1、没有装驱动前，执行ls /dev/ttyUSB*查询USB设备

zhping@zhping-Legion-Y7000-IRX9:~$ ls /dev/ttyUSB*
ls: 无法访问 '/dev/ttyUSB*': 没有那个文件或目录

2、未插入USB转串口时，查询所有USB设备lsusb

zhping@zhping-Legion-Y7000-IRX9:~$ lsusb
Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 001 Device 003: ID 046d:c52f Logitech, Inc. Unifying Receiver
Bus 001 Device 002: ID 048d:c107 Integrated Technology Express, Inc. ITE Device(8910)
Bus 001 Device 005: ID 0bda:4853 Realtek Semiconductor Corp. Bluetooth Radio
Bus 001 Device 004: ID 5986:118a Acer, Inc Integrated Camera
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub

3、插入USB转串口时，查询所有USB设备lsusb

zhping@zhping-Legion-Y7000-IRX9:~$ lsusb
Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 001 Device 003: ID 046d:c52f Logitech, Inc. Unifying Receiver
Bus 001 Device 002: ID 048d:c107 Integrated Technology Express, Inc. ITE Device(8910)
Bus 001 Device 005: ID 0bda:4853 Realtek Semiconductor Corp. Bluetooth Radio
Bus 001 Device 006: ID 1a86:7523 QinHeng Electronics HL-340 USB-Serial adapter
Bus 001 Device 004: ID 5986:118a Acer, Inc Integrated Camera
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub

lsusb 输出能看到关键信息：系统已经识别到了 QinHeng Electronics HL-340 USB-Serial adapter（也就是 D6 雷达的 USB 转串口芯片），设备号是 Bus 001 Device 006，但还没生成 /dev/ttyUSB* 这类串口设备文件，核心问题是驱动加载异常或权限未配置。

4、安装USB转串口驱动，HL-340 对应的驱动是 ch341

# 1. 手动加载ch341驱动 sudo modprobe ch341 

# 2. 检查驱动是否加载成功 lsmod | grep ch341 # 正常输出应该是：ch341 28672 0

zhping@zhping-Legion-Y7000-IRX9:~$ sudo modprobe ch341
zhping@zhping-Legion-Y7000-IRX9:~$ lsmod | grep ch341
ch341                  24576  0
usbserial              57344  1 ch341

5、再查询USB文件，已有了

zhping@zhping-Legion-Y7000-IRX9:~$ ls /dev/ttyUSB*
/dev/ttyUSB0