Millimeter wave radar system, electronic equipment, and control method thereof

Abstract

The present application discloses a millimeter-wave radar system and its electronic equipment and control method, which relate to the field of radar technology, including signal transceiver circuits, mechanical rotating antennas, drive structures and controllers. The present application adopts dual antennas to replace multi-antenna arrays. While reducing the number of RF link components and complex calibration processes, it uses a drive structure to achieve continuous adjustment of the antenna azimuth angle and realize multi-angle scanning without relying on high-frequency phase shifters or dedicated beamforming chips, thereby reducing system costs from the hardware architecture level. At the same time, the controller precisely synchronizes and controls the antenna rotation angle and the RF transmission / reception window, so that the beam pointing of the millimeter-wave signal maintains temporal and spatial consistency in the signal transmission stage and the echo reception stage, ensuring that the target reflection signal is effectively captured within the optimal residence time, thereby simplifying the system structure while improving dynamic detection accuracy and anti-interference capability.

Description

Technical Field

[0001] The present application relates to the field of radar technology, and in particular to a millimeter wave radar system, its electronic equipment, and control method. Background Art

[0002] Millimeter-wave radar is a technology that uses millimeter-wave electromagnetic waves (frequency range 30 GHz to 300 GHz, wavelength 1 mm to 10 mm) for detection and measurement. Due to its high resolution, strong penetration, and anti-interference capabilities, millimeter-wave radar technology is widely used in meteorological observation, wind speed measurement, and drone navigation.

[0003] However, existing millimeter-wave radar systems often rely on multi-antenna arrays for multi-angle signal transmission and reception, resulting in the following inherent drawbacks: Multi-antenna arrays require independent RF front-ends, phase shifters, and calibration modules, significantly increasing hardware size and manufacturing costs; The coupling effects between antenna elements require complex compensation algorithms, placing extremely high demands on signal processing capabilities, further increasing system power consumption and development complexity. Furthermore, fixed-antenna systems rely on electronic beamforming technology to change the detection direction, and their effective scanning angle is limited by the relationship between antenna aperture and wavelength, making it difficult to achieve continuous coverage over a wide area. Summary of the Invention

[0004] The main purpose of this application is to provide a millimeter-wave radar system and its electronic equipment and control method, aiming to solve the technical problems of existing millimeter-wave radar systems such as high hardware cost and low scanning efficiency caused by reliance on multiple antenna arrays.

[0005] To achieve the above objectives, the present application proposes a millimeter wave radar system, comprising:

[0006] A signal transceiver circuit, used to generate millimeter wave signals or perform signal processing on received millimeter wave signals;

[0007] A mechanically rotating antenna for transmitting and receiving millimeter wave signals;

[0008] A driving structure, drivingly connected to the mechanical rotating antenna, for driving the mechanical rotating antenna to rotate;

[0009] The controller is connected to the signal transceiver circuit and the controlled end of the drive structure, and is used to synchronously control the rotation direction of the mechanical rotating antenna and the timing matching of the signal transmission / reception circuit according to a preset scanning strategy.

[0010] In one embodiment, the signal transceiver circuit includes:

[0011] Millimeter-wave radar transmitting circuit, used to generate millimeter-wave signals;

[0012] A signal processing circuit, the output end of which is connected to the controller, for processing the received millimeter wave signal and outputting it to the controller;

[0013] A timing interface circuit, whose input end is connected to the controller and whose output end is connected to the millimeter-wave radar transmitting circuit and the signal processing circuit, is used to synchronously trigger the millimeter-wave radar transmitting circuit and the signal processing circuit to work according to the instructions sent by the controller.

[0014] In one embodiment, the mechanical rotating antenna includes dual antennas, one of which is connected to the output end of the millimeter-wave radar transmitting circuit for transmitting the millimeter-wave signal generated by the millimeter-wave radar transmitting circuit, and the other antenna is connected to the input end of the signal processing circuit for transmitting the received millimeter-wave signal to the signal processing circuit for processing.

[0015] In one embodiment, the controller comprises:

[0016] The main control circuit is used to output corresponding drive structure control signals and timing control signals according to a preset scanning strategy;

[0017] a drive structure control circuit, the output end of which is connected to the rotating motor, and is used to control the drive structure to drive the mechanical rotating antenna to rotate at a preset angular rate according to the drive structure control signal of the main control circuit;

[0018] The timing control circuit has an output end connected to the input end of the timing interface circuit, and is used to generate a timing signal according to the timing control signal of the main control circuit and output it to the timing interface circuit, so that the signal transceiver circuit can dynamically trigger the millimeter wave radar transmitting circuit and signal processing circuit to operate according to the rotation direction of the mechanical rotating antenna in the preset scanning strategy.

[0019] In one embodiment, the timing signal includes:

[0020] A signal transmission trigger signal, used to trigger the signal transceiver circuit to generate a millimeter wave signal;

[0021] The signal receiving trigger signal is used to trigger the signal transceiver circuit to start processing the received millimeter wave signal.

[0022] In one embodiment, the controller further includes:

[0023] A communication circuit connected to the main control circuit and the host computer;

[0024] The main control circuit is also used to upload the data output by the signal transceiver circuit to the host computer through the communication circuit.

