An anti-interference radar system and method for a mining new energy vehicle

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By designing an anti-interference radar system on new energy vehicles for mining, and using microcontrollers and CAN bus technology for signal processing and data transmission, the problem of distance measurement accuracy and reliability of traditional ultrasonic radar in coal mine environments is solved, and higher anti-interference ability and system stability are achieved.

CN119758313AInactive Publication Date: 2025-04-04NANJING ZHAOYUE INTELLIGENT TECH CO LTD

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Patent Information

Application Number: CN202510031590.2
Authority / Receiving Office: CN · China
Patent Type: Applications(China)
Current Assignee / Owner
Filing Date: 2025-01-09
Publication Date: 2025-04-04
Estimated Expiration: Not applicable · inactive patent

AI Technical Summary

Technical Problem

In coal mine new energy vehicles, traditional ultrasonic radars have reduced distance measurement accuracy and reliability due to strong electromagnetic interference and complex environment, and data transmission is easily disturbed.

Method used

Design an anti-interference radar system for new energy vehicles for mining, adopt a microcontroller to send, receive and process signals locally, transmit data through the CAN bus, and use a cross-correlation method to perform signal processing to improve anti-interference ability.

Benefits of technology

It significantly improves the anti-interference ability of radar signals, ensures the accuracy and reliability of ranging data, reduces the system failure rate caused by changes in the external environment, and extends the service life of the system.

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Abstract

The present invention relates to the field of new energy vehicle radar communication technology, specifically to an anti-interference radar system and method for a new energy vehicle for mining, comprising electronic equipment for new energy vehicles for mining, a CNC transceiver module, a main control unit, a power module and an ultrasonic radar. The present invention realizes the local transmission, reception and processing of radar signals by installing a single-chip microcomputer behind the ultrasonic radar. This design reduces the electromagnetic interference of the original signal directly transmitted to the central controller over a long distance through a data line, thereby significantly improving the anti-interference ability of the signal. The single-chip microcomputer, as the front end of signal processing, can effectively filter out most of the interference signals, ensuring that the processed data is more accurate and reliable, and providing a solid foundation for effective distance calculation and decision-making. At the same time, the present invention can effectively reduce the interference of environmental noise on the signal to ensure that effective echo data can be accurately identified and processed even in extreme environments.

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Description

Technical Field

[0001] The present invention relates to the field of new energy vehicle radar communication technology, and in particular to an anti-interference radar system and method for a mining new energy vehicle. Background Art

[0002] Ultrasonic radar, commonly known as reversing radar, is a sensor device based on ultrasonic characteristics. The current common vehicle distance detection method is to use the ultrasonic principle. The ultrasonic ranging principle has the advantages of rapid and convenient measurement, and is not affected by factors such as light. It is currently the most preferred and widely used vehicle ranging technology solution. Due to strong electromagnetic interference and complex working environment on new energy vehicles in coal mines, the ultrasonic radar sensor data on ordinary vehicles is very disordered and cannot accurately measure distance. The special working environment of coal mines not only has a large number of electromagnetic noise sources, such as motor drives and power transmission lines, but also has small spaces and dust. These have greatly challenged the stability of traditional ultrasonic radars, and the current ultrasonic radars also have the following problems: (1) When ordinary ultrasonic radar is used on new energy vehicles for mining, due to the particularity of the coal mine environment, such as strong electromagnetic interference and narrow space, the signal data received by the radar sensor is easily interfered, which in turn affects the ranging accuracy and reliability; (2) Traditional ultrasonic radars usually transmit signals directly to the central controller through data lines, which can easily lead to data transmission errors or losses in electromagnetic interference environments; (3) The structure of the transmission ultrasonic radar system is relatively simple and lacks the necessary signal preprocessing and anti-interference measures, which leads to performance degradation in complex environments. An anti-interference radar system and method for mining new energy vehicles are needed to solve this problem. Summary of the invention

[0003] The object of the present invention is to provide an anti-interference radar system and method for a mining new energy vehicle to solve the problems raised in the above background technology.

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an anti-interference radar system for a mining new energy vehicle and a method thereof, comprising a mining new energy vehicle electronic device, a CNC transceiver module, a main control unit, a power module and an ultrasonic radar; The electronic equipment of the mining new energy vehicle is connected to the CNC transceiver module, the CNC transceiver module is connected to the main control unit, one side of the main control unit is connected to the power module, and the other side of the main control unit is connected to the ultrasonic radar.

[0005] As a preferred technical solution of the present invention, the main control unit is the core processing unit of the device, which includes three business modules, namely, ultrasonic radar, CAN interface protocol processing module and ultrasonic radar data capture module.

