently exceed the lower limit of the preset frequency threshold range are classified into the first to-be-adjusted group, and the radar modules that currently exceed the upper limit of the preset frequency threshold range are classified into the second to-be-adjusted group, specifically: In any radar module whose current operating frequency is judged to be not up to standard, the radar modules whose current operating frequency is less than the lower limit of the preset frequency threshold range and their numbers are divided into the first waiting-to-be-adjusted group; The radar modules whose current operating frequencies are greater than the upper limit of the preset frequency threshold range and their numbers are divided into the second group to be adjusted.

9. The method for continuous calibration and calibration of the working frequency of an online radar sensing module according to claim 7, It is characterized in that The first frequency modulation calibration mode is specifically: After receiving the frequency modulation calibration signal, collect the ADC values ​​at both ends of the thermistor in any radar module in the first to-be-adjusted group and the voltage VCO value of the voltage-controlled oscillator; according to the arrangement order of the radar modules in the first to-be-adjusted group, use any radar module in the first to-be-adjusted group as the first test radar module; obtain the current temperature value of the first test radar module according to the ADC values ​​at both ends of the thermistor, and the main control module adjusts and increases the voltage VCO value of the voltage-controlled oscillator according to the current temperature value of the first test radar module, and the current operating frequency of the first test radar module increases with the increase of the voltage VCO value of the voltage-controlled oscillator until the current operating frequency enters the preset frequency threshold range; The second frequency modulation calibration mode is specifically: After receiving the frequency modulation calibration signal, the ADC values ​​at both ends of the thermistor in any radar module in the second group to be adjusted and the voltage VCO value of the voltage controlled oscillator are collected; according to the arrangement order of the radar modules in the second group to be adjusted, any radar module in the second group to be adjusted is used as the second test radar module; the current temperature value of the second test radar module is obtained according to the ADC values ​​at both ends of the thermistor, and the main control module adjusts and reduces the voltage VCO value of the voltage controlled oscillator according to the current temperature value of the second test radar module, and the current operating frequency of the second test radar module decreases with the decrease of the voltage VCO value of the voltage controlled oscillator until the current operating frequency enters the preset frequency threshold range.

10. A memory located in any host computer, It is characterized in that The memory includes a computer program executable by a processor, and the computer program is used to execute the method for continuous calibration and calibration of the working frequency of an online radar sensing module as described in any one of claims 7 to 9.

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