[0025] In one embodiment, the signal processing circuit includes:

[0026] a signal demodulation circuit, the input end of which is connected to the mechanical rotating antenna, and is used to filter, amplify and demodulate the received millimeter wave signal to obtain a demodulated analog signal;

[0027] an analog-to-digital conversion circuit, whose input end is connected to the output end of the signal demodulation circuit, and is used to convert the analog signal output by the signal demodulation circuit into a digital signal;

[0028] The digital signal processing circuit has an input end connected to the output end of the analog-to-digital conversion circuit and is used to perform Doppler frequency shift calculation and phase difference analysis on the digital signal output by the analog-to-digital conversion circuit to obtain processed data.

[0029] In addition, to achieve the above objectives, the present application also proposes an electronic device, including the millimeter wave radar system as described above.

[0030] In addition, to achieve the above objectives, the present application also proposes a control method based on the above-mentioned millimeter wave radar system, including:

[0031] Controlling the driving structure to drive the mechanical rotating antenna to rotate within a preset scanning angle range at a preset angular rate;

[0032] When it is detected that the mechanical rotating antenna rotates to a preset angle, a timing signal is output to a signal transceiver circuit, which synchronously drives the signal transceiver circuit to transmit millimeter wave signals through the mechanical rotating antenna and process the millimeter wave signals received by the mechanical rotating antenna.

[0033] In an embodiment of the control method, when detecting that the mechanical rotating antenna rotates to a preset angle, outputting a timing signal to a signal transceiver circuit, synchronously driving the signal transceiver circuit to transmit a millimeter wave signal through the mechanical rotating antenna and processing the millimeter wave signal received by the mechanical rotating antenna, further comprises:

[0034] Filtering, amplifying and demodulating the received millimeter wave signal to obtain a demodulated analog signal;

[0035] Convert the demodulated analog signal into a digital signal;

[0036] The digital signal is processed by Doppler frequency shift calculation and phase difference analysis to obtain processed data.

[0037] This application uses dual antennas instead of multi-antenna arrays, reducing the number of RF chain components and the complex calibration process. It also utilizes a drive structure to achieve continuous adjustment of the antenna azimuth angle, enabling multi-angle scanning without relying on high-frequency phase shifters or dedicated beamforming chips, thus reducing system costs from a hardware architecture perspective. At the same time, the controller precisely synchronizes and controls the antenna rotation angle with the RF transmit / receive window, ensuring that the millimeter-wave signal beam pointing maintains temporal and spatial consistency during the signal transmission and echo reception phases, ensuring that the target reflection signal is effectively captured within the optimal dwell time. This simplifies the system structure while improving dynamic detection accuracy and anti-interference capabilities. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0039] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0040] Figure 1 This is a structural framework diagram of a millimeter wave radar system for this application;

[0041] Figure 2 A structural framework diagram is provided for Example 1 of a millimeter wave radar system of the present application;

[0042] Figure 3 This is a flow chart of a first embodiment of a method for controlling a millimeter-wave radar system according to the present application.

[0043] Figure numbers: signal transceiver circuit 01, millimeter wave radar transmitting circuit 11, signal processing circuit 12, timing interface circuit 13, mechanical rotating antenna 02, driving structure 03, controller 04, main control circuit 41, driving structure control circuit 42, timing control circuit 43.

[0044] The purpose, features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0045] It should be understood that the specific embodiments described herein are merely used to explain the technical solutions of the present application and are not intended to limit the present application.

[0046] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods. The flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architectures, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, program segment or part of a code, which contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two boxes shown in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, as well as the combination of boxes in the block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or can be implemented using a combination of dedicated hardware and computer instructions.

[0047] The modules described in the embodiments of the present application may be implemented in software or hardware, wherein the name of a module does not necessarily limit the unit itself.

[0048] This application proposes a millimeter wave radar system, such as Figure 1 Shown, including:

[0049] Signal transceiver circuit 01, used to generate millimeter wave signals or perform signal processing on received millimeter wave signals;

[0050] Mechanically rotating antenna 02, used for transmitting and receiving millimeter wave signals;

[0051] A driving structure 03 is connected to the mechanical rotating antenna 02 and is used to drive the mechanical rotating antenna 02 to rotate;

[0052] The controller 04 is connected to the signal transceiver circuit 01 and the controlled end of the drive structure 03, and is used to synchronously control the rotation direction of the mechanical rotating antenna 02 and the timing matching of the signal transceiver circuit 01 transmitting / receiving signals according to a preset scanning strategy.

[0053] Specifically, radar is categorized into several types based on operating frequency and wavelength, including millimeter-wave radar, which utilizes millimeter-wave electromagnetic waves (frequency range: 30 GHz to 300 GHz, wavelength: 1 mm to 10 mm) for detection and measurement. Compared to traditional microwave radar, millimeter-wave radar has a higher frequency and shorter wavelength, enabling higher resolution and more accurate detection. This makes millimeter-wave radar highly effective in a variety of applications, including autonomous driving, industrial automation, security surveillance, and health monitoring. Its high frequency and low wavelength enable it to provide high-resolution target images and precise distance measurement, operate in harsh weather conditions, and possess advantages such as strong penetration and high detection accuracy.