[0006] As the preferred technical solution of the present invention, the ultrasonic radar in this system is mainly ultrasonic radar communication. The ultrasonic radar communication module is the data source acquisition module of the invention. Its main function is to acquire the original data of the ultrasonic radar and parse the acquired data to prepare for the ultrasonic radar data processing module.

[0007] As the preferred technical solution of the present invention, the CAN interface protocol processing module is the data upload module of the present invention, and its main function is to send the ultrasonic radar data to the central controller through the twisted pair cable according to the configured CAN message protocol.

[0008] As a preferred technical solution of the present invention, the CNC transceiver module can be used to realize the CAN bus electrical characteristic interface, communicate with the vehicle CAN bus, and communicate with the CAN interface of the main control unit to complete the CAN bus interface function; As the preferred technical solution of the present invention, the ultrasonic radar data processing module usually uses the simple time difference from the start of sending the excitation to the time difference of receiving the echo signal to calculate the ultrasonic radar ranging. Here, the echo signal is received according to the amplitude of the echo signal reaching the threshold value. According to the time recorded by the timer and the speed of ultrasonic wave propagation in the air, the distance between the transmitting point and the obstacle can be calculated. This method can be used normally in general environments. In the coal mine environment, the measurement error is large due to the influence of the environment. Compared with the threshold detection method, the cross-correlation method has better accuracy and anti-interference ability. The cross-correlation algorithm is used to estimate the time by calculating the similarity between the echo signal and the standard reference signal, that is, to perform a cross-correlation operation. Here, the reference signal is selected as the sending signal, and the echo signal is the signal after a period of time of the sending signal, which is mixed with some noise. The waveform shape of the two is almost unchanged, and there is a strong correlation: Y(t) = K*X(t-to)+n(t) In the formula: X is the transmitted signal, Y is the echo signal, K is the attenuation coefficient of the signal, to is the elapsed time, and n(t) is the noise.

[0009] The cross-correlation function of the echo signal X and the transmitted signal Y can be expressed as: Since the noise signal is almost random and unrelated to the transmitted signal, the result obtained by substituting the signal into the function and performing the operation will not introduce noise interference and cause errors. When time T=to, R(s,t) will reach the maximum value. That is, after calculating the cross-correlation function, the time value of its peak value can be obtained to determine the past time T.

[0010] As a preferred technical solution of the present invention, the power supply module is a power supply module for realizing ultrasonic radar, which can meet the vehicle-mounted 12 / 24V power supply network and can also be converted into a local power supply network that meets the working conditions of the device.

[0011] As a preferred technical solution of the present invention, an anti-interference radar method for a mining new energy vehicle is characterized by the following steps: S1. First, the controller sends a signal to the sending probe, and the ultrasonic probe emits an ultrasonic signal outward. At the same time, the controller's timer starts timing; S2. Secondly, the ultrasonic signal propagates in the air and will be reflected back immediately after encountering an obstacle on the way; S3. Finally, when the ultrasonic receiver receives the reflected wave, the timer stops timing immediately, and finally a time difference is obtained. According to this time difference and the propagation speed of ultrasonic waves in the air, the distance between the transmitting point and the obstacle can be calculated.

[0012] Compared with the prior art, the present invention has the following beneficial effects: (1) The present invention is an anti-interference radar system and method for a mining new energy vehicle. The present invention realizes local transmission, reception and processing of radar signals by adding a single-chip microcomputer behind the ultrasonic radar. This design reduces the electromagnetic interference of the original signal during the long-distance transmission to the central controller directly through the data line, thereby significantly improving the signal's anti-interference ability. The single-chip microcomputer, as the front end of the signal processing, can effectively filter out most of the interference signals, ensuring that the processed data is more accurate and reliable, and providing a solid foundation for effective distance calculation and decision-making.

[0013] (2) The present invention is an anti-interference radar system and method for a new energy vehicle for mining. The present invention adopts the CAN bus as the data transmission channel between the radar processing board and the central controller. The CAN bus adopts a twisted pair differential data transmission method. This design can effectively resist electromagnetic interference. The high anti-interference and stability of the CAN bus ensure that the processed data can be accurately transmitted to the central controller, avoiding false alarms and missed alarms caused by data transmission errors, and improving the reliability and stability of the entire system. At the same time, the present invention can effectively reduce the interference of environmental noise on the signal to ensure that effective echo data can be accurately identified and processed even in extreme environments.