[0054] Millimeter-wave radar is a simple system, consisting primarily of the following modules: an antenna for receiving and transmitting millimeter-wave signals; a transmitter for generating and transmitting millimeter-wave signals. The transmitter typically includes components such as a signal generator and power amplifier; a receiver for receiving and processing reflected millimeter-wave signals, typically including a low-noise amplifier (LNA), a mixer, and an analog-to-digital converter (ADC); and a signal processing unit (SPU). This unit processes and analyzes the received signal, including digital signal filtering, data demodulation, and target detection, and transmits the processed data to a display. In general, a millimeter-wave radar system begins with a transmitter, which sends a signal through the antenna. When the signal encounters a target object, a portion of the signal is reflected back and captured by the radar antenna. This captured data is fed back to the receiver, processed by the signal processing unit, and ultimately displayed on a display.

[0055] However, the technical difficulties of existing millimeter-wave radar systems can be traced back to the inherent contradiction between their core architecture's reliance on electronic scanning technology and the physical characteristics of the millimeter-wave band. At the hardware level, the multi-antenna array configuration directly increases system complexity. For example, in a typical 64-element phased array, each antenna element must be equipped with an independent power amplifier, phase shifter, and receive channel, which strictly ties the number of RF chains to the number of antennas. This "one element, one chain" architecture not only results in a disproportionately high bill of materials (BOM) cost, but also severely constrains commercialization due to the high price of individual millimeter-wave components. Furthermore, maintaining phase consistency across multiple channels becomes a persistent challenge. As operating frequencies rise to the millimeter-wave range, wavelengths shrink to millimeter levels. Micron-scale mechanical deformation or a 1-degree Celsius temperature drift between antenna elements can cause phase errors exceeding 10°. To address this, the system must incorporate a complex calibration network that monitors the status of each channel in real time through embedded directional couplers and temperature sensors, then dynamically corrects for phase deviations using an iterative algorithm. Although this closed-loop mechanism of "calibration-compensation-recalibration" can maintain beamforming accuracy, it increases system maintenance costs, and the radar downtime caused by the calibration process directly affects equipment availability.

[0056] The physical limitations of electronic scanning technology expose a deep conflict between wavelength and system performance. According to phased array theory, the maximum beam deflection angle θ_max is constrained by grating lobe suppression requirements and must satisfy d ≤ λ / (1+|sinθ_max|), where d is the antenna spacing and λ is the wavelength. Electronic scanning faces a drastic drop in radiation efficiency at large deflection angles. Furthermore, the physical properties of millimeter waves further exacerbate this conflict: while the short wavelength allows for antenna miniaturization, atmospheric attenuation of high-frequency signals forces the system to adopt higher transmit power. This increased power, in turn, requires more complex heat dissipation and power management, creating a "complexity spiral." This lock-in effect in technological evolution has trapped the industry in a closed loop of "performance improvement, increased complexity, uncontrolled costs, and limited applications." Only innovation in underlying architectures can offer a breakthrough.

[0057] In response to the above problems, the present application proposes a millimeter-wave radar system that, while retaining the basic functions of the traditional millimeter-wave radar signal transceiver circuit 01 and antenna, solves the inherent bottlenecks of the traditional multi-antenna electronic scanning system in terms of hardware complexity, cost control and spatial coverage efficiency through a mechanical scanning architecture and timing coordinated control mechanism. The millimeter-wave radar system of the present application consists of four major modules: a signal transceiver circuit 01, a mechanical rotating antenna 02, a drive structure 03 and a controller 04. At the basic functional level, the signal transceiver circuit 01 of the present application continues the core technical features of the traditional millimeter-wave radar, and fully retains the basic capability modules of millimeter-wave signal generation, transmission, reception and processing. It adopts mature signal modulation and demodulation technology to ensure that the system has signal analysis accuracy and anti-interference performance comparable to traditional solutions.

[0058] The breakthrough lies in the structural reconstruction of the antenna system. This solution abandons the complex layout of traditional multi-antenna arrays in favor of a dual-rotatable antenna design. The mechanically rotating antenna 02 utilizes a precision drive mechanism to achieve 360-degree full-area scanning or directional scanning within a customizable angle range. Leveraging the spatial position changes caused by mechanical motion, the dual antennas can achieve the wide-area coverage that traditional multi-channel antenna arrays typically require, simplifying the hardware architecture. By streamlining the dozens of independent RF channels in the electronic scanning system into a dual-rotating RF chain, the number of high-frequency components, power amplifiers, and beamforming networks is significantly reduced, while also significantly simplifying the complex debugging steps required for multi-channel calibration. The drive structure 03 and mechanical rotation enable low-loss signal transmission under dynamic conditions, reducing hardware costs while maintaining comparable signal integrity to traditional solutions. This architectural simplification also extends to the power supply and cooling systems. Furthermore, the drive mechanism, acting as the actuator for the mechanical scanning, utilizes a motor and position feedback sensor to form a closed-loop control system, ensuring precise control of the antenna rotation angle. The scanning angle range can be freely configured via software, enabling both continuous panoramic scanning and targeted surveillance of specific threat areas.