[0014] (3) The present invention is an anti-interference radar system and method for a new energy mining vehicle. The present invention optimizes the system structure by introducing a single-chip microcomputer and CAN bus technology, realizes local preprocessing of signals and anti-interference transmission, and at the same time, the fit between the single-chip microcomputer and the radar sensor reduces interference sources on the data transmission path, thereby improving the system's integration and reliability. The optimized system structure not only improves the overall stability of the system, but also reduces the system failure rate caused by changes in the external environment, thereby extending the system's service life. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 It is a block diagram of an anti-interference ultrasonic radar for mining new energy vehicles according to the present invention; Figure 2 is a flow chart of the ultrasonic distance measurement principle according to the present invention; Figure 3 is a block diagram of a power supply design according to the present invention; Figure 4 It is a flow chart of calculation under frequency state in the ultrasonic radar data processing module according to the present invention. DETAILED DESCRIPTION

[0017] Below, the invention is further described in conjunction with the accompanying drawings and specific embodiments: See also Figure 1-4 , according to an embodiment of the present invention, an anti-interference radar system for a mining new energy vehicle comprises a mining new energy vehicle electronic device, a CNC transceiver module, a main control unit, a power module and an ultrasonic radar; The electronic equipment of the mining new energy vehicle is connected to the CNC transceiver module, the CNC transceiver module is connected to the main control unit, one side of the main control unit is connected to the power module, and the other side of the main control unit is connected to the ultrasonic radar. The main control unit is the core processing unit of the device, which includes three business modules, namely ultrasonic radar, CAN interface protocol processing module and ultrasonic radar data capture module. The ultrasonic radar in this system is mainly ultrasonic radar communication. The ultrasonic radar communication module is the data source acquisition module of the invention. Its main function is to acquire the original data of the ultrasonic radar and parse the acquired data to prepare for the ultrasonic radar data processing module. The CAN interface protocol processing module is the data upload module of the invention. Its main function is to upload the ultrasonic radar data according to the configuration. The CAN message protocol is sent to the central controller through a twisted pair. The CNC transceiver module can be used to implement the CAN bus electrical characteristic interface, communicate with the vehicle CAN bus, and communicate with the CAN interface of the main control unit to complete the CAN bus interface function. The ultrasonic radar data processing module usually uses a simple time difference from the start of the sending excitation to the receipt of the echo signal to calculate the ultrasonic radar ranging. Here, the echo signal is received according to the amplitude of the echo signal reaching the threshold to receive the signal. According to the time recorded by the timer and the speed of ultrasonic wave propagation in the air, the distance between the emission point and the obstacle can be calculated. This method can be used normally in general environments. In coal mine environments, the measurement error is large due to the influence of the environment. Compared with the threshold detection method, the cross-correlation method has better accuracy and anti-interference ability. The cross-correlation algorithm is used to estimate the time by calculating the similarity between the echo signal and the standard reference signal, that is, to perform a cross-correlation operation. Here, the reference signal is selected as the sending signal, and the echo signal is the signal after a period of time of the transmission signal, which is mixed with some noise. The waveform shape of the two is almost unchanged, and there is a strong correlation: Y(t) = K*X(t-to)+n(t) In the formula: X is the transmitted signal, Y is the echo signal, K is the attenuation coefficient of the signal, to is the elapsed time, and n(t) is the noise.

[0018] The cross-correlation function of the echo signal X and the transmitted signal Y can be expressed as: Since the noise signal is almost random and unrelated to the transmitted signal, the result obtained by substituting the signal into the function and performing the operation will not introduce noise interference and cause errors. When time T=to, R(s,t) will get the maximum value, that is, after calculating the cross-correlation function, the time value of its peak value can be obtained to determine the past time T. The power supply module is a power supply module for realizing ultrasonic radar, which can meet the vehicle-mounted 12 / 24V power supply network and can also be converted into a local power supply network that meets the working conditions of the device; An anti-interference radar method for a mining new energy vehicle is characterized by the following steps: S1. First, the controller sends a signal to the sending probe, and the ultrasonic probe emits an ultrasonic signal outward. At the same time, the controller's timer starts timing; S2. Secondly, the ultrasonic signal propagates in the air and will be reflected back immediately after encountering an obstacle on the way; S3. Finally, when the ultrasonic receiver receives the reflected wave, the timer stops timing immediately, and finally a time difference is obtained. According to this time difference and the propagation speed of ultrasonic waves in the air, the distance between the transmitting point and the obstacle can be calculated.

[0019] In this embodiment, the power supply design block diagram is as follows: Figure 3 As shown, intrinsically safe power supply design is used to achieve intrinsically safe explosion-proof design, thereby ensuring the safe use of the power module.