[0059] Based on the configuration of the mechanically rotating antenna 02, the controller 04 of this application is connected to the signal transceiver circuit 01 and the controlled end of the drive structure 03. It is used to synchronously control the rotational position of the mechanically rotating antenna 02 and the timing matching of the signal transmission / reception of the signal transceiver circuit 01 according to a preset scanning strategy. This application achieves two key synergies: on the one hand, it implements speed regulation and angle positioning control of the drive mechanism, and on the other hand, it establishes a precise timing matching relationship with the signal transceiver circuit 01. This timing coordination mechanism enables the signal transceiver circuit 01 to synchronously trigger the transmission and reception operations of the corresponding beam when the antenna is in a specific spatial orientation, thereby achieving continuous spatial coverage of the electromagnetic beam during mechanical movement. Through preset programmable scanning strategies, the system can flexibly switch between full-circle scanning mode, sector-enhanced scanning mode, or multi-frequency scanning mode for key areas according to different application scenarios. This ensures that the detection range is maintained while increasing the monitoring density in key areas. It is suitable for fields such as meteorological observation, wind speed and direction measurement, and drone navigation. While maintaining the basic performance indicators of millimeter-wave radar, it successfully achieves technical improvements such as reduced system complexity, optimized manufacturing costs, and improved scanning efficiency. It is worth noting that the preset scanning strategy in this application is a control instruction preset by the user, which includes the scanning range and speed of the mechanical rotating antenna 02, the transmission and reception time of the signal transceiver circuit 01, etc.

[0060] This application uses dual antennas instead of a multi-antenna array, reducing the number of RF chain components and the complex calibration process. It also utilizes a driver structure 03 to achieve continuous adjustment of the antenna azimuth angle, enabling multi-angle scanning without relying on high-frequency phase shifters or dedicated beamforming chips, thus reducing system costs from a hardware architecture perspective. Furthermore, the controller 04 precisely synchronizes and controls the antenna rotation angle with the RF transmit / receive window, ensuring that the millimeter-wave signal beam pointing maintains temporal and spatial consistency during the signal transmission and echo reception phases, ensuring that the target reflection signal is effectively captured within the optimal dwell time. This simplifies the system structure while improving dynamic detection accuracy and anti-interference capabilities.

[0061] In one embodiment, if Figure 2 As shown, the signal transceiver circuit 01 includes:

[0062] The millimeter-wave radar transmitting circuit 11 is used to generate a millimeter-wave signal; the signal processing circuit 12 has an output end connected to the controller 04, and is used to process the received millimeter-wave signal and output it to the controller 04; the timing interface circuit 13 has an input end connected to the controller 04 and an output end connected to the millimeter-wave radar transmitting circuit 11 and the signal processing circuit 12, and is used to synchronously trigger the millimeter-wave radar transmitting circuit 11 and the signal processing circuit 12 to operate according to the instructions sent by the controller 04.

[0063] The millimeter-wave radar transmitting circuit 11 serves as the signal source, integrating a high-frequency oscillator and modulation unit to generate a millimeter-wave detection signal with specific frequency modulation characteristics. This circuit utilizes a multi-stage gain control design, dynamically adjusting the transmit power based on the required detection distance, ensuring stable signal strength during electromagnetic wave propagation. The transmitted signal is transmitted via a low-loss transmission line to the mechanically rotating antenna 02, forming a directional electromagnetic beam. During the receiving phase, when the mechanically rotating antenna 02 captures the echo signal reflected by the target, a high-speed transmission channel is established between the antenna and the signal processing circuit 12. The signal processing circuit 12 utilizes a filtering and amplification structure. The front-end configuration performs preliminary enhancement on weak echoes, and then uses an orthogonal demodulation module to convert the RF signal into a baseband signal containing amplitude and phase information. Real-time antenna azimuth data is synchronously injected during this processing, providing a spatial position reference for subsequent signal analysis. The timing interface circuit 13, serving as the core of the system's coordinated control, integrates a dual-channel synchronous triggering mechanism to ensure strict temporal and spatial alignment of the transmit pulse leading edge, the receive sampling window, and the dual-antenna beam pointing direction.

[0064] In this embodiment, the signal processing circuit 12 combines the Doppler effect and phase difference analysis to achieve high-precision wind speed and direction measurement. When the transmitted millimeter-wave signal encounters moving particles (such as dust or water droplets in the air), the frequency of the reflected signal changes. This frequency change is related to the particle's velocity (i.e., wind speed). By measuring the frequency offset, the wind speed can be calculated. Phase difference analysis can be used to determine wind direction, as winds from different directions can cause differences in the arrival time or phase of the reflected signal. Especially when the antenna is rotating, phase changes at different angles can indicate wind direction. It is important to ensure that the signal processing circuit 12 can accurately extract frequency offset and phase information. This involves quadrature demodulation, which decomposes the received signal into I (in-phase) and Q (quadrature) components for complex analysis, thereby obtaining accurate phase and frequency information. Furthermore, given the motion of the mechanically rotating antenna 02, the signal processing circuit 12 may need to be synchronized with the antenna's angular position to correlate the phase difference with the specific antenna pointing angle and, therefore, derive wind direction.

[0065] The entire signal chain achieves precise coordination under the intelligent scheduling of controller 04. Using the preset radar operating sequence, controller 04 sends nanosecond-level precision instructions to timing interface circuit 13, ensuring strict spatiotemporal alignment of the transmit pulse leading edge, receive sampling window, and dual-antenna beam pointing. This prevents interference from the transmit signal on the receive channel while ensuring the integrity of echo signal acquisition. Simultaneously, controller 04 continuously monitors the system's operating status and adaptively adjusts the gain parameters of signal processing circuit 12 based on the ambient noise level, forming a fully closed-loop control system from signal transmission, echo reception, to data processing, enhancing the radar system's reliability and environmental adaptability.

[0066] In one embodiment, the mechanical rotating antenna 02 includes dual antennas, one of which is connected to the output end of the millimeter-wave radar transmitting circuit 11 for transmitting the millimeter-wave signal generated by the millimeter-wave radar transmitting circuit 11, and the other antenna is connected to the input end of the signal processing circuit 12 for transmitting the received millimeter-wave signal to the signal processing circuit 12 for processing. In the implementation architecture of the mechanical rotating antenna 02, the dual antennas adopt a split coaxial rotating structure design, and independent control of the spatial beam is achieved through a precision mechanical transmission mechanism. A low-loss flexible feeder is used to connect the transmitting side antenna to the millimeter-wave radar transmitting circuit 11, and a rotating joint is used to achieve full-circle mechanical deflection while maintaining stable impedance matching characteristics. The antenna forms a fan-shaped beam with sharp directivity during the rotation scanning process, and the electromagnetic energy is focused on the target detection space through the forward radiation mode.

[0067] The receiving antenna is coupled to the input of the signal processing circuit 12 via a multi-stage rotating joint. The receiving link utilizes a double-balanced mixer structure to maintain the stability of the receiving channel's standing wave ratio during mechanical rotation, ensuring high-fidelity transmission of weak echo signals. Furthermore, a photoelectric encoder integrated into the antenna base provides real-time feedback of the rotation angle to the control unit, providing an azimuth reference for spatial positioning of the echo signal.

[0068] The dual-antenna rotation mechanism utilizes a differential coordinated control strategy, achieving spatiotemporal synchronization of the transmit and receive beams through the coordination of precision gear sets and servo motors. As the transmitting antenna periodically reciprocates along a preset scanning trajectory, the receiving antenna dynamically adjusts its pointing angle based on the target echo arrival time estimated by the radar equation, forming an enhanced detection area with cross-beam coverage. Both sets of rotating joints are equipped with RF choke rings to effectively block the leakage paths of high-frequency signals in rotating mechanical components. The system achieves optimal spatial matching between the transmit radiation field and receive sensitivity through the spatial diversity and coordinated scanning mechanism of the dual antennas. When the transmit beam actively illuminates the target area, the receiving antenna pre-aligns the signal reflection path through predictive angular deflection, significantly improving the probability of capturing high-speed moving targets. This architecture combines the dual advantages of dynamic transmit power adaptation and adaptive receive sensitivity adjustment, demonstrating superior multi-target resolution and tracking capabilities in complex electromagnetic environments.

[0069] In one embodiment, if Figure 2 As shown, the controller 04 includes:

[0070] The main control circuit 41 is used to output control signals and timing control signals for the drive structure 03 according to the preset scanning strategy. As the system's core decision-making unit, the main control circuit 41 houses a scanning strategy analysis module and motion planning algorithm, capable of converting preset scanning modes (such as uniform circular scanning, directional dwell scanning, or variable-speed segmented scanning) into multi-dimensional control instructions. Drive structure 03 control instructions, including rotation direction, angular velocity curve, and dynamic response parameters, are transmitted in real time to the drive structure control circuit 42 via a digital bus. Timing control instructions encapsulate key timing parameters such as transmit pulse width and receive window duration, providing a benchmark for subsequent synchronous scheduling of the signal chain.

[0071] The drive structure control circuit 42, with its output connected to the rotating motor, is used to control the drive structure 03 to rotate the mechanical rotating antenna 02 at a preset angular velocity based on the control signal from the drive structure 03 of the main control circuit 41. Acting as the electromechanical conversion hub, the drive structure control circuit 42 receives the angular velocity command from the main control circuit 41 and generates a three-phase drive signal using a space vector modulation algorithm to dynamically adjust the torque output of the rotating motor. A built-in encoder feedback interface collects the absolute angle information of the mechanical rotating antenna 02 in real time, forming a closed-loop position control system to ensure that the deviation of the antenna's rotation trajectory from the preset angle is within a controllable range.

[0072] The timing control circuit 43, whose output is connected to the input of the timing interface circuit 13, is used to generate a timing signal based on the timing control signal from the main control circuit 41 and output it to the timing interface circuit 13, so that the signal transceiver circuit 01 dynamically triggers the millimeter-wave radar transmitting circuit 11 and signal processing circuit 12 to operate according to the rotational orientation of the mechanically rotating antenna 02 in the preset scanning strategy. The signal generation link adopts a differential transmission architecture, transmitting the timing signal to the timing interface circuit 13 via current-mode logic levels. The interface integrates an impedance matching network and a noise suppression filter to ensure the integrity of high-speed digital signals during long-distance transmission. The circuit synchronously outputs an antenna orientation auxiliary signal to the signal processing unit. This signal carries real-time mechanical rotation angle information and time stamp data of the triggering event, providing a spatiotemporal reference for spatial resolution of the echo signal. To address complex electromagnetic environments, the circuit is configured with a redundant check mechanism to continuously monitor the signal integrity of the timing link and automatically initiate a timing reconstruction process when pulse loss or phase jitter is detected.