[0020] In this implementation, the cross-correlation algorithm utilizes the characteristics of the cross-correlation operation and the global information of the echo signal, and has good accuracy and anti-interference ability. However, cross-correlation requires a convolution operation, which is more complicated in the time domain and will affect the processing time of the microcontroller. Here, the calculation is performed in the frequency state, because the convolution in the time domain is better processed than the point multiplication in the frequency domain, such as Figure 4 As shown, the steps are: first, perform FFT operation on the transmitted signal and the received signal, then perform conjugate operation on the first signal, perform point multiplication on the obtained value, perform IFFT operation on the result of the point multiplication to obtain a cross-correlation operation function, and use the peak value for peak detection to obtain the subscript of the detection peak value and the time difference.

[0021] In the description of the present invention, it should be noted that the orientations or positional relationships indicated by the terms "top", "bottom", "one side", "the other side", "front", "back", "middle part", "inside", "top end", "bottom end", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention; the terms "first", "second", and "third" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance; in addition, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0022] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An anti-interference radar system for a mining new energy vehicle, characterized in that: Including mining new energy vehicle electronic equipment, CNC transceiver module, main control unit, power module and ultrasonic radar; The electronic equipment of the mining new energy vehicle is connected to the CNC transceiver module, the CNC transceiver module is connected to the main control unit, one side of the main control unit is connected to the power module, and the other side of the main control unit is connected to the ultrasonic radar.

2. The anti-interference radar system and method for a mining new energy vehicle according to claim 1 is characterized in that: The main control unit is the core processing unit of the device, which includes three business modules, namely ultrasonic radar, CAN interface protocol processing module and ultrasonic radar data capture module.

3. The anti-interference radar system and method for a mining new energy vehicle according to claim 1 is characterized in that: The ultrasonic radar in this system is mainly ultrasonic radar communication. The ultrasonic radar communication module is the data source acquisition module of the invention. Its main function is to acquire the original data of the ultrasonic radar and parse the acquired data to prepare for the ultrasonic radar data processing module.

4. The anti-interference radar system and method for a mining new energy vehicle according to claim 1, characterized in that: The CAN interface protocol processing module is the data uploading module of the present invention, and its main function is to send the ultrasonic radar data to the central controller through the twisted pair cable according to the configured CAN message protocol.

5. The anti-interference radar system and method for a mining new energy vehicle according to claim 1, characterized in that: The CNC transceiver module can be used to implement the CAN bus electrical characteristic interface, communicate with the vehicle CAN bus, and communicate with the CAN interface of the main control unit to complete the CAN bus interface function.

6. The anti-interference radar system and method for a mining new energy vehicle according to claim 1, characterized in that: The ultrasonic radar data processing module usually uses a simple time difference from the start of the excitation to the receipt of the echo signal to calculate the ultrasonic radar distance. Here, the echo signal is received based on the amplitude of the echo signal reaching the threshold value. According to the time recorded by the timer and the speed of ultrasonic wave propagation in the air, the distance between the transmitting point and the obstacle can be calculated. This method can be used normally in general environments. In coal mine environments, the measurement error is large due to the influence of the environment. Compared with the threshold detection method, the cross-correlation method has better accuracy and anti-interference ability. The cross-correlation algorithm is used to estimate the time by calculating the similarity between the echo signal and the standard reference signal, that is, to perform a cross-correlation operation. Here, the reference signal is selected as the transmitted signal, and the echo signal is the signal after a period of time of the transmitted signal, which is mixed with some noise. The waveform shape of the two is almost unchanged, and there is a strong correlation: Y(t) = K*X(t-to)+n(t) In the formula: X is the transmitted signal, Y is the echo signal, K is the attenuation coefficient of the signal, to is the elapsed time, and n(t) is the noise. The cross-correlation function between the echo signal X and the transmitted signal Y can be expressed as: Since the noise signal is almost random and unrelated to the transmitted signal, the result obtained by substituting the signal into the function and performing the operation will not introduce noise interference and cause errors. When time T=to, R(s,t) will reach the maximum value. That is, after calculating the cross-correlation function, the time value of its peak value can be obtained to determine the past time T.

7. The anti-interference radar system and method for a mining new energy vehicle according to claim 1, characterized in that: The power supply module is a power supply module for realizing ultrasonic radar, which can meet the vehicle-mounted 12 / 24V power supply network and can also be converted into a local power supply network that meets the working conditions of the device. An anti-interference radar method for a mining new energy vehicle, characterized in that: The following steps are described: S1. First, the controller sends a signal to the sending probe, and the ultrasonic probe emits an ultrasonic signal outward. At the same time, the controller's timer starts timing; S2. Secondly, the ultrasonic signal propagates in the air and will be reflected back immediately after encountering an obstacle on the way; S3. Finally, when the ultrasonic receiver receives the reflected wave, the timer stops timing immediately, and finally a time difference is obtained. According to this time difference and the propagation speed of ultrasonic waves in the air, the distance between the transmitting point and the obstacle can be calculated.