[0073] In one embodiment, the timing signal includes: a signal transmission trigger signal for triggering the signal transceiver circuit 01 to generate a millimeter wave signal; a signal reception trigger signal for triggering the signal transceiver circuit 01 to start processing the received millimeter wave signal.

[0074] In the millimeter-wave radar system of this embodiment, the timing control circuit 43 ensures that the mode conversion of the signal link is strictly matched with the spatial pointing of the mechanical antenna through a multi-level coordination mechanism. The signal transmission trigger signal is used to trigger the signal transceiver circuit 01 to start generating millimeter-wave signals, which is usually a level change or a pulse signal. When the control system detects that the antenna has rotated to a preset angle, this signal will be sent. Once this trigger signal is received, the signal transceiver circuit 01 will start preparing for the generation of the millimeter-wave signal, including steps such as modulation and amplification. The signal transmits a trigger signal, and when the mechanical rotating antenna 02 is about to reach the preset scanning angle, the transmission channel of the RF link is activated in advance, the circuit delay and the mechanical transmission gap are compensated, so that the transmission window of the millimeter-wave signal is completely aligned with the spatial pointing of the antenna beam.

[0075] The signal reception trigger signal is used to trigger the signal transceiver circuit 01 to start processing the received millimeter wave signal. After receiving this trigger signal, the signal transceiver circuit 01 will prepare to receive the millimeter wave signal from the antenna and perform corresponding processing, such as demodulation and filtering. After receiving this signal, it begins to receive and process the millimeter wave signal. At the same time, the instantaneous stability of the antenna is controlled by hardware-level logic, suppressing the phase noise introduced by mechanical movement and providing a static environment for the complete capture of the echo signal. In this process, the timing control circuit 43 not only achieves the synchronization of the transmission and reception modes, but also dynamically corrects the timing deviation through a closed-loop feedback mechanism. For example, it fine-tunes the generation time of the trigger signal according to the actual rotation angle of the antenna, thereby establishing an adaptive synchronization relationship between the mechanical dynamic characteristics and the RF signal beat. Through the deep coupling of the signal layer, mechanical layer and control layer, the entire system ensures the temporal and spatial consistency of the millimeter wave signal while improving the mode anti-interference capability in complex scenarios.

[0076] In one embodiment, the controller 04 further includes:

[0077] The communication circuit is connected to the main control circuit 41 and the host computer. The main control circuit 41 is also used to upload the data output by the signal transceiver circuit 01 to the host computer via the communication circuit. In this embodiment, the communication circuit of the controller 04 serves as the core hub for information exchange, establishing a bidirectional data channel with the main control circuit 41 and the host computer, achieving efficient collaboration between the system's internal and external platforms. After completing real-time analysis and preprocessing of the data output by the signal transceiver circuit 01, the main control circuit 41 uploads the standardized data packets to the host computer via the communication circuit according to a preset protocol, forming a complete information chain from raw signal acquisition to high-level decision-making. The communication circuit adopts a layered architecture design. The bottom layer uses a high-speed industrial bus protocol to ensure the real-time and integrity of data transmission. The upper layer coordinates the transmission timing of control instructions and echo data through a dynamic priority scheduling mechanism to avoid communication resource conflicts. During the data upload process, the main control circuit 41 simultaneously monitors the status of the communication link. If a transmission anomaly is detected, it can autonomously trigger data caching or retransmission strategies to ensure the reliable delivery of critical information. At the same time, the communication circuit also supports parameter configuration instructions issued by the host computer, such as scanning strategy updates. The main control circuit 41 dynamically adjusts the system operation logic by instantly parsing such instructions, realizing deep linkage between remote control and local execution.

[0078] In one embodiment, the signal processing circuit 12 includes:

[0079] A signal demodulation circuit, whose input end is connected to the mechanical rotating antenna 02, is used to filter, amplify and demodulate the received millimeter wave signal to obtain a demodulated analog signal; an analog-to-digital conversion circuit, whose input end is connected to the output end of the signal demodulation circuit, is used to convert the analog signal output by the signal demodulation circuit into a digital signal; a digital signal processing circuit 12, whose input end is connected to the output end of the analog-to-digital conversion circuit, is used to perform Doppler frequency shift calculation and phase difference analysis on the digital signal output by the analog-to-digital conversion circuit to obtain processed data.

[0080] In this embodiment, the signal processing circuit 12 implements a multi-level processing architecture, achieving high-precision echo extraction and analysis through a progressive signal processing chain. The signal demodulation circuit, serving as the pre-processing core, directly interfaces with the RF output port of the mechanically rotating antenna 02. A tunable bandpass filter dynamically suppresses ambient noise and out-of-band interference. A low-noise amplifier then performs gain compensation on the weak echo signal. Finally, an orthogonal demodulation module strips the millimeter-wave carrier frequency, restoring the high-frequency modulated signal to a baseband analog signal containing target range and phase information. The analog-to-digital conversion circuit samples the demodulated analog signal within a high dynamic range and converts it into a digital signal. The digital signal processing circuit 12, serving as the post-processing intelligent analysis unit, performs multi-dimensional processing on the sampled data based on a parallel computing engine. It extracts Doppler shift information through a fast Fourier transform to invert the target's radial velocity. It also incorporates a multi-channel phase difference analysis algorithm to construct a spatial interference model, accurately calculating the target's azimuth and elevation angles. The entire processing chain, through the deep cooperation of hardware acceleration modules and reconfigurable logic, forms a full-process conversion channel from raw RF signals to three-dimensional space point cloud data while ensuring real-time processing capabilities.

[0081] In addition, the present application also proposes an electronic device including the millimeter-wave radar system described above. The millimeter-wave radar system includes a signal transceiver circuit 01 for generating millimeter-wave signals or processing received millimeter-wave signals; a mechanical rotating antenna 02 for transmitting and receiving millimeter-wave signals; a drive structure 03 connected to the mechanical rotating antenna 02 for driving the mechanical rotating antenna 02 to rotate; and a controller 04 connected to the signal transceiver circuit 01 and the controlled end of the drive structure 03 for synchronously controlling the rotational orientation of the mechanical rotating antenna 02 to match the timing of the signal transmission / reception by the signal transceiver circuit 01 according to a preset scanning strategy.

[0082] This application uses dual antennas instead of a multi-antenna array, reducing the number of RF chain components and the complex calibration process. It also utilizes a drive structure 03 to achieve continuous adjustment of the antenna azimuth angle, breaking through the beam deflection angle limitations of electronic scanning. This eliminates the need for high-frequency phase shifters or dedicated beamforming chips, reducing system costs from a hardware architecture perspective. Simultaneously, the controller 04 precisely synchronizes and controls the antenna rotation angle with the RF transmit / receive window, ensuring that the millimeter-wave signal's beam pointing maintains temporal and spatial consistency between the signal transmission phase and the echo reception phase, ensuring that the target's reflected signal is effectively captured within the optimal dwell time. This simplifies the system structure while improving dynamic detection accuracy and anti-interference capabilities.

[0083] In addition, this application also proposes a control method, such as Figure 3 As shown, based on the above-mentioned millimeter wave radar system implementation, it includes:

[0084] S100: Controlling the drive structure 03 to drive the mechanical rotating antenna 02 to rotate at a preset angular rate within a preset scanning angle range. The antenna is driven by the motor to periodically rotate, covering the preset scanning angle range. The preset scanning angle is set in a previously preset scanning strategy based on the application scenario, target distribution, and communication requirements.

[0085] S200: When the mechanical rotating antenna 02 is detected to have rotated to a preset angle, a timing signal is output to the signal transceiver circuit 01, synchronously driving the signal transceiver circuit 01 to transmit millimeter wave signals through the mechanical rotating antenna 02 and process the millimeter wave signals received by the mechanical rotating antenna 02. During the antenna's rotation, the control system continuously monitors the antenna's position. When the antenna reaches the preset transmission position, a timing signal is output to trigger the signal transceiver circuit 01 to transmit the millimeter wave signal. Millimeter wave signals propagate through space and may encounter obstacles or objects, causing reflections. The mechanical rotating antenna 02 receives the reflected millimeter wave signal and outputs it to the signal transceiver circuit 01, which then begins processing the received millimeter wave signal. This process includes signal amplification, filtering, demodulation, digitization, and subsequent data processing and analysis.

[0086] In an embodiment of the control method, the specific step of processing the millimeter wave signal received by the mechanical rotating antenna 02 further includes:

[0087] S410: Filter, amplify, and demodulate the received millimeter-wave signal to obtain a demodulated analog signal. First, filter the received millimeter-wave signal. The purpose of this step is to remove noise and interference from the signal to ensure the signal quality for subsequent processing. The filtering operation can be achieved by using specific filters that allow signals within a specific frequency range to pass through while suppressing signals of other frequencies. Next, amplify the filtered millimeter-wave signal. Because millimeter-wave signals may be attenuated during transmission, an amplifier is required to enhance the signal strength so that subsequent circuits can accurately process it. Finally, demodulate the amplified millimeter-wave signal. Demodulation is the process of restoring the modulated signal to the original information signal. In millimeter-wave communications, signals are typically modulated onto a millimeter-wave carrier, so demodulation is the process of extracting these signals from the carrier to obtain a demodulated analog signal.

[0088] S420: Convert the demodulated analog signal into a digital signal. This step is usually achieved through an analog-to-digital converter (ADC). The ADC can convert the continuous analog signal into a discrete digital signal to facilitate subsequent digital signal processing.

[0089] S430: Doppler shift calculation and phase difference analysis are performed on the digital signal to obtain processed data. Doppler shift calculation is performed on the digital signal. Doppler shift is a change in signal frequency caused by relative motion between the transmitter and receiver. In millimeter wave communications, the motion of the mechanically rotating antenna 02 may cause Doppler shift in the received signal. By calculating the Doppler shift, information about the relative motion between the transmitter and receiver can be obtained. Phase difference analysis is performed on the digital signal. Phase difference refers to the phase difference between two or more signals at the same frequency. In millimeter wave communications, the position or motion state of the transmitter can be inferred by analyzing the phase difference of the received signal. When a transmitted millimeter wave signal encounters moving particles (such as dust or water droplets in the air), the frequency of the reflected signal changes. This frequency change is related to the particle velocity (i.e., wind speed). By measuring the frequency shift, the wind speed can be calculated. Phase difference analysis can be used to determine wind direction, as winds from different directions can cause differences in the arrival time or phase of the reflected signal. Especially when the antenna is rotating, phase changes at different angles can indicate wind direction. It is crucial to ensure that the signal processing circuit 12 can accurately extract frequency offset and phase information. This involves quadrature demodulation, which decomposes the received signal into I (in-phase) and Q (quadrature) components for complex analysis, resulting in accurate phase and frequency information. Furthermore, given the motion of the mechanically rotating antenna 02, the signal processing circuit 12 may need to be synchronized with the antenna's angular position to correlate phase differences with specific antenna pointing angles and, therefore, derive wind direction.

[0090] The above description is only part of the embodiments of the present application and does not limit the patent scope of the present application. All equivalent structural transformations made by using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect application in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A millimeter wave radar system, characterized in that: include: A signal transceiver circuit, used to generate millimeter wave signals or perform signal processing on received millimeter wave signals; A mechanically rotating antenna for transmitting and receiving millimeter wave signals; A driving structure, drivingly connected to the mechanical rotating antenna, for driving the mechanical rotating antenna to rotate; a controller connected to the signal transceiver circuit and the controlled end of the drive structure, and configured to synchronously control the rotational orientation of the mechanical rotating antenna and the timing matching of the signal transmission / reception by the signal transceiver circuit according to a preset scanning strategy; The controller includes: The main control circuit is used to output corresponding drive structure control signals and timing control signals according to a preset scanning strategy; a drive structure control circuit, the output end of which is connected to the rotating motor, and is used to control the drive structure to drive the mechanical rotating antenna to rotate at a preset angular rate according to the drive structure control signal of the main control circuit; The timing control circuit has an output end connected to the input end of the timing interface circuit, and is used to generate a timing signal according to the timing control signal of the main control circuit and output it to the timing interface circuit, so that the signal transceiver circuit can dynamically trigger the millimeter wave radar transmitting circuit and signal processing circuit to operate according to the rotation direction of the mechanical rotating antenna in the preset scanning strategy.

2. The millimeter wave radar system according to claim 1, wherein: The signal transceiver circuit includes: Millimeter-wave radar transmitting circuit, used to generate millimeter-wave signals; A signal processing circuit, the output end of which is connected to the controller, for processing the received millimeter wave signal and outputting it to the controller; A timing interface circuit, whose input end is connected to the controller and whose output end is connected to the millimeter-wave radar transmitting circuit and the signal processing circuit, is used to synchronously trigger the millimeter-wave radar transmitting circuit and the signal processing circuit to work according to the instructions sent by the controller.

3. The millimeter wave radar system according to claim 2, wherein: The mechanical rotating antenna includes two antennas, one of which is connected to the output end of the millimeter-wave radar transmitting circuit for transmitting the millimeter-wave signal generated by the millimeter-wave radar transmitting circuit, and the other antenna is connected to the input end of the signal processing circuit for transmitting the received millimeter-wave signal to the signal processing circuit for processing.

4. The millimeter wave radar system according to claim 1, wherein: The timing signal includes: A signal transmission trigger signal, used to trigger the signal transceiver circuit to generate a millimeter wave signal; The signal receiving trigger signal is used to trigger the signal transceiver circuit to start processing the received millimeter wave signal.

5. The millimeter wave radar system according to claim 1, wherein: The controller further includes: A communication circuit connected to the main control circuit and the host computer; The main control circuit is also used to upload the data output by the signal transceiver circuit to the host computer through the communication circuit.

6. The millimeter wave radar system according to claim 2, wherein: The signal processing circuit includes: a signal demodulation circuit, the input end of which is connected to the mechanical rotating antenna, and is used to filter, amplify and demodulate the received millimeter wave signal to obtain a demodulated analog signal; an analog-to-digital conversion circuit, whose input end is connected to the output end of the signal demodulation circuit, and is used to convert the analog signal output by the signal demodulation circuit into a digital signal; The digital signal processing circuit has an input end connected to the output end of the analog-to-digital conversion circuit and is used to perform Doppler frequency shift calculation and phase difference analysis on the digital signal output by the analog-to-digital conversion circuit to obtain processed data.

7. An electronic device, characterized in that: The method comprises the millimeter wave radar system according to any one of claims 1 to 6.

8. A control method, characterized in that: The millimeter wave radar system according to any one of claims 1 to 6 is implemented, comprising: Controlling the driving structure to drive the mechanical rotating antenna to rotate within a preset scanning angle range at a preset angular rate; When it is detected that the mechanical rotating antenna rotates to a preset angle, a timing signal is output to a signal transceiver circuit, which synchronously drives the signal transceiver circuit to transmit millimeter wave signals through the mechanical rotating antenna and process the millimeter wave signals received by the mechanical rotating antenna.

9. The control method according to claim 8, wherein: The specific steps after the step of outputting a timing signal to a signal transceiver circuit when detecting that the mechanical rotating antenna rotates to a preset angle, synchronously driving the signal transceiver circuit to transmit a millimeter wave signal through the mechanical rotating antenna and processing the millimeter wave signal received by the mechanical rotating antenna also include: Filtering, amplifying and demodulating the received millimeter wave signal to obtain a demodulated analog signal; Convert the demodulated analog signal into a digital signal; The digital signal is processed by Doppler frequency shift calculation and phase difference analysis to obtain processed data.